Stopping of production machines on a collision-free trajectory

Abstract

The invention relates to a numerical controller (4) which determines a current position target value set (xi*) using predetermined parameters (V1, V2) for a position-controlled axis of a production machine (e.g. a robot, a manipulator, a machine tool) controlled by the numerical controller (4) and also determines an expected position target value set (xi*) for a prediction range (H). When driving the position-controlled axis (1) using the current position target value set (xi*), the numerical controller checks whether at least one element (2, 3) moved by driving the position-controlled axis (1) is at risk of collision with at least one other element (2, 3, 9, 10). The numerical controller performs the same check for the expected position target value set (xi*). If the numerical controller does not recognize the risk of collision, the numerical controller stores the expected position target value set (xi*) in a braking trajectory memory (11) and drives the position-controlled axis (1) using the current position target value set (xi*). As long as the numerical controller does not recognize the risk of collision, the numerical controller (4) repeats the execution method. If, on the other hand, the control device detects a risk of collision, the digital controller transfers the position-controlled axis (1) to a stopped state along a trajectory (12) defined by a set of position target values ​​(xi*) stored in a braking trajectory memory (11). If the digital controller detects a risk of collision, braking is performed along a trajectory that was previously checked for the risk of collision but in which no risk of collision was detected. Thus, the transfer to the stopped state can be performed along a trajectory where no collision occurs.

Description

Technical Field

[0001] The present invention relates to an operating method for a digital controller, wherein the digital controller executes a system program, wherein when the digital controller executes the system program

[0002] a) determining a set of current position target values ​​for a position-controlled axis using predetermined parameters for a position-controlled axis of a production machine controlled by a numerical controller,

[0003] b) when controlling the position-controlled axis with the current position target value set of the position-controlled axis, checking whether at least one element moved by the control of the position-controlled axis poses a risk of collision with at least one other element,

[0004] c) If the numerical controller subsequently detects no risk of collision in step b), the position-controlled axis is controlled using the current position target value set of the position-controlled axis and the operating method starting from step a) is repeated and

[0005] d) If the numerical controller subsequently detects a risk of collision in step b), the position-controlled axis is brought to a standstill,

[0006] The present invention further relates to a system program for a numerical controller, wherein the system program comprises a machine code which is executed by the numerical controller, wherein the execution of the machine code is caused by the numerical controller such that the numerical controller executes such an operating method.

[0007] The present invention also relates to a digital controller, wherein the digital controller is programmed with such a system program so that the digital controller executes such an operating method.

[0008] The invention also relates to a production machine,

[0009] - wherein the production machine has a plurality of position-controlled axes, by means of which elements of the production machine can be moved,

[0010] - wherein the production machine has a numerical controller, by which the position-controlled axis is driven. Background Art

[0011] Numerical controllers, associated production machines and operating methods for numerical controllers and production machines are generally known.

[0012] When operating a production machine, such as a machine tool, a robot or other processing machine, there is a risk that moving elements of the production machine collide with other moving elements or non-moving elements of the production machine. In the case of a production machine designed as a machine tool, a contact between a tool of the machine tool and a workpiece to be processed may be represented by a collision. Unexpected collisions can lead to damage to the elements that collide with each other, for example to breakage of a tool, bending of a support, scratching of the workpiece and many more problems. Such collisions are often also associated with downtimes of the production machine.

[0013] The cause of the collision can have many reasons. For example, the production machine can be programmed incorrectly. It is also possible that the components are installed manually incorrectly, for example when the workpiece is clamped in a clamping device by the machine tool. Another possible cause is the operator's incorrect presetting of the parameters for the travel movement.

[0014] In order to avoid collisions, many software-supported systems are known. They are based on different methods, but always include modeling of the production machine in three-dimensional space and take into account the dimensions of the different elements of the production machine and their kinematics. The known systems can avoid collisions in various situations. However, the systems of the prior art have a particular disadvantage when executing real-time events, which can lead to unexpected spontaneous movements at the last second during the execution of subroutines or the like. The causes of such movements can be, for example, so-called asynchronous movements, synchronous operations, coupled movements and user inputs (especially in the so-called JOG mode). Other causes are also possible.

[0015] It is known in the prior art that such real-time events are not considered at all in the scope of the prospective determination of the risk of a collision. Rather, they are only considered when these risks actually occur. In this case, the risk of a collision leading to a real-time event is purely accepted.

