| 摘要 |
A control device of a machine with a plurality of position-controlled axes controls the position-controlled axes in accordance with a part program while processing a system program. Through the control of the position-controlled axes, an end effector is moved along a track defined by the part program via at least one intermediate element relative to a base body of the machine under position control. While processing the system program, the control device checks before control of the position-controlled axes with a parameterizable model of the machine, whether the end effector can move along the track without collisions. Before checking the part program, the control device receives initial measured values characteristic of an actual configuration of the machine, determines parameters of the model based on the initial measured values and parameterizes the model in accordance with the determined parameters. |
| 主权项 |
1. A method for operating a machine with a plurality of position-controlled axes, comprising:
controlling with a control device of the machine the position-controlled axes in accordance with a part program while the control device processes a system program, under control of the control device, moving an end effector under position control along a track defined by the part program via at least one intermediate element relative to a base body of the machine, checking with the control device, while processing the system program and before control of the position-controlled axes, by way of a parameterized model of the machine, whether the end effector is able to move along the track without collisions, receiving with the control device, before checking of the part program, initial measured values characteristic for the actual configuration of the machine, determining with the control device, before checking of the part program, parameters of the parameterized model based on the initial measured values, and parameterizing the model with the control device in accordance with the determined parameters. |
