US 12,186,908 B2
Force-limited movement of at least one element of a production machine in manual operation
Jochen Bretschneider, Owingen (DE); Steffen Mihatsch, Renningen (DE); and Curd Weber, Sulzfeld (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/428,210
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Dec. 19, 2019, PCT No. PCT/EP2019/086166
§ 371(c)(1), (2) Date Aug. 3, 2021,
PCT Pub. No. WO2020/160829, PCT Pub. Date Aug. 13, 2020.
Claims priority of application No. 19155244 (EP), filed on Feb. 4, 2019.
Prior Publication US 2022/0118614 A1, Apr. 21, 2022
Int. Cl. B25J 9/16 (2006.01); G05B 19/4061 (2006.01)
CPC B25J 9/1633 (2013.01) [B25J 9/1676 (2013.01); G05B 19/4061 (2013.01); G05B 2219/39319 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method for operating a control device for a production machine, comprising:
receiving, during manual operation of the production machine, with the control device from an operator of the production machine via an input device of a human-machine interface a present path and a movement command,
based on the movement command, determining with the control device a sequence of position setpoint values for position-controlled axes configured to move at least one element of the production machine along the present path in a movement direction, with the position setpoint values advancing with a setpoint velocity in the movement direction along the present path,
determining with the control device, based on the position setpoint values and corresponding position actual values, control commands for drives driving the axes such that a contact force, with which the at least one element acts on its environment, is limited to a force limit value specified to the control device, and
controlling the drives by
determining, with position controllers assigned to the drives, based on the position setpoint values and the corresponding position actual values velocity setpoint values for velocity controllers subordinate to the position controllers,
determining, based on the velocity setpoint values and corresponding velocity actual values, force setpoint values for force controllers subordinate to the velocity controllers and disposed upstream of the drives,
limiting, with limiters located between the position controllers and the force controllers, the force setpoint values to the force limit value specified to the control device or to a value derived therefrom, and
determining the control commands for the drives by means of the force controller, and
monitoring, with the control device, a following error of the drives, the following error being a difference between the position setpoint values and position actual values, for adherence to a predefined maximum value and suppressing further movement of the at least one element of the production machine when the predefined maximum value is reached.