Controlling a slave drive with dynamic determination of the dynamics of the master axis

An operating program embodied in a machine readable medium and comprising machine code, wherein the operating program when loaded into a control device and executed by the control device, causes the control device to execute the following steps:

• defining corresponding profiles of desired values for a plurality of master axes,
• determining for each master axis a current desired value at a predetermined clock pulse and determining a current desired value for a slave axis with a logic combination rule, said logic combination rule including at least one current desired value of one of the master axes, and at least one desired or actual value of an additional drive,
• controlling, at the predetermined clock pulse, a first drive in accordance with the current desired value of the slave axis,
• checking at each clock pulse if a dynamics, which controls the first drive to the current desired value of the slave axis, exceeds an upper dynamics limit, and
• if the dynamics controlling the first drive exceeds the upper dynamics limit, starting at the next clock pulse to modify determination of the current desired values for at least one of the master axes, and controlling the first drive with a reduced dynamics until the reduced dynamics falls below a lower dynamics limit.

A data medium storing an operating program in machine-readable form, which program when loaded into a control device and executed by the control device, causes the control device to execute the following steps:

• defining corresponding profiles of desired values for a plurality of master axes,
• determining for each master axis a current desired value at a predetermined clock pulse and determining a current desired value for a slave axis with a logic combination rule, said logic combination rule including at least one current desired value of one of the master axes, and at least one desired or actual value of an additional drive,
• controlling, at the predetermined clock pulse, a first drive in accordance with the current desired value of the slave axis,
• checking at each clock pulse if a dynamics, which controls the first drive to the current desired value of the slave axis, exceeds an upper dynamics limit, and
• if the dynamics controlling the first drive exceeds the upper dynamics limit, starting at the next clock pulse to modify determination of the current desired values for at least one of the master axes, and controlling the first drive with a reduced dynamics until the reduced dynamics falls below a lower dynamics limit.

A control device for controlling a drive, comprising:

• means for defining corresponding profiles of desired values for a plurality of master axes,
• means for determining for each master axis a current desired value at a predetermined clock pulse and determining a current desired value for a slave axis with a logic combination rule, said logic combination rule including at least one current desired value of one of the master axes, and at least one desired or actual value of an additional drive,
• means for controlling, at the predetermined clock pulse, a first drive in accordance with the current desired value of the slave axis,
• means for checking at each clock pulse if a dynamics, which controls the first drive to the current desired value of the slave axis, exceeds an upper dynamics limit, and
• if the dynamics controlling the first drive exceeds the upper dynamics limit, starting at the next clock pulse to modify determination of the current desired values for at least one of the master axes, and controlling the first drive with a reduced dynamics until the reduced dynamics falls below a lower dynamics limit.