[0016] It is also known in the prior art that such real-time events are taken into account by the fact that the elements of the production machine must maintain a minimum spacing from each other. If a movement exceeding the minimum spacing is predetermined, the corresponding movement is not allowed or at least the travel speed is reduced. By this execution method, collisions in the event of real-time events can also be avoided. However, this solution has the disadvantage that such movements that neither cause collisions nor exceed the minimum spacing are impossible or at least are only feasible under conditions of reduced speed and thus reduced productivity. Therefore, the feasibility of the production machine in terms of the proximity of the elements of the production machine to each other or to other elements cannot be used or can only be used with reduced productivity.

[0017] If a risk of collision is detected, so-called uncontrolled braking is usually carried out in the prior art. In this type of braking, each position-controlled axis is brought to a standstill as quickly as possible independently of the other position-controlled axes. With this execution method, collisions can only be avoided in a safe manner if the elements of the production machine must always be kept at a minimum distance from one another. Summary of the invention

[0018] The object of the invention is to provide a method by which the productivity of a production machine can be optimized while collisions of elements of the production machine during operation can be avoided with a near-safe probability despite taking into account real-time events when determining position target values.

[0019] This object is achieved by an operating method having the features of the invention. Advantageous embodiments of the operating method are the subject matter of the dependent claims.

[0020] According to the invention, a method for operating a digital controller of the type mentioned at the outset is provided, wherein the digital controller, when executing a system program,

[0021] a) determining a current set of position target values ​​for a position-controlled axis of a production machine controlled by a numerical controller using predetermined parameters for the position-controlled axis and also determining a set of expected position target values ​​for the position-controlled axis for a prediction range,

[0022] b) when controlling the position-controlled axis with the current position target value set of the position-controlled axis, checking whether at least one element moved by controlling the position-controlled axis is at risk of colliding with at least one other element, and when controlling the position-controlled axis with the expected position target value set of the position-controlled axis, checking whether at least one element moved by controlling the position-controlled axis is at risk of colliding with at least one other element,

[0023] c) Subsequently, if the numerical controller does not identify a risk of collision in step b), the position-controlled axis is controlled using the current position target value set of the position-controlled axis, the expected position target value set of the position-controlled axis is stored in the braking trajectory memory, and the operating method starting from step a) is repeated and

[0024] d) Subsequently, if the digital controller identifies a risk of collision in step b), the position-controlled axis is transferred to a stopped state along a trajectory defined by a position target value group of the position-controlled axis stored in a braking trajectory memory, wherein if predetermined parameters change, such that the old trajectory (such as the trajectory defined by the contents of the braking trajectory memory in the form of an old current position target value group of the position-controlled axis and an old to-be-expected position target value group of the position-controlled axis) must be re-determined in the form of a new trajectory using a new current position target value group of the position-controlled axis and a new to-be-expected position target value group of the position-controlled axis, since the old trajectory is no longer completely encompassed by the new trajectory, in this case, i.e., when a collision is identified in the new trajectory during the check, the position target value groups of the position-controlled axis stored in the buffer memory are read sequentially from the buffer memory by the digital controller and used to control the position-controlled axis.

[0025] This is because, if the digital controller identifies a risk of collision, braking is performed along a trajectory that has previously been checked for the risk of collision but in which no risk of collision was identified. Thus, the transition to the stopped state can be performed along a trajectory where no collision occurs.

[0026] The digital controller usually controls the position-controlled axis again with the current position target value set in each time cycle. It is possible that the performance of the digital controller is so high that the digital controller executes steps a) to c) almost instantaneously (especially within a single time cycle). In this case, no special measures need to be taken in addition to the steps according to the invention. However, it is also possible that the digital controller requires multiple time cycles for executing steps a) to c), especially for executing step b). Specifically, the digital controller can require a maximum of a first number of time cycles for this. In this case, the digital controller delays the storage of the expected position target value set in the brake trajectory memory and delays the control of the position-controlled axis, calculated from the determination of the new current position target value set, preferably by the second number of time cycles. Therefore, the "old" trajectory that has been checked for collision-free will be retained before the "new" trajectory is completely checked for collision-freeness. Only when no risk of collision is identified is the "old" trajectory replaced by the "new" trajectory. If the risk of collision is identified, the transfer on the "old" trajectory enters a stopped state.

