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1. 发明申请

US20050167461A1 Control method for guiding the movement of materials to be transported 失效
标题翻译：引导待运输材料运动的控制方法
公开(公告)号：US20050167461A1
公开(公告)日：2005-08-04
申请号：US10941557
申请日：2004-09-15
申请人： Hakan Koc , Raimund Kram , Richard Schneider , Gunter Weber
发明人： Hakan Koc , Raimund Kram , Richard Schneider , Gunter Weber
IPC分类号： B65G43/08 , B65H23/188
CPC分类号： B65G43/08
摘要： The invention relates to an open-loop control process for the motional guidance of conveyed material (32) in a conveying device (30) and to a corresponding conveying device (30). The conveying device (30) has a movable means (36) for realizing the conveyance and a first motion detector (42) for measuring a first actual position value (x1act) for the movable means (36) and a second motion detector (40) for measuring a second actual position value (x2act) for the conveyed material (32). The control is herein realized with a position control having a position control clock (Tpc) and with a speed control (GR) having a relatively faster speed control clock (Tsc), in which, in the position control clock (Tpc), desired position values (xcmd) are preset as the command variable and, in the speed control clock (Tsc), registered first actual position values (x1act) are fed back to the position control, in which the position control is provided, at least in part, in an open-loop control part (NC) and the speed control (GR) is provided in a drive part (A), and in which a control variable (R) is fed back into the position control, which control variable is dependent on second actual position values (x2act) registered in the position control clock (Tpc). A high accuracy and dynamic can thereby be obtained.
摘要翻译：本发明涉及一种用于在输送装置（30）和对应的输送装置（30）中运送的材料（32）的运动引导的开环控制过程。输送装置（30）具有用于实现输送的可移动装置（36）和用于测量可移动装置（36）的第一实际位置值（x 1＆lt;＆lt;＆lt;＆gt;）的第一运动检测器）和第二运动检测器（40），用于测量所输送的材料（32）的第二实际位置值（x 2＆lt;＆lt;＆gt;）。这里的控制通过具有位置控制时钟（T >PCS）的位置控制以及速度控制（GR）具有相对较快的速度控制时钟（T < ），其中在位置控制时钟（T ）中，期望的位置值（x> cmd）被预设为命令变量，并且在速度控制时钟注册的第一实际位置值（x 1＆lt;＆lt;＆gt;）被反馈到其中提供位置控制的位置控制，至少部分地在在驱动部（A）中设置有开环控制部（NC）和速度控制（GR），其中控制变量（R）反馈到位置控制中，该控制变量取决于第二注册在位置控制时钟（TPCPC）中的实际位置值（x 2 <动作）。由此可以获得高精度和动态。

2. 发明授权

US07134584B2 Control method for guiding the movement of materials to be transported 失效
标题翻译：引导待运输材料运动的控制方法
公开(公告)号：US07134584B2
公开(公告)日：2006-11-14
申请号：US10941557
申请日：2004-09-15
申请人： Hakan Koc , Raimund Kram , Richard Schneider , Günter Weber
发明人： Hakan Koc , Raimund Kram , Richard Schneider , Günter Weber
IPC分类号： B65H26/00 , B65H20/24
CPC分类号： B65G43/08
摘要： The invention relates to an open-loop control process for the motional guidance of conveyed material (32) in a conveying device (30) and to a corresponding conveying device (30). The conveying device (30) has a movable means (36) for realizing the conveyance and a first motion detector (42) for measuring a first actual position value (x1act) for the movable means (36) and a second motion detector (40) for measuring a second actual position value (x2act) for the conveyed material (32). The control is herein realized with a position control having a position control clock (Tpc) and with a speed control (GR) having a relatively faster speed control clock (Tsc), in which, in the position control clock (Tpc), desired position values (xcmd) are preset as the command variable and, in the speed control clock (Tsc), registered first actual position values (x1act) are fed back to the position control, in which the position control is provided, at least in part, in an open-loop control part (NC) and the speed control (GR) is provided in a drive part (A), and in which a control variable (R) is fed back into the position control, which control variable is dependent on second actual position values (x2act) registered in the position control clock (Tpc). A high accuracy and dynamic can thereby be obtained.
摘要翻译：本发明涉及一种用于在输送装置（30）和对应的输送装置（30）中运送的材料（32）的运动引导的开环控制过程。输送装置（30）具有用于实现输送的可移动装置（36）和用于测量可移动装置（36）的第一实际位置值（x 1＆lt;＆lt;＆lt;＆gt;）的第一运动检测器）和第二运动检测器（40），用于测量所输送的材料（32）的第二实际位置值（x 2＆lt;＆lt;＆gt;）。这里的控制通过具有位置控制时钟（T >PCS）的位置控制以及速度控制（GR）具有相对较快的速度控制时钟（T < ），其中在位置控制时钟（T ）中，期望的位置值（x> cmd）被预设为命令变量，并且在速度控制时钟注册的第一实际位置值（x 1＆lt;＆lt;＆gt;）被反馈到其中提供位置控制的位置控制，至少部分地在在驱动部（A）中设置有开环控制部（NC）和速度控制（GR），其中控制变量（R）反馈到位置控制中，该控制变量取决于第二注册在位置控制时钟（TPCPC）中的实际位置值（x 2 <动作）。由此可以获得高精度和动态。

