Method for guiding the movement of a movable machine element of a numerically controlled machine tool of production machine by determining inertia matrices for support points using acceleration and torque coefficients

Apparatus having position control circuits for guiding the movement of a movable machine element of a machine, said machine element having a prescribed movement path in a working area, said working area having support points, said apparatus comprising:

• a drive motor including at least one drive axis;
• means for determining an inertia matrix;
• means for associating a respective movement maximum value for the machine element with a support point, said respective movement maximum value being produced for each drive axis of the machine using a maximum driving torque of said drive motor and said inertia matrix;
• and
• means for moving the machine element on the movement path in accordance with the respective associated movement maximum value,
• said matrix-determining means including:
• means for using a respective excitation function to excite the position control circuits of each drive axis over a given period of time as the machine element approaches said support point;
• means for simultaneously storing motor position angle and driving torque values for each drive axis, as the machine element approaches said support point;
• means for using said stored values to produce coefficients of driving torque and coefficients of motor position angle for each drive axis, using said respective excitation function;
• means for determining an inertia matrix for said support point using acceleration and torque coefficients produced for each drive axis, as each support point of the machine element is approached.