[0027] The second number of time periods is preferably measured so that the digital controller can check during the second number of time periods for the entire prediction range whether, when the position-controlled axis is actuated with the expected set of position target values, at least one element moved by actuating the position-controlled axis is at risk of colliding with at least one other element. This ensures that the check of the expected trajectory has been completed before the position-controlled axis is actuated with the associated set of current position target values.

[0028] For delayed control of a position-controlled axis, the numerical controller can, for example, store a respectively newly determined set of current position target values ​​in a buffer memory at a storage time and read it out from the buffer memory at a read time.

[0029] It is possible that the second number of time periods is a static variable. In this case, the second number of time periods can be determined, in particular taking into account the dynamics of the position-controlled axis, i.e. the maximum possible travel speed and the maximum possible acceleration. Alternatively, it is possible that the digital controller dynamically adjusts the second number of time periods as a function of the travel speed of at least one position-controlled axis. In this case, the adjustment of the second number of time periods takes into account the actual travel speed and the maximum possible acceleration of the position-controlled axis.

[0030] This object is also achieved by a system program having the features of the invention. According to the invention, a system program of the type mentioned at the outset is designed such that the execution of a machine code is caused by a numerical controller which executes the operating method according to the invention.

[0031] This object is also achieved by a digital controller having the features of the invention. According to the invention, a digital controller of the type mentioned at the outset is programmed with the system program according to the invention so that the digital controller carries out the operating method according to the invention.

[0032] This object is also achieved by a production machine having the features of the invention. According to the invention, a numerical controller for a production machine of the type mentioned at the outset is designed according to the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above characteristics, features and advantages of the present invention and the types and methods of achieving them will become more clearly understood in conjunction with the following description of the embodiment, which is explained in more detail in conjunction with the accompanying drawings. Herein, it is shown in a schematic diagram:

[0034] Figure 1 Showing the machine tool,

[0035] Figure 2 Showing the flow chart,

[0036] Figure 3 Shows a location diagram and

[0037] Figure 4 A speed graph is shown. DETAILED DESCRIPTION

[0038] according to Figure 1 , the production machine has a plurality of position-controlled axes 1. Figure 1A robot is shown purely by way of example. However, the production machine can also be designed in another way, for example as a machine tool or a handling machine.

[0039] An element 2 of a production machine is moved by means of position-controlled axes 1. The number of position-controlled axes 1 can be determined according to requirements. Typically there are three to eight position-controlled axes 1. With regard to the travel movement, typically only the "actually required" elements 2 are considered, such as, for example, the grippers in the robot shown. Strictly speaking, all intermediate segments 3 must also be considered, which are required for moving the actually required element 2 (here the grippers).

[0040] The production machine also has a numerical controller 4. The position-controlled axis 1 and thus the element 2 are driven by means of the numerical controller 4. The numerical controller 4 is programmed with a system program 5. The system program 5 includes a machine code 6. According to the programming of the numerical controller 4 with the system program 5, the numerical controller 4 executes the machine code 6. The execution of the machine code 6 is caused by the numerical controller 4, so that the numerical controller 4 executes an operating method, which is described below in conjunction with Figure 2 The digital controller 4 executes the operation method described below while executing the system program 5.

[0041] First, the numerical controller 4 receives the predetermined parameters V1, V2 in step S1. The numerical controller 4 can know the predetermined parameters V1, V2 partially or completely in advance, that is, in principle, long before the position-controlled axis 1 is driven. For example, the subroutine 7 can be predetermined for the numerical controller 4 (see Figure 1 ) and the predetermined parameters can be defined by the instruction set 8 of the subroutine 7. However, it is also possible to immediately predetermine the predetermined parameters V1, V2 for the digital controller 4, for example in the form of direct predetermined parameters V2 by an operator (not shown).

[0042] In step S2, the digital controller 4 determines the current position target value group xi* (i=1, 2, ...n, where n is the number of position-controlled axes 1). The current position target value group xi* is the position target value group xi* of the axis 1 that should be controlled at the current control position. The digital controller 4 uses predetermined parameters V1 and V2 when determining the current position target value group xi*. The position target value xi* can be related to a common coordinate system. In this case, it may be necessary to determine the corresponding control value for the position-controlled axis 1 with the aid of a kinematic transformation. Alternatively, the position target value xi* can be directly and immediately the control value for each position-controlled axis 1. In each case, the position target value xi* of the corresponding group is related to a unified time point. Therefore, they are output to the position-controlled axis 1 at the same time.

