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1. 发明申请

US20080281441A1 Method and Facility for Positioning an Element of a Machine 有权
标题翻译：用于定位机器元件的方法和设备
公开(公告)号：US20080281441A1
公开(公告)日：2008-11-13
申请号：US11885574
申请日：2006-02-28
申请人： Kay Grammatke , Tino Heber , Raimund Kram
发明人： Kay Grammatke , Tino Heber , Raimund Kram
IPC分类号： G05B19/18 , G05B11/32
CPC分类号： G05B19/402 , G05B2219/35473 , G05B2219/37357 , G05B2219/43041 , G05B2219/43115
摘要： There is described a method and a device for positioning an element of a machine. A setpoint position variable is generated, said setpoint position variable is reduced by means of a limiting variable and a modified setpoint position variable which is forwarded as a setpoint variable to a controller for positioning the element is formed in this manner. An expected setpoint position variable is determined from the modified setpoint position variable, the braking distance of the element is determined from the expected setpoint position variable, and a braking process of the element is initiated if the braking distance matches a target position which is reduced by the expected setpoint position variable. An element of a machine can so be positioned with accuracy.
摘要翻译：描述了用于定位机器的元件的方法和装置。产生设定点位置变量，通过限制变量减小所述设定点位置变量，并且以这种方式形成作为设定点变量转发到用于定位元件的控制器的修改的设定点位置变量。根据修正的设定点位置变量确定预期的设定点位置变量，根据预期的设定点位置变量确定元件的制动距离，并且如果制动距离与目标位置相匹配，则起动该元件的制动过程，预期设定点位置变量。机器的元件可以精确定位。

2. 发明授权

US07729788B2 Method and facility for positioning an element of a machine 有权
标题翻译：用于定位机器元件的方法和设备
公开(公告)号：US07729788B2
公开(公告)日：2010-06-01
申请号：US11885574
申请日：2006-02-28
申请人： Kay Grammatke , Tino Heber , Raimund Kram
发明人： Kay Grammatke , Tino Heber , Raimund Kram
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： G05B19/402 , G05B2219/35473 , G05B2219/37357 , G05B2219/43041 , G05B2219/43115
摘要： There is described a method and a device for positioning an element of a machine. A setpoint position variable is generated, said setpoint position variable is reduced by means of a limiting variable and a modified setpoint position variable which is forwarded as a setpoint variable to a controller for positioning the element is formed in this manner. An expected setpoint position variable is determined from the modified setpoint position variable, the braking distance of the element is determined from the expected setpoint position variable, and a braking process of the element is initiated if the braking distance matches a target position which is reduced by the expected setpoint position variable. An element of a machine can so be positioned with accuracy.
摘要翻译：描述了用于定位机器的元件的方法和装置。产生设定点位置变量，通过限制变量减小所述设定点位置变量，并且以这种方式形成作为设定点变量转发到用于定位元件的控制器的修改的设定点位置变量。根据修正的设定点位置变量确定预期的设定点位置变量，根据预期的设定点位置变量确定元件的制动距离，并且如果制动距离与目标位置相匹配，则起动该元件的制动过程，预期设定点位置变量。机器的元件可以精确定位。

3. 发明授权

US08155781B2 Automation system and method for movement control of at least one moveable machine element 有权
标题翻译：用于至少一个可移动机器元件的运动控制的自动化系统和方法
公开(公告)号：US08155781B2
公开(公告)日：2012-04-10
申请号：US10500229
申请日：2002-12-27
申请人： Johannes Birzer , Tino Heber , Raimund Kram
发明人： Johannes Birzer , Tino Heber , Raimund Kram
IPC分类号： G05B19/25 , G05B19/23 , G05B19/18 , G05B15/00 , G05B19/42 , G06F19/00 , B25J9/22
CPC分类号： G05B19/4103 , G05B2219/35585
摘要： In order to improve movement control in an automation system for movement control, profiles for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for the defined functions, the interpolations being of a higher degree. The profile for movement control has a command variable and a secondary variable, at least one of which is time-based or position-related.
摘要翻译：为了改善用于运动控制的自动化系统中的运动控制，用于运动控制的轮廓通过功能自由定义。多项式内插或样条内插用于定义的函数，内插程度更高。移动控制的简档具有命令变量和次要变量，其中至少一个是基于时间或位置相关的。

