Time-optimized movement guidance between track sections

A control program product for a control facility, the control program product comprising a control program embodied on a non-transitory medium and has machine code, which when loaded into a memory of the control facility and executed by a processor of the control facility, causes the control facility to operate a machine which has a plurality of position-controlled axes that cause, in their entirety, a displacement of a first element of the machine relative to a second element of the machine, wherein the control facility is configured to

• control the position-controlled axes such that the first element traverses relative to the second element sequentially a plurality of predetermined path sections with a velocity profile and an acceleration profile defined for each path section, wherein each path section has a beginning and an end, with the end of each path section and the beginning of a directly following path section differing in a position of at least one of the position-controlled axes,
• without knowledge of an actual path to be traversed from the end of the path section to the beginning of the directly following path section, determine for a movement guidance between the end of each path section and the beginning of a directly following path section, independently for each of the axes, initially respective preliminary axis guidances that are coordinated so that the movement guidance is time-optimized and continuous in location, velocity and acceleration and limited in velocity, acceleration and jerk, from the end of the path section to the beginning of the directly following path section,
• determine for each of the axes an individual axis time required for the respective preliminary axis guidances,
• determine from the previously determined individual axis times a greatest required axis time for a specific axis,
• adopt the greatest required axis time as the final axis guidance for the specific axis,
• modify, for other axes whose axis time is smaller than the greatest required axis time, the preliminary axis guidance so as to maintain continuity in location, velocity and acceleration, by matching the smaller axis times to the greatest required axis time, and
• adopt the modified axis guidances for the other axes as the final axis guidances.

A control facility for a machine, comprising a plurality of position-controlled axes which cause, in their entirety, a displacement movement of a first element of the machine relative to a second element of the machine, wherein the control facility is configured to

• control the position-controlled axes such that the first element traverses relative to the second element sequentially a plurality of predetermined path sections with a velocity profile and an acceleration profile defined for each path section, wherein each path section has a beginning and an end, with the end of each path section and the beginning of a directly following path section differing in a position of at least one of the position-controlled axes,
• without knowledge of an actual path to be traversed from the end of the path section to the beginning of the directly following path section, determine for a movement guidance between the end of each path section and the beginning of a directly following path section, independently for each of the axes, initially respective preliminary axis guidances that are coordinated so that the movement guidance is time-optimized and continuous in location, velocity and acceleration and limited in velocity, acceleration and jerk, from the end of the path section to the beginning of the directly following path section,
• determine for each of the axes an individual axis time required for the respective omliminary axis guidances,
• determine from the previously determined individual axis times a greatest required axis time for a specific axis,
• adopt the greatest required axis time as the final axis guidance for the specific axis,
• modify, for other axes whose axis time is smaller than the greatest required axis time, the preliminary axis guidance so as to maintain continuity in location, velocity and acceleration, by matching the smaller axis times to the greatest required axis time, and
• adopt the modified axis guidances for the other axes as the final axis guidances.