[0043] The digital controller 4 executes its entire operation mode in a clocked manner. With each time period T, a new set xi* of current position target values ​​is output to the position-controlled axis 1. The time period T can be determined as required. For example, the time period can be 4ms or 2ms or can also be 250μs or 125μs.

[0044] In step S2, the digital controller 4 not only determines the current position target value group xi*, but also additionally determines a plurality of expected groups xi* of position target values, i.e., the time series of the position target value group xi*. Therefore, the number k of the determined expected groups xi* of position target values ​​corresponds to the prediction range H=kT. The expected position target value group xi* is output to the position-controlled axis 1 as the current position target value group xi* at a later point in time, as long as no deviation occurs based on the changed predetermined parameters V1, V2. The expected position target value group xi* is completely similar to the current position target value group xi* in terms of its type. Therefore, the same reference numerals also apply.

[0045] In step S3, the numerical controller 4 checks whether there is a risk of collision when driving the position-controlled axis 1 with the current position target value set xi* determined in step S2. It is checked here whether there is a risk of collision with another element 2, 3, 9, 10 for at least one element 2, 3 that is moved by driving the position-controlled axis 1. Therefore, all moving elements 2, 3 and all other problematic elements 2, 3, 9, 10 are comprehensively checked. For example, it is checked whether the element 2 collides with one of the intermediate segments 3, the fixing element 9 or, for example, also (if this is undesirable) with the workpiece 10. With regard to the intermediate segment 3, it is also checked whether the intermediate segment collides with another intermediate segment 3, the fixing element 9 or, for example, with the workpiece 10. If the workpiece 10 is also moved, it is also checked with regard to the workpiece 10 whether the workpiece collides with the fixing element 9. Such corresponding checks are generally known to the person skilled in the art and therefore do not need to be explained in detail. For example, the various elements 2 , 3 , 9 , 10 can be modeled by means of basic geometric bodies, the movement of which is modeled taking into account the kinematic action chains corresponding to the control of the respective position-controlled axis 1 .

[0046] If the digital controller 4 identifies in step S3 that there is a risk of collision, the digital controller 4 jumps to step S4. In step S4, the digital controller 4 transfers the position-controlled axis 1 to a stopped state. The position-controlled axis thus stops moving to avoid a collision. The details will be discussed later.

[0047] If no risk of collision is detected, the digital controller 4 jumps to step S5. In step S5, the digital controller 4 performs a check completely similar to step S3 for the determined expected set xi* of position target values. If the digital controller 4 recognizes in step S5 that there is a risk of collision, the digital controller 4 jumps to step S4. If no risk of collision is detected, the digital controller 4 jumps to step S6.

[0048] In step S6, the digital controller 4 drives the position-controlled axis 1 using the current position target value set xi*. The digital controller 4 also stores the expected position target value set xi* determined in step S2 in the braking trajectory memory 11 in step S7. Therefore, the digital controller 4 then returns to step S1.

[0049] Since the expected position target value set xi* has been checked for collision-freeness before being stored in the braking trajectory memory 11, and the expected position target value set xi* also forms a time series, the expected position target value set xi* stored in the braking trajectory memory 11 is calculated according to Figure 3 The diagram in defines a trajectory 12 along which no collision is encountered. Therefore, the digital controller 4 is able to read the expected position target value set xi* stored in the braking trajectory memory 11 in step S4. Based on the trajectory 12 defined by the read expected set xi* of position target values, the digital controller 4 is therefore able to determine an emergency position target value for the position-controlled axis 1 within the scope of step S4, so that the position-controlled axis 1 is transferred to a stopped state along the trajectory 12. Therefore, the stopping operation occurs on a "safe" trajectory 12 in the sense of no collision. The stored expected set xi* of position target values ​​is in Figure 3 Indicated by a small cross. Figure 3 In the figure, purely by way of example, points P1 to P4 are shown on the trajectory 12 which are reached by the element 2 after a time period T when the position-controlled axis 1 is at a standstill. The associated position target values ​​for approaching each of the points P1 to P4 correspond to a set of emergency position target values.

