Abstract: A control device for a machine, with at least one axis, is configured to accept first parameters and to render a first general technological problem as a first specific technological problem. The control device is configured to determine once in advance, for a sequence of values of a position or a temporal derivation of the position of the axis of the machine, a number of variables assigned to the respective value, to solve the first specific technological problem in an optimum way. The control device is configured to store the assigned variables in a memory and, after the storage of the assigned variables, is configured to accept a first execution command. Based upon the first execution command, it is configured to output the sequence of values to the axis and during output, is configured to activate the machine in accordance with the number of variables assigned to the respective value.

Abstract: A control device for a machine, with at least one axis, is configured to accept first parameters and to render a first general technological problem as a first specific technological problem. The control device is configured to determine once in advance, for a sequence of values of a position or a temporal derivation of the position of the axis of the machine, a number of variables assigned to the respective value, to solve the first specific technological problem in an optimum way. The control device is configured to store the assigned variables in a memory and, after the storage of the assigned variables, is configured to accept a first execution command. Based upon the first execution command, it is configured to output the sequence of values to the axis and during output, is configured to activate the machine in accordance with the number of variables assigned to the respective value.

Abstract: The present invention is directed to a method for determining actual states of a number of adjusting elements. A position of an additional member relative to a basic member can be set by means of a number of adjusting elements. In order to determine the actual states of the adjusting elements, the additional member is firstly fixed mechanically relative to the basic member in such a way that it has only one degree of freedom. It is then possible to describe the position of the additional member relative to the basic member by means of a single scalar variable. The position of the additional member is then changed. Changes in state effected by the change in position of the additional member are detected, and the actual states of the adjusting elements are determined therefrom.

Abstract: The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (??1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.

Abstract: In a method for compensating static positioning errors, in particular position and orientation errors, in guiding a movement of a movable machine element of an industrial processing machine, positioning errors are initially measured at startup of the machine and stored in a compensation table in a numerical controller (CNC). These values are used to generate reference values for compensating the errors. Deviations between the measured points in the table are interpolated. The actual position is measured during machining by using an additional measurement system and compared with the nominal position. Typically, the points of the measurement are different from the points in the compensation table. The compensation values can be improved continuously in two ways: on one hand, by extending the compensation table by adding the measured points and, on the other hand, by adapting the points of the compensation table adjacent to the corresponding measurement point.

Abstract: The present invention is directed to a method for determining actual states of a number of adjusting elements. A position of an additional member relative to a basic member can be set by means of a number of adjusting elements. In order to determine the actual states of the adjusting elements, the additional member is firstly fixed mechanically relative to the basic member in such a way that it has only one degree of freedom. It is then possible to describe the position of the additional member relative to the basic member by means of a single scalar variable. The position of the additional member is then changed. Changes in state effected by the change in position of the additional member are detected, and the actual states of the adjusting elements are determined therefrom.

Abstract: For a number of different operating points in a workspace of a processing machine, the total length changes caused by a weight force are determined and entered together with the corresponding set points in a compensation table. The compensation values are used to compute control variables for set points. Values for intermediate points are interpolated from the values stored in the compensation table. This eliminates positioning errors at both the predetermined operating points and the intermediate points. Advantageously, the changes in the length can be determined from the motor force that counteracts the force acting on the corresponding actuator in a static state, based on an instantaneous nominal current value and/or actual current value of the motor.

Abstract: The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (&Lgr;−1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.

Abstract: In a method for compensating static positioning errors, in particular position and orientation errors, in guiding a movement of a movable machine element of an industrial processing machine, positioning errors are initially measured at startup of the machine and stored in a compensation table in a numerical controller (CNC). These values are used to generate reference values for compensating the errors. Deviations between the measured points in the table are interpolated. The actual position is measured during machining by using an additional measurement system and compared with the nominal position. Typically, the points of the measurement are different from the points in the compensation table. The compensation values can be improved continuously in two ways: on one hand, by extending the compensation table by adding the measured points and, on the other hand, by adapting the points of the compensation table adjacent to the corresponding measurement point.

Abstract: For a number of different operating points in a workspace of a processing machine, the total length changes caused by a weight force are determined and entered together with the corresponding set points in a compensation table. The compensation values are used to compute control variables for set points. Values for intermediate points are interpolated from the values stored in the compensation table. This eliminates positioning errors at both the predetermined operating points and the intermediate points. Advantageously, the changes in the length can be determined from the motor force that counteracts the force acting on the corresponding actuator in a static state, based on an instantaneous nominal current value and/or actual current value of the motor.

Abstract: Method for compensating for static position errors and orientation errors At a number of different workpoints (P0 . . . Px) in the workspace A of a processing machine, any positioning and orientation error which may exist is first measured. The nominal positions (X_soll and O_soll) are entered, together the associated position errors (rA, oA) in a compensation table (K). These compensation values are included in the calculation for generating the guide values from position inputs. As a result, firstly the position error disappears at the measuring points. In the intermediate spaces, the values are interpolated from the compensation table (K) as a result of which the deviations are reduced there, too.