Filter switching method for a machine control system

A filter switching method for a control system of a machine, the machine having a first machine axis and a second machine axis, and a drive and a first and second desired value filter for each machine axis, the method comprising the steps:

• for the first machine axis:
• a) applying an input signal to the first desired value filter to generate a first output signal supplied to the drive of the respective machine axis;
• b) applying the input signal to the second desired value filter to generate a second output signal supplied to the drive of the respective machine axis, wherein the first and second desired value filters for the respective machine axis have different running times;
• c) determining a deviation between the first output signal and the second output signal;
• d) when the respective deviation in step (c) falls below an adjustable threshold value, immediately disconnecting the respective first desired value filter from the drive of the respective machine axis and connecting the second desired value filter to the drive of the respective machine axis;
• and
• e) repeating steps a)-d) for the second machine axis,
• wherein the first desired value filter of the first machine axis is disconnected from the drive of the first machine axis and the second desired value filter of the first machine axis is connected to the drive of the first machine axis at substantially the same time the first desired value filter of the second machine axis is disconnected from the drive of the second machine axis and the second desired value filter of the second machine axis is connected to the drive of the second machine axis, and
• wherein the first desired value filter and the second desired value filter for the drive of the first and second machine axes are connected and disconnected, respectively, when the deviations for both machine axes simultaneously fall below their respective adjustable threshold value at the same time.

A program comprising program instructions embodied on a non-transitory storage medium, wherein the program instructions, when read into a memory of a control unit of a machine having a first machine axis and a second machine axis, and a drive and a first and second desired value filter for each machine axis, cause the control unit to, for the first machine axis:

• a) apply an input signal to the first desired value filter to generate a first output signal supplied to the drive of the respective machine axis;
• b) apply the input signal to the second desired value filter to generate a second output signal supplied to the drive of the respective machine axis, wherein the first and second desired value filters for the respective machine axis have different running times;
• c) determine a deviation between the first output signal and the second output signal;
• d) when the respective deviation in step (c) falls below an adjustable threshold value, immediately disconnect the respective first desired value filter from the drive of the respective machine axis and connect the second desired value filter to the drive of the respective machine axis;
• and
• e) repeat steps a)-d) for the second machine axis,
• wherein the first desired value filter of the first machine axis is disconnected from the drive of the first machine axis and the second desired value filter of the first machine axis is connected to the drive of the first machine axis at substantially the same time the first desired value filter of the second machine axis is disconnected from the drive of the second machine axis and the second desired value filter of the second machine axis is connected to the drive of the second machine axis, and
• wherein the first desired value filter and the second desired value filter for the drive of the first and second machine axes are connected and disconnected, respectively, when the deviations for both machine axes simultaneously fall below their respective adjustable threshold value at the same time.

A machine, comprising at least one tool and a first machine axis and a second machine axis, as well as a drive and a first and second desired value filter for each machine axis, wherein the machine has a control unit configured to, for the first machine axis:

• a) apply an input signal to the first desired value filter to generate a first output signal supplied to the drive of the respective machine axis;
• b) apply the input signal to the second desired value filter to generate a second output signal supplied to the drive of the respective machine axis, wherein the first and second desired value filters for the respective machine axis have different running times;
• c) determine a deviation between the first output signal and the second output signal;
• d) when the respective deviation in step (c) falls below an adjustable threshold value, immediately disconnect the respective first desired value filter from the drive of the respective machine axis and connect the second desired value filter to the drive of the respective machine axis;
• and
• e) repeat steps a)-d) for the second machine axis,
• wherein the first desired value filter of the first machine axis is disconnected from the drive of the first machine axis and the second desired value filter of the first machine axis is connected to the drive of the first machine axis at substantially the same time the first desired value filter of the second machine axis is disconnected from the drive of the second machine axis and the second desired value filter of the second machine axis is connected to the drive of the second machine axis, and
• wherein the first desired value filter and the second desired value filter for the drive of the first and second machine axes are connected and disconnected, respectively, when the deviations for both machine axes simultaneously fall below their respective adjustable threshold value at the same time.