US 11,927,936 B2
Safe operation of a multi-axis kinematic system
Maximilian Walter, Nuremberg (DE); Dominik Budday, Erlangen (DE); Minh Le, Bernburg (DE); Alexander Stein, Veitsbronn (DE); and Sören Burmeister, Fürth (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Filed by Siemens Aktiengesellschaft, Munich (DE)
Filed on Mar. 10, 2022, as Appl. No. 17/691,316.
Claims priority of application No. 21162017 (EP), filed on Mar. 11, 2021.
Prior Publication US 2022/0291655 A1, Sep. 15, 2022
Int. Cl. G05B 19/406 (2006.01); G05B 19/4155 (2006.01)
CPC G05B 19/406 (2013.01) [G05B 19/4155 (2013.01); G05B 2219/39051 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method for safely operating a multi-axis kinematic system by using a safety function, the safety function being based on respective positions of respective axes of the multi-axis kinematic system, the method comprising:
calculating compensation values at a run time of a controller of the multi-axis kinematic system, wherein the calculating is performed based on an error value for each axis of the respective axes of the multi-axis kinematic system, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system, wherein a sensor resolution is used as a respective error value for each axis of the respective axes, and wherein each error value represents a maximum sensor error possible for a respective axis sensor; and
operating the safety function based on the calculated compensation values.