[0050] If the digital controller 4 detects a risk of collision (in Figure 3If the braking trajectory memory 11 is not measured (indicated by a lightning symbol in the figure) and therefore jumps to step S4, and transfers the position-controlled axis 1 to a stopped state, then a certain time interval is required for the execution of step S4. During this time interval, the position-controlled axis 1 continues to move. Preferably, the size of the braking trajectory memory 11 is measured so that the transfer of the position-controlled axis 1 to a stopped state is completed before the end point of the trajectory 12 (such as the trajectory defined by the expected position target value group xi* stored in the braking trajectory memory 11) is reached. The corresponding size measurement of the braking trajectory memory 11 is easy to implement. The braking trajectory memory 11 can in particular have a suitable number k' of storage locations.

[0051] It is feasible that the digital controller 4 executes steps S3 and S5 during a single time period T. In this case, it is possible to directly and immediately use the Figure 2 However, it is also possible that the digital controller 4 requires a plurality of time periods T for executing steps S3 and S5. Although the number of required time periods T can vary, an upper limit for this number can be specified. This upper limit is referred to below as the first number of time periods T. In this case, Figure 2 The execution method in is modified so that the digital controller 4 stores the expected position target value set xi* in the brake trajectory memory 11 with a delay of multiple time periods T, and drives the position-controlled axis 1 with a delay of multiple time periods T. The time period of the delay is here calculated from the determination of the new set xi* of the current position target value. The corresponding number of time periods T is referred to as the second number of time periods T below.

[0052] In theory, the second number of time periods can be determined independently of the first number of time periods T. In practice, however, the second number of time periods T is preferably measured such that the digital controller 4 can check during the second number of time periods T whether, over the entire prediction range H, at least one element 2, 3 moved by the position-controlled axis (1) is at risk of colliding with at least one other element 2, 3, 9, 10 when the position-controlled axis 1 is driven with the expected position target value set xi*. For example, the digital controller 4 can be based on Figure 1 The illustration in FIG. 1 has a buffer memory 13 with a plurality of storage locations 14. In this case, the number of storage locations 14 corresponds to the second number of time periods T. In this case, after the current position target value set xi*, first the expected position target value set xi* to be output is stored in the storage location 14 of the buffer memory 13, followed by the next expected position target value set xi* to be output, and so on.

[0053] As long as the predetermined parameters V1, V2 have not changed, only the last new expected set xi* of position target values ​​has to be re-determined and checked. This is easily possible in a single time period T. Other expected sets xi* of position target values ​​can be obtained directly from previous iterations. They do not need to be re-checked because they have already been checked.

[0054] However, if the predetermined parameters V1 and V2 change, so that the "old" trajectory 12 (such as the trajectory defined by the contents of the braking trajectory memory 11 in the form of the "old" current position target value group xi* and the "old" expected position target value group xi*) must be re-determined in the form of a "new" trajectory using the "new" current position target value group xi* and the "new" expected position target value group xi*, because the "old" trajectory is no longer completely included by the "new" trajectory, for this case, that is, when the "new" trajectory identifies a collision during the inspection, the position target value group xi* stored in the buffer memory 13 is read sequentially from the buffer memory 13 by the digital controller 4 and used to drive the position-controlled axis 1.

[0055] The consideration of the changed predetermined parameters V1 , V2 is advantageously delayed until the new trajectory 12 has been completely checked for collision-free.

[0056] The prediction horizon H can be a constant. In this case, the second number of time periods T and thus the variable of the buffer memory 13 is preferably also a constant. Alternatively, according to Figure 4 It is possible that the digital controller 4 dynamically adjusts the prediction range H as a function of the travel speed v' of at least one position-controlled axis 1. In this case, the number of storage locations 14 of the buffer memory 13 can also be adapted accordingly. For example, the travel speed v' can be the travel speed of the position-controlled axis 1 that requires the longest stopping time. Alternatively, the travel speed can be a travel speed that is derived as a whole from the sum of the travel speeds of the position-controlled axes 1, in particular the travel speed v at which the moving element 2 travels.