3. 发明申请

US20090094396A1 MODULE FOR REPRODUCING A TRANSMITTER SIGNAL 有权
标题翻译：用于复制发射机信号的模块
公开(公告)号：US20090094396A1
公开(公告)日：2009-04-09
申请号：US11722126
申请日：2005-12-06
申请人： Raimund Kram , Jochen Schlinkert , Richard Schneider
发明人： Raimund Kram , Jochen Schlinkert , Richard Schneider
IPC分类号： G06F13/16
CPC分类号： G05B19/0423 , G05B19/4069 , G05B2219/23456 , G05B2219/42163 , G05B2219/50216
摘要： The invention relates to a module for reproducing a transmitter signal (xactE). A control device (1) is coupled to a driving device (4a) for controlling a machine while being coupled to the module (5, 5′) via a data bus (7) for exchanging data. A reproduced transmitter signal (xactEn) is determined from a reference value (xdes) that is predefined by the control device with the aid of the module (5, 5′). The module (5, 5′) is logically coupled to the control device (1) via the data bus (7) in such a way that the module (5, 5′) is projected in the same way as the driving device (4a) from the perspective of the control device (1). The inventive module (5, 5′) for reproducing a transmitter signal (xactE) thus makes it possible to project, start, and adjust the dynamics of the machine in a simple manner.
摘要翻译：本发明涉及一种用于再现发射机信号（xactE）的模块。控制装置（1）耦合到驱动装置（4a），用于通过用于交换数据的数据总线（7）耦合到模块（5,5'）来控制机器。借助于模块（5,5'），由控制装置预定义的参考值（xdes）确定再现的发射机信号（xactEn）。模块（5,5'）经由数据总线（7）以逻辑方式耦合到控制装置（1），使得模块（5,5'）以与驱动装置（4a）相同的方式突出）从控制装置（1）的角度出发。因此，用于再现发射机信号（xactE）的本发明的模块（5,5'）能够以简单的方式投射，启动和调节机器的动态。

4. 发明授权

US07865649B2 Module for reproducing a transmitter signal 有权
标题翻译：用于再现发射机信号的模块
公开(公告)号：US07865649B2
公开(公告)日：2011-01-04
申请号：US11722126
申请日：2005-12-06
申请人： Raimund Kram , Jochen Schlinkert , Richard Schneider
发明人： Raimund Kram , Jochen Schlinkert , Richard Schneider
IPC分类号： G06F13/00
CPC分类号： G05B19/0423 , G05B19/4069 , G05B2219/23456 , G05B2219/42163 , G05B2219/50216
摘要： The invention relates to a module for reproducing a transmitter signal (xactE). A control device (1) is coupled to a driving device (4a) for controlling a machine while being coupled to the module (5, 5′) via a data bus (7) for exchanging data. A reproduced transmitter signal (xactEn) is determined from a reference value (xdes) that is predefined by the control device with the aid of the module (5, 5′). The module (5, 5′) is logically coupled to the control device (1) via the data bus (7) in such a way that the module (5, 5′) is projected in the same way as the driving device (4a) from the perspective of the control device (1). The inventive module (5, 5′) for reproducing a transmitter signal (xactE) thus makes it possible to project, start, and adjust the dynamics of the machine in a simple manner.
摘要翻译：本发明涉及一种用于再现发射机信号（xactE）的模块。控制装置（1）耦合到驱动装置（4a），用于通过用于交换数据的数据总线（7）耦合到模块（5,5'）来控制机器。借助于模块（5,5'），由控制装置预定义的参考值（xdes）确定再现的发射机信号（xactEn）。模块（5,5'）经由数据总线（7）以逻辑方式耦合到控制装置（1），使得模块（5,5'）以与驱动装置（4a）相同的方式突出）从控制装置（1）的角度出发。因此，用于再现发射机信号（xactE）的本发明的模块（5,5'）能够以简单的方式投射，启动和调节机器的动态。

