A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.

A method for operating a numerically controlled production machine includes defining a permissible value range determined by the design and construction of the production machine in which, in a normal operation during production of a workpiece, values representing a mechanical or electrical load described by acceleration and/or jolting of at least one component of the numerically controlled production machine are variable, and activating, for producing the workpiece, with a control signal a conservation operation for reducing the mechanical or electrical loads, wherein in the conservation operation the values of acceleration and/or jolting of the at least one component are variable within a part value range that is limited in comparison to the permissible value range.

In a method for operating an at least two-axle machine tool, a geometric description of a path is specified, and according to the path, an advancing movement is carried out by simultaneously moving at least in one section a first axle and a second axle. A first maximum value for a first kinematic parameter relating to the advancing movement along the section of the path is defined by a control unit based on the geometric description. The advancing movement along the section is planned by the control unit by taking the first maximum value into consideration, and the axles are actuated so as to carry out the advancing movement according to the planned movement.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

A method for monitoring acceleration of a number A of axes of a multi-axis kinematic system utilizes a sampling process with a first sampling interval, wherein a first acceleration limit value assigned to the first sampling interval and a second different acceleration limit value is determined for the acceleration, where a second time interval is assigned to the second acceleration limit value, a plurality of position values of the axis is determined by sampling with the first sampling interval, a current acceleration is calculated via the ascertained position values, and the calculated current acceleration is monitored via a first instance of monitoring utilizing the first acceleration limit value and the assigned first sampling interval and, simultaneously, via a second instance of monitoring utilizing the second acceleration limit value and the assigned second time interval, such that acceleration of an axis is monitored using at least two acceleration limit values simultaneously.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.

The present disclosure relates to a method, a terminal device, and a computer readable storage medium for controlling rotation of a servo. The method includes: acquiring a loading mass and a rotation radius of the servo from a sensor electrically connected with the servo or by an externally input; calculating an angular acceleration threshold of the servo according to an angular acceleration formula, a rated torque, the loading mass, and the rotation radius of the servo; setting an angular acceleration of the servo according to the angular acceleration threshold; and rotating the servo according to the angular acceleration.

Methods, apparatus, systems, and computer readable media are provided for generating updated robot actuator trajectories in response to violation of torque constraints and/or other constraints in previously generated robot actuator trajectories. A real-time trajectory generator is used to generate trajectories for actuators of a robot based on a current motion state of the actuators, a target motion state of the actuators, and kinematic motion constraints of the actuators. The generated trajectory of each of the actuators is analyzed to determine whether a violation of at least one additional constraint occurs. In response to determining violation(s) of the additional constraint, one or more new kinematic motion constraints of the actuators are determined based on the violation(s). The real-time trajectory generator generates updated trajectories based on applying the new kinematic motion constraints in lieu of their counterparts used in generating the trajectories that included the violation(s) of the additional constraint.