4. 发明申请

US20050131563A1 Automation system and method for rmovement control of at least one movable machine element 有权
标题翻译：用于至少一个可移动机器元件的运动控制的自动化系统和方法
公开(公告)号：US20050131563A1
公开(公告)日：2005-06-16
申请号：US10500229
申请日：2002-12-27
申请人： Raimund Kram , Johannes Birzer , Tino Heber
发明人： Raimund Kram , Johannes Birzer , Tino Heber
IPC分类号： G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/35585
摘要： In order to improve movement control in an automation system for movement control, profiles (P) for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for said functions, the interpolations being of a higher degree. The profile (P) for movement control has a command variable (L) and a secondary variable (F), at least one of which is time-based or position-related.
摘要翻译：为了改善用于运动控制的自动化系统中的运动控制，用于运动控制的轮廓（P）通过功能自由定义。多项式内插或样条插值用于所述函数，内插程度更高。用于移动控制的轮廓（P）具有命令变量（L）和次要变量（F），其中至少一个是基于时间或位置相关的。

5. 发明授权

US06701210B2 Method and controller for creating and optimizing flexible, top-quality cam-disk functions directly via the control program/user program 有权
标题翻译：方法和控制器，用于通过控制程序/用户程序直接创建和优化灵活的顶级凸轮盘功能
公开(公告)号：US06701210B2
公开(公告)日：2004-03-02
申请号：US09943449
申请日：2001-08-30
申请人： Tino Heber , Holger Hüfner , Gunter Jost , Raimund Kram
发明人： Tino Heber , Holger Hüfner , Gunter Jost , Raimund Kram
IPC分类号： G06F1900
CPC分类号： G05B19/408 , G05B19/4103 , G05B2219/34093 , G05B2219/34094
摘要： A method for creating and/or optimizing a cam-disk function for a controller for controlling a moving machine element of a numerically controlled production machine during its operating time system, movement of the machine element being described in sections by the cam-disk function, comprising defining individual movement sections by segments and/or points, and interpolating between said movement sections in accordance with prescribable interpolation rules; wherein instructions for inserting said segments and points and for prescribing said interpolating rules are provided at the point in time during the operating time of the system of the machine controller.
摘要翻译：一种用于创建和/或优化用于控制器的凸轮盘功能的方法，所述控制器用于在其操作时间系统期间控制数控生产机器的移动机器元件，机器元件的移动由章节由凸轮盘功能描述，包括通过段和/或点定义各个移动部分，并且根据可规定的内插规则在所述移动部分之间进行内插; 其中在机器控制器的系统的操作时间期间的时间点提供用于插入所述段和点并用于规定所述内插规则的指令。

6. 发明申请

US20100008754A1 A METHOD OF SYNCHRONIZING A PICKUP OF A HANDLING DEVICE, A COMPUTER READABLE MEDIUM AND A CONTROL DEVICE 有权
标题翻译：一种处理处理装置的同步方法，计算机可读介质和控制装置
公开(公告)号：US20100008754A1
公开(公告)日：2010-01-14
申请号：US12498570
申请日：2009-07-07
申请人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hufner , Raimund Kram
发明人： Guido Hartmann , Tino Heber , Andre Heydenreich , Holger Hufner , Raimund Kram
IPC分类号： B65G47/74 , B65G47/90 , B65G47/00 , G06F19/00 , G05B19/4155 , G05B19/19
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。

7. 发明申请

US20090125125A1 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：US20090125125A1
公开(公告)日：2009-05-14
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： G05B11/01 , G06F9/44 , G05B19/042
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。

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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