US 12,290,936 B2
Stopping a production machine on a collision-free path
Jörg Handeck, Erlangen (DE); Steffen Mihatsch, Renningen (DE); Steffen Schmauder, Renningen (DE); and Martin Sturm, Renningen (DE)
Assigned to Siemens Aktiengesellschaft, Munich (DE)
Appl. No. 17/764,060
Filed by Siemens Aktiengesellschaft, Munich (DE)
PCT Filed Aug. 18, 2020, PCT No. PCT/EP2020/073097
§ 371(c)(1), (2) Date Mar. 25, 2022,
PCT Pub. No. WO2021/058201, PCT Pub. Date Apr. 1, 2021.
Claims priority of application No. 19200160 (EP), filed on Sep. 27, 2019.
Prior Publication US 2022/0371197 A1, Nov. 24, 2022
Int. Cl. B25J 9/16 (2006.01)
CPC B25J 9/1676 (2013.01) 7 Claims
OG exemplary drawing
 
1. A method of operating a numerical controller, said method comprising steps of:
while utilizing specifications for position-controlled axes of a production machine controlled by the numerical controller, ascertaining, with the numerical controller, a current group of position setpoint values of the position-controlled axes and ascertaining groups of position setpoint values of the position-controlled axes expected for a forecast horizon;
b) during actuation of the position-controlled axes with the current group of position setpoint values of the position-controlled axes, checking with the numerical controller whether there is a risk of collision of at least one element moved by the actuation of the position-controlled axes with at least one other element, and during actuation of the position-controlled axes with the expected group of position setpoint values of the position-controlled axes, checking with the numerical controller whether there is a risk of collision of at least one element moved by the actuation of the position-controlled axes with at least one other element;
c) when no risk of a collision has been identified in step b), actuating with the numerical controller the position-controlled axes with the current group of position setpoint values of the position-controlled axes, storing with the numerical controller, the expected groups of position setpoint values of the position-controlled axes in a braking path memory, and repeating the operating method starting with step a); and
d) when a risk of collision has been identified in step b), bringing with the numerical controller the position-controlled axes to a standstill along a path that is defined by the groups of position setpoint values of the position-controlled axes stored in the braking path memory, wherein if the specifications change such that an old path, as defined by a content of the braking path memory in an old current group of position setpoint values of the position-controlled axes and old groups of position setpoint values of the position-controlled axes to be expected, has to be newly ascertained as a new path with a new current group of position setpoint values of the position-controlled axes and new groups of position setpoint values of the position-controlled axes to be expected, as the old path is no longer fully comprised by the new path, then when a collision is identified in the new path when checking, the groups of position setpoint values of the position-controlled axes stored in the braking path memory are read out by the numerical controller and the numerical controller ascertains position setpoint values for the position-controlled axes so that the position-controlled axes are brought to a standstill along the old path.