5. 发明授权

US07818087B2 Method and control device for guiding the movement of a movable machine element of a machine 有权
标题翻译：用于引导机器的可移动机器元件的运动的方法和控制装置
公开(公告)号：US07818087B2
公开(公告)日：2010-10-19
申请号：US11917671
申请日：2006-06-02
申请人： Johannes Birzer , Jens Hamann , Raimund Kram , Uwe Ladra , Elmar Schäfers
发明人： Johannes Birzer , Jens Hamann , Raimund Kram , Uwe Ladra , Elmar Schäfers
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , G05B2219/35585 , G05B2219/42217 , Y10T409/304984
摘要： A system for guiding movement of a movable machine element of a machine, such as a machine tool, production machine and robot, receives user input data relating to a travel movement of machine element and an optimization criterion selected from a robust travel movement, where a smallest number of natural frequencies of the movable machine element is excited, and a time-optimized travel movement, where from the natural frequencies of the movable machine element only those natural frequencies are excited that do not include a main natural frequency. The system then determines from the movement profile coefficients of polynomial functions and a position setpoint variable based on the coefficients. The travel movement of the machine element is executed in response to the determined position setpoint variable.
摘要翻译：用于引导诸如机床，生产机器和机器人的机器的可移动机器元件的运动的系统接收与机器元件的行进运动有关的用户输入数据和从坚固的行驶运动中选择的优化标准，其中激活可移动机器元件的固有频率的最小数量，以及时间优化的行进运动，其中从可移动机器元件的固有频率仅仅激发不包括主固有频率的那些固有频率。然后，系统根据多项式函数的运动曲线系数和基于系数的位置设定点变量来确定。响应于确定的位置设定点变量来执行机器元件的行进移动。

6. 发明申请

US20100031199A1 Project Navigator for a Hierarchical Display of Technological Objects, Storage Medium and Engineering System 有权
标题翻译：用于技术对象，存储介质和工程系统分层显示的项目导航器
公开(公告)号：US20100031199A1
公开(公告)日：2010-02-04
申请号：US12511466
申请日：2009-07-29
申请人： Johannes Birzer , Markus Fister , Raimund Kram
发明人： Johannes Birzer , Markus Fister , Raimund Kram
IPC分类号： G06F3/048
CPC分类号： G05B19/042 , G05B2219/23126 , G05B2219/23255 , G05B2219/25071 , G05B2219/32043
摘要： A project navigator for displaying technological objects hierarchically on a display device, in particular on a computer, is provided. The technological objects are mutually interconnected and model a machine with cascaded synchronous control. The technological objects are selected by a user input facility. For a selected technological object, an associated input and/or output side connection tree for the technological object is then displayed together with further technological objects.
摘要翻译：提供了用于在显示设备上，特别是在计算机上分层显示技术对象的项目导航器。技术对象相互联系，并对具有级联同步控制的机器进行建模。技术对象由用户输入设备选择。对于所选择的工艺对象，然后与工艺对象一起显示用于工艺对象的相关联的输入和/或输出侧连接树。

7. 发明授权

US06978190B2 Programming of cyclical machines 失效
标题翻译：循环机编程
公开(公告)号：US06978190B2
公开(公告)日：2005-12-20
申请号：US09938751
申请日：2001-08-24
申请人： Armin Amrhein , Johannes Birzer , Thomas Hennefelder , Martin Kiesel , Raimund Kram , Regina Schmitt
发明人： Armin Amrhein , Johannes Birzer , Thomas Hennefelder , Martin Kiesel , Raimund Kram , Regina Schmitt
IPC分类号： G05B19/05 , G06F9/48 , G06F19/00
CPC分类号： G06F9/4887 , G05B19/056 , G05B2219/15014
摘要： A configurable running level model of a runtime system for the control tasks of an industrial controller for cyclical machines is created in a simple manner, enabling the programming of the machine sequence to take place in a sequential program. The wait_for_condition command in this case enables a user to wait for any desired conditions and respond with higher priority in the program flow. User programs can be additionally loaded into the user levels of the running level model.
摘要翻译：以简单的方式创建用于循环机器的工业控制器的控制任务的运行时系统的可配置运行级别模型，使得能够在顺序程序中进行机器序列的编程。在这种情况下，wait_for_condition命令使用户能够等待任何所需条件，并在程序流程中以更高的优先级进行响应。用户程序可以额外加载到运行级别模型的用户级别中。

