Abstract: A bevel gear drive with two bevel gears rotates about respective rotation axes intersecting at an intersection point, forming an angle of intersection. A computer determines the tooth shape of these tooth flanks based on data other than a tooth shape. The data are characteristic for a particular contact path represented by a sequence of contact points. The tooth shape of the tooth flanks is determined for several contact paths, with the interacting tooth flanks at all contact points having a common normal, which passes through a pitch point located between the two rotation axes and spaced from the intersection point equal to the radius r. Geometry data for the bevel gear are determined from the shape of the tooth flanks and stored in a format suitable for automatically generating a parts program for a processing machine with at least five axes.

Abstract: The invention relates to a method and a control device for moving a machine element of an automation machine by dividing an overall movement of the machine element into separately controlled first and a second movement sections extending in a common direction. Desired values for the first and second movement sections are monitored for compliance with a predefined movement constraint. If the first and/or second desired values fail to comply with the predefined movement constraint, the first movement component and/or the second movement component are changed in an iterative process until the changed first and/or second desired values are in compliance with the predefined movement constraint. The changed first and/or second desired values are stored as new first and/or second desired values for moving the machine element. The method and control device prevent overloading of the drive shafts of an automation machine having redundant kinematics.

Abstract: In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.

Abstract: A bevel gear drive with two bevel gears rotates about respective rotation axes intersecting at an intersection point, forming an angle of intersection. A computer determines the tooth shape of these tooth flanks based on data other than a tooth shape. The data are characteristic for a particular contact path represented by a sequence of contact points. The tooth shape of the tooth flanks is determined for several contact paths, with the interacting tooth flanks at all contact points having a common normal, which passes through a pitch point located between the two rotation axes and spaced from the intersection point equal to the radius r. Geometry data for the bevel gear are determined from the shape of the tooth flanks and stored in a format suitable for automatically generating a parts program for a processing machine with at least five axes.

Abstract: The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined.

Abstract: The invention relates to a method and a control device for moving a machine element of an automation machine by dividing an overall movement of the machine element into separately controlled first and a second movement sections extending in a common direction. Desired values for the first and second movement sections are monitored for compliance with a predefined movement constraint. If the first and/or second desired values fail to comply with the predefined movement constraint, the first movement component and/or the second movement component are changed in an iterative process until the changed first and/or second desired values are in compliance with the predefined movement constraint. The changed first and/or second desired values are stored as new first and/or second desired values for moving the machine element. The method and control device prevent overloading of the drive shafts of an automation machine having redundant kinematics.

Abstract: In a method for moving a machine element of an automation machine with separately controlled drive shafts moving in a common direction, a first controller receives a first desired control variable, which is filtered using a filter having a frequency-dependent transfer function. In one embodiment, first desired control variable represents an overall movement of a machine element. A difference is determined between the filtered first desired variable and a first actual variable, and the difference is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft. In another embodiment, the filtered first desired variable and a second desired variable are added to form a sum, and a difference between the formed sum and the first actual variable is supplied as a desired control variable to the second controller for controlling the movement of the second drive shaft.

Abstract: According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF).

Abstract: The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined.

Abstract: According to the invention, an initial trajectory (2) that is to be followed in a positionally guided manner is input into a computer (15), said initial trajectory (2) being described by an initial function (AF) such that one respective corresponding position (pA) is determined on the initial trajectory (2) by substituting a scalar trajectory parameter (s) into the initial function (AF). The scalar trajectory parameter (s) is different from time (t) while being characteristic of a distance (s) covered along the initial trajectory (2). The computer (15) filters the initial trajectory (2) with low-pass characteristics referring to the scalar trajectory parameter (s) as a function of the scalar trajectory parameter (s) and thus determines a rough function (GF) such that one respective corresponding position (pG) is determined on the rough trajectory (13) by substituting the scalar trajectory parameter (s) into the rough function (GF).

