Safe operation of a multi-axis kinematic system
AssigneeSiemens Aktiengesellschaft
InventorsMaximilian Walter, Dominik Budday, Minh Le, Alexander Stein, Sören Burmeister
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Abstract
A method and an associated controller for safely operating a multi-axis kinematic system by using a safety function are disclosed. The method includes calculating compensation values at the run time of a controller of the multi-axis kinematic system, wherein the calculation is performed based on predefinable error values of respective axes, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system. The method further includes operating the safety function based on the calculated compensation values.
Claims16
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.
A non-transitory control device for safely operating a multi-axis kinematic system, having a safety function block, wherein the safety function block is configured to initiate safety reactions based on respective positions of respective axes of the multi-axis kinematic system, the non-transitory control device comprising:
- a compensation block configured to calculate compensation values at a run time of a controller of the multi-axis kinematic system,
- wherein the compensation block has inputs for 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,
- wherein the compensation block has outputs for the compensation values, and
- wherein the safety function block is configured to initiate the safety reactions based on the outputs for the compensation values.
Dependencies are inferred from the claim text.