8. 发明授权

US08843232B2 Control method for a complex consisting of a plurality of multiaxial handling devices arranged in succession and/or side by side, and also data storage medium, control system and complex 有权
标题翻译：由多个连续和/或并排布置的多轴处理装置组成的复合体的控制方法，以及数据存储介质，控制系统和复合体
公开(公告)号：US08843232B2
公开(公告)日：2014-09-23
申请号：US12512383
申请日：2009-07-30
申请人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hüfner , Raimund Kram
发明人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hüfner , Raimund Kram
IPC分类号： G06F7/00 , G05B19/418
CPC分类号： G05B19/4182 , G05B2219/34246 , G05B2219/39102 , G05B2219/45054 , G05B2219/50216 , Y02P90/083
摘要： A control method for a complex consisting of a plurality of multiaxial handling devices arranged in succession and/or side by side, is provided. A complex consisting of a plurality of multiaxial handling devices, arranged in succession and/or side by side, for the execution of multidimensional working and/or handling movements and consisting of at least one conveyor facility for transporting objects is controlled. The handling devices are provided for picking up, processing and setting down the objects being transported along. The guide value for the multidimensional movement sequence of handling devices is modeled on one or more objects transported along by a conveyor facility as a guide value in a distributed multiaxial system with synchronous operation, such as for example in the case of a printing machine, a paper mill or rolling mill or the like.
摘要翻译：提供了一种由多个并列排列的多轴处理装置构成的复合体的控制方法。由多个多轴处理装置构成的复合体由多个连续和/或并排布置，用于执行多维工作和/或处理运动，并由至少一个用于输送物体的传送设备组成。处理装置用于拾取，处理和放下正在运输的物体。处理装置的多维运动顺序的引导值被建模在一个或多个物体上，作为输送设备传送的物体作为具有同步操作的分布式多轴系统中的引导值，例如在印刷机的情况下，造纸厂或轧机等。

9. 发明授权

US08386069B2 Method of synchronizing a pickup of a handling device, a computer readable medium and a control device 有权
标题翻译：同步处理装置的拾取器，计算机可读介质和控制装置的方法
公开(公告)号：US08386069B2
公开(公告)日：2013-02-26
申请号：US12498570
申请日：2009-07-07
申请人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hüfner , Raimund Kram
发明人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hüfner , Raimund Kram
IPC分类号： B65G47/74
CPC分类号： G05B19/4103 , G05B19/41815 , Y02P90/08 , Y02P90/12
摘要： A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.
摘要翻译：公开了一种使处理装置，计算机可读介质和控制装置的拾取器同步的方法。在移动期间，多轴处理装置的拾取器与被拾取的物体同步，该物体由传送装置携带。此外，拾取器与移动的输送装置同步，以将物体向下放置在输送装置上。拾取器沿起始点和目的地点之间的至少3阶的计算确定多项式路径同步。

10. 发明授权

US07734360B2 Industrial controller based on distributable technology objects 有权
标题翻译：基于可分配技术对象的工业控制器
公开(公告)号：US07734360B2
公开(公告)日：2010-06-08
申请号：US12333761
申请日：2008-12-12
申请人： Wolfgang Horn , Johannes Birzer , Tino Heber , Raimund Kram , Martin Kiesel
发明人： Wolfgang Horn , Johannes Birzer , Tino Heber , Raimund Kram , Martin Kiesel
IPC分类号： G05B19/42 , G05B11/01 , G05B19/18 , G06F9/44 , G06F9/445
CPC分类号： G05B19/41865 , G05B19/0426 , Y02P90/20
摘要： A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.
摘要翻译：公开了一种基于技术对象来控制工业控制器的方法和系统。技术对象类型可以被加载并实例化到控制器的运行时间系统中，从而增加了控制器的功能并提供了技术缩放。技术对象类型可以以技术包的形式加载，并且用户可以直接在用户程序中使用本发明的功能。

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