[0057] In summary, the present invention therefore relates to the following facts:

[0058] The digital controller 4 determines a current set of position target values ​​xi* using predetermined parameters V1, V2 of a position-controlled axis 1 of a production machine controlled by the digital controller 4, and also determines an expected set of position target values ​​xi* for a prediction range H. The digital controller checks, when driving the position-controlled axis 1 with the current set of position target values ​​xi*, whether there is a risk of collision between at least one element 2, 3 moved by driving the position-controlled axis 1 and at least one other element 2, 3, 9, 10. The digital controller performs the same check for the expected set of position target values ​​xi*. If the digital controller does not recognize a risk of collision, the digital controller stores the expected value of the position target value xi* in a braking trajectory memory 11 and drives the position-controlled axis 1 with the current set of position target values ​​xi*. The digital controller 4 repeats this execution method as long as the digital controller does not recognize a risk of collision. On the contrary, if the digital controller recognizes a risk of collision, the digital controller transfers the position-controlled axis 1 to a stopped state along a trajectory 12, which is defined by the set xi* of position target values ​​stored in the braking trajectory memory 11.

[0059] The invention has many advantages. In particular, in almost all cases, the production machine can be stopped reliably without the risk of collision.

[0060] Although the present invention has been described in detail through preferred embodiments, the present invention is not limited to the disclosed examples, and those skilled in the art can derive other variations therefrom without departing from the scope of protection of the present invention.

Claims

1. A method for operating a digital controller, wherein: The digital controller executes a system program, wherein the digital controller executes the system program a) determining a set of current position target values ​​for a position-controlled axis of a production machine controlled by said numerical controller using predetermined parameters for the position-controlled axis and also determining a set of expected position target values ​​for the position-controlled axis for a prediction range, b) when controlling the position-controlled axis using a current position target value set for the position-controlled axis, checking whether at least one element moved by controlling the position-controlled axis is at risk of colliding with at least one other element, and when controlling the position-controlled axis using a desired position target value set for the position-controlled axis, checking whether at least one element moved by controlling the position-controlled axis is at risk of colliding with at least one other element, c) if the numerical controller does not identify a risk of collision in step b), the position-controlled axis is then controlled using the current position target value set of the position-controlled axis, the expected position target value set of the position-controlled axis is stored in a braking trajectory memory, and the operating method starting from step a) is repeated and d) subsequently, if the digital controller identifies a risk of collision in step b), the position-controlled axis is transferred to a stopped state along a trajectory defined by the position target value set of the position-controlled axis stored in the braking trajectory memory, wherein if predetermined parameters are changed, a new trajectory is re-determined using a new current position target value set of the position-controlled axis and a new to-be-expected position target value set of the position-controlled axis, and the old trajectory, which was defined by the content of the braking trajectory memory in the form of an old current position target value set of the position-controlled axis and an old to-be-expected position target value set of the position-controlled axis, is no longer completely encompassed by the new trajectory, For this situation, that is, when a collision is identified in the new trajectory during the inspection, the position target value group of the position-controlled axis stored in the brake trajectory memory is read out sequentially from the brake trajectory memory by the digital controller and used to drive the position-controlled axis, and the digital controller determines the position target value of the position-controlled axis so that the position-controlled axis is transferred to a stop state along the old trajectory, wherein the transfer of the position-controlled axis to the stop state is completed before reaching the end point of the old trajectory.

2. The operating method according to claim 1, characterized in that: The digital controller reuses the corresponding groups of the current position target values ​​of the position-controlled axis to drive the position-controlled axis in time cycles, so that the digital controller requires at most a first number of time cycles to execute step b), and the digital controller delays storing the expected position target value group of the position-controlled axis in the braking trajectory memory, and delays driving the position-controlled axis, calculated from the determination of the new current position target value group of the position-controlled axis, and delays the second number of time cycles.

3. The operating method according to claim 2, characterized in that: A second number of time periods is measured so that the digital controller can check, during the second number of time periods, for the entire prediction range whether, when driving the position-controlled axis using the expected position target value set for the position-controlled axis, there is a risk of collision between at least one element moved by driving the position-controlled axis and at least one other element.

4. The operating method according to claim 2 or 3, characterized in that: The digital controller dynamically tracks a second number of time periods based on a speed of travel of at least one of the position-controlled axes.

5. A system program for a digital controller, wherein: The system program comprises a machine code which is executable by the numerical controller, wherein the execution of the machine code is caused by the numerical controller such that the numerical controller carries out an operating method according to any one of the preceding claims.

6. A digital controller, wherein: The digital controller is programmed with the system program according to claim 5 , so that the digital controller executes the operating method according to any one of claims 1 to 4 .

7. A production machine, - in, the production machine having a plurality of position-controlled axes by means of which at least one element of the production machine can be moved, - wherein the production machine has a numerical controller according to claim 6, by which the position-controlled axis is driven.

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