Abstract: A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

Abstract: The invention relates to a method for guiding the movement of a movable machine element (8) of a numerically controlled tool machine or production machine on a predetermined movement path (s) of the machine element (8). Supporting points (32) are defined in the working area (31) of the machine. The maximum possible path jerk () and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8) is determined or predetermined at on each supporting point (32) and the movement of the machine element (8) on the displacement path (S) is carried out using the maximum possible path jerk () and/or the maximum possible path acceleration ({umlaut over (s)}) and/or the maximum possible path speed ({dot over (s)}) of the machine element (8).

Abstract: According to the invention, a simulation is carried out based on the fundamental motion equation (1) for simulating the system by means of: transformation of the fundamental motion equation into linear differential equations of the first order; further transformation of the linear differential equations into time-discrete state variables; determination of the time response of the system by actualization of the resulting algebraic differential equations in the sampling raster of an associated control processor. Higher simulation accuracy is obtained at an essentially smaller calculating capacity.

Abstract: An apparatus and method for simulating the behavior of the drive system and the mechanism of machine tool or production-line machine by use of mathematical models of the drives and the mechanisms of the driven mechanical elements of the machine are disclosed. Preferably actual values for regulated and unregulated axes are calculated at the same time using NC- and PLC-models, respectively by an auxiliary computer using desired values provided by a digital controller. The actual values are then supplied to a mechanism model, preferably a geometric kinematic model, which produces a state signal that is fed back to the digital controller, preferably in real time. The result is an efficient, easy and cost-effective simulation that closely approximates reality and can be provided in real-time.

Abstract: The invention relates to a method for displacably guiding a displaceable machine element (8) of a numerically controlled tool machine or product machine on a predetermined displacement path (S) of a machine element (8). Supporting points (32) are defined in the work chamber (31) of the machine. The maximum possible path bolt (S< >) and/or the maximum possible path acceleration (S<..>) and/or the maximum possible path speed (S<.>) of the machine element (8) is determined or predetermined on each supporting point (32) and the displacement of the machine element (8) on the displacement path (S) is carried out using the maximum possible path bolt (S< >) and/or the maximum possible path acceleration (S<..>) and/or the maximum possible path speed (S<. >) of the machine element (8).

Abstract: A method for identifying a control path of a controlled system, and more particularly to a method for identifying a control path in the presence of deterministic perturbations is described. At least one deterministic perturbation correcting signal is determined in a first identification process, and the perturbation correcting signal is stored in the form of a function. A control path of the controlled system is identified in a second identification process by adding to the controlled system the at least one stored deterministic perturbation correcting signal with a negative feedback. The method can be used with machine tools, production machines and/or robots which demand a high control accuracy and/or a high-quality control characteristic. In particular, perturbation effects due to slot latching in motors, in particular linear motors, can be minimized.

Abstract: The invention relates to especially simple, rapid and multidimensional surface reproduction. According to the inventive method for reconstructing a surface of a structure which is described by 3D data points in chronological order, 3D data points are processed using a linear interpolation in such a way that chronologically directly adjacent 3D data points remain unchanged.

Abstract: A device and method for apportioning a movement of a machine element driven by at least two drives for movement along a drive axis of a machine tool or production machine are described. A low-pass filter filters predetermined desired drive axis values to generate filtered desired drive axis values, with a first controller receiving the filtered desired drive axis values as control input value for controlling a first of the at least two drives. A delay unit with a constant group delay time temporally delays the desired drive axis values and generates delayed desired drive axis values, whereafter a subtracter determines a difference between the filtered desired drive axis values and the delayed desired drive axis values. A second controller receives the determined difference and provides, based on the determined difference, a second control input value for controlling a second of the at least two drives.

Abstract: A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

Abstract: A device and method for apportioning a movement of a machine element driven by at least two drives for movement along a drive axis of a machine tool or production machine are described. A low-pass filter filters predetermined desired drive axis values to generate filtered desired drive axis values, with a first controller receiving the filtered desired drive axis values as control input value for controlling a first of the at least two drives. A delay unit with a constant group delay time temporally delays the desired drive axis values and generates delayed desired drive axis values, whereafter a subtracter determines a difference between the filtered desired drive axis values and the delayed desired drive axis values. A second controller receives the determined difference and provides, based on the determined difference, a second control input value for controlling a second of the at least two drives.