Processing machine which takes into account position errors during collision checking

A system program embodied in a non-transitory computer-readable medium and comprising machine code representing a parts program comprising a sequence of setpoint position values for a tool of a processing machine relative to a workpiece to be processed with the tool, wherein the system program when loaded into a memory of a numerical controller and processed by the numerical controller causes the numerical controller to:

• determine, based on the setpoint position values, a respective setpoint axis value for each position-regulated axis of a plurality of position-regulated axes operating on machine elements of the processing machine,
• associate virtual protection bodies with the machine elements, the workpiece and the tool,
• before activating the position-regulated axes, determine volumes that would be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values and check whether, except for the processing to be performed by the tool on the workpiece, the protection bodies remain disjoint from one another,
• when the protection bodies remain disjoint from one another, control the position-regulated axes in accordance with the sequence of setpoint position values and, when the protection bodies do not remain disjoint from one another, forego controlling the position-regulated axes and performing an error response,
• define a position error field, which specifies for the setpoint axis values an actual position the tool relative to the workpiece when the position-regulated axes are positioned at the respective setpoint axis values, and
• take the position error field into account at least for a subset of the protection bodies when determining the volumes to be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values.

A numerical controller of a processing machine, comprising a parts program comprising a sequence of setpoint position values for a tool of the processing machine relative to a workpiece to be processed with the tool, wherein the numerical controller is configured to

• determine, based on the setpoint position values, a respective setpoint axis value for each position-regulated axis of a plurality of position-regulated axes operating on machine elements of the processing machine,
• associate virtual protection bodies with the machine elements, the workpiece and the tool,
• before activating the position-regulated axes, determine volumes that would be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values and check whether, except for the processing to be performed by the tool on the workpiece, the protection bodies remain disjoint from one another,
• when the protection bodies remain disjoint from one another, control the position-regulated axes in accordance with the sequence of setpoint position values and, when the protection bodies do not remain disjoint from one another, forego controlling the position-regulated axes and performing an error response,
• define a position error field, which specifies for the setpoint axis values an actual position the tool relative to the workpiece when the position-regulated axes are positioned at the respective setpoint axis values, and
• take the position error field into account at least for a subset of the protection bodies when determining the volumes to be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values.

A processing machine, comprising:

• a plurality of machine elements,
• a plurality of position-regulated axes configured to move a subset of the machine elements under position control,
• a numerical controller controlling movement of the position-regulated axes, wherein the numerical controller comprises a parts program comprising a sequence of setpoint position values for a tool of the processing machine relative to a workpiece to be processed with the tool and is configured to
• determine, based on the setpoint position values, a respective setpoint axis value for each position-regulated axis of a plurality of position-regulated axes operating on machine elements of the processing machine,
• associate virtual protection bodies with the machine elements, the workpiece and the tool,
• before activating the position-regulated axes, determine volumes that would be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values and check whether, except for the processing to be performed by the tool on the workpiece, the protection bodies remain disjoint from one another,
• when the protection bodies remain disjoint from one another, control the position-regulated axes in accordance with the sequence of setpoint position values and, when the protection bodies do not remain disjoint from one another, forego controlling the position-regulated axes and performing an error response,
• define a position error field, which specifies for the setpoint axis values an actual position the tool relative to the workpiece when the position-regulated axes are positioned at the respective setpoint axis values, and
• take the position error field into account at least for a subset of the protection bodies when determining the volumes to be occupied by the protection bodies when the position-regulated axes are controlled in accordance with the sequence of setpoint position values.