Processing machine with vibration compensation of movable mechanical structures

A control program embodied in a non-transitory machine-readable medium and comprising machine code which when loaded into a memory of a control device for a processing machine is directly executable by the control device, wherein execution of the machine code by the control device causes the control device to

• control an axle drive of the processing machine commensurate with a reference displacement movement so as to displace a mechanical structure of the processing machine with the axle drive commensurate with the reference displacement movement,
• determine an absolute movement of the mechanical structure in space,
• determine a compensation movement for a compensating mass based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
• control a compensating drive arranged on the mechanical structure and acting on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.

A control device for a processing machine, wherein the control device is configured to operate the processing machine by:

• controlling an axle drive of the processing machine commensurate with a reference displacement movement so as to displace a mechanical structure of the processing machine with the axle drive commensurate with the reference displacement movement,
• determining an absolute movement of the mechanical structure in space,
• determining a compensation movement for a compensating mass based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
• controlling a compensating drive arranged on the mechanical structure and acting on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.

A processing machine, comprising:

• a mechanical structure,
• an axle drive configured to displace the mechanical structure commensurate with a reference displacement movement,
• a control device controlling the processing machine commensurate with the reference displacement movement,
• a compensating drive arranged on the mechanical structure and operating on a compensating mass so as to displace the compensating mass relative to the mechanical structure,
• wherein the control device is configured to
• determine an absolute movement of the mechanical structure in space,
• determine a compensation movement for a compensating mass based on the determined absolute movement, taking into account the reference displacement movement of the mechanical structure, so as to dampen a vibration of the mechanical structure, and
• control a compensating drive arranged on the mechanical structure and acting on the compensating mass commensurate with the determined compensation movement such that the compensating mass is displaced relative to the mechanical structure by the compensating drive commensurate with the compensation movement.