Operation of at least a two-axis machine tool

Abstract

The invention relates to a method for operating a machine tool (1) having at least two axes, a geometric specification of a path being preset and a feed movement being carried out in accordance with the path by moving the first axis (X1, X2, X3) and the second axis (X1, X2, X3) at least simultaneously in sections. By means of a control unit (2), a first maximum value of a first kinematic parameter associated with the feed movement along a section of the path is determined from the geometric specification, the feed movement along the section is planned by means of the control unit (2) taking into account the first maximum value and the axes (X1, X2, X3) are actuated in order to carry out the feed movement in accordance with the planned movement.

Description

Technical Field

[0001] The present invention relates to a method for operating a machine tool having at least two axes, wherein a geometric description of a path is predetermined and a feed movement is performed according to the path by at least partially simultaneously moving a first axis and a second axis of the machine tool. The present invention also relates to a control system for a machine tool having at least two axes, a machine tool, a computer program product, and a computer-readable storage medium. Background Art

[0002] Known machine tools are designed, constructed, and delivered as so-called universal machines. This means that all common control functions are in operation, making them available for universal use. The conditions and purposes for which the machine tool is actually used, such as which parts are produced and how the machine tool is loaded, are not considered during the design of the control system. Accordingly, the machine tool control is also parameterized, for example with regard to setting the axis dynamics, to ensure that the machine tool can be used as stably and robustly as possible.

[0003] WO 2008 / 125656 A1 discloses a method and a device for motion-guiding a movable machine element of a numerically controlled machine, wherein a motion path of the machine element is broken down into successive motion segments, wherein a maximum possible path velocity, a maximum possible path acceleration, and a maximum possible path jerk are determined according to predefined limitations of the machine axes, wherein local minima of the maximum possible path velocity are determined, wherein for each local minimum, an associated left-hand and right-hand path velocity segment is determined, wherein the path velocity extends substantially through the lower level of the discontinuity jump of the maximum possible path velocity and, in the case of an increasing course of the maximum possible path velocity, does not reach the lower level of the discontinuity jump before the respective discontinuity jump.

[0004] A method for operating a machine tool is known from DE 102006030177A1, wherein a tool of the machine tool can be moved within a travel range along a path curve that can be described in a spatial coordinate system, wherein the path curve can be described with the aid of a parameterized curve that is associated with a time-dependent curve parameter function, and wherein the curve parameter function can be described as a polynomial of at least quadratic degree.

[0005] EP 3623887 A1 discloses a machine having a plurality of positionally adjustable axes which, as a whole, cause two elements of the machine to move relative to one another. A control device controls the axes of the machine so that the elements are moved sequentially relative to one another over a path segment with a velocity profile defined for the path segment and an acceleration profile defined thereby. The path segments each have a beginning and an end, wherein the end and the beginning of directly adjacent path segments differ in the orientation of at least one axis. The control device determines a time-optimized, continuous, and limited in velocity (v), acceleration (a), and jerk (r) motion guide for the axes from the end of the subsequent path segment to the beginning. This determination is carried out so that at the end of a path segment, the movement of the elements relative to each other transitions continuously in terms of position (x), velocity (v) and acceleration (a) into the determined motion guidance, and at the beginning of another path segment, the motion guidance transitions continuously in terms of position (x), velocity (v) and acceleration (a) into another path segment.

[0006] Thanks to robust control parameterization, universal machine tools are able to produce many different workpieces within more or less acceptable machining times. However, the disadvantage of this robust parameterization is that compromises must always be made. Therefore, requirements for dimensional accuracy, machining time, or surface quality may differ between different workpieces. However, with robust parameterization, compromises are made between all of these goals to ensure universal usability overall. This results in productivity losses in the form of longer machining times, reduced surface quality, and / or lower achievable accuracy. Summary of the Invention

[0007] Against this background, the object of the present invention is to provide an improved concept for a machine tool operating at least two axes, by means of which individual requirements with regard to productivity and / or quality can be better taken into account.

[0008] This object is achieved by the respective subject matter of the independent claims. Advantageous developments and preferred embodiments are the subject matter of the dependent claims and the parallel independent claim.

[0009] The improved design is based on the idea of ​​determining the parameterization of the machine control at least partially on a specific path, for example predefined by a subroutine, by determining at least one maximum value of a kinematic parameter of the feed movement on the basis of the geometric description of the path.

[0010] According to an improved embodiment, a method for operating at least a two-axis machine tool is provided, wherein a geometric description of a path is predefined, and a feed motion is performed according to the path by at least partially simultaneously moving a first axis and a second axis of the machine tool. A control unit of the machine tool determines a first maximum value of a first kinematic parameter associated with the feed motion along a section of the path based on the geometric description. The control unit plans the feed motion along the section taking into account the first maximum value, and the control unit controls the first and second axes so that the feed motion is performed according to the planned motion along the section.

[0011] The path is determined by a geometric description, specifically by points in n-dimensional parameter space and interpolated segments between possible points, where n corresponds to the total number of axes. For example, in a machine tool with three linear axes, n is equal to 3; with three additional rotary axes, n is equal to 6, and so on. In particular, the path does not include any specifications regarding the actual path velocity, actual path acceleration, actual path jerk, etc. However, the path can include limitations on these values.

[0012] This path can be the path of a tool or a workpiece of a machine tool. The feed motion corresponds in particular to a movement of the tool relative to the workpiece. Thus, the feed motion can be performed by moving the tool while the workpiece is fixed in position, by moving the workpiece while the tool is fixed in position, or by a combination of these two possibilities. The term "fixed position" should be understood as meaning that no movement occurs in a coordinate system that is fixedly connected to the machine tool or its frame.

[0013] The geometric description of the path can be predetermined, for example, in the form of a subprogram, in particular an NC subprogram or a CNC subprogram, by virtue of the subprogram being stored on a memory unit or a control unit of the machine tool.

[0014] In principle, the first axis and the second axis can each be a rotation axis or a linear axis. In a preferred embodiment, the first axis and the second axis are each a linear axis.

[0015] Kinematic parameters can be understood to be, in particular, single or multiple time derivatives of the path position, ie, path velocity, path acceleration, path jerk, etc. In particular, kinematic parameters according to this understanding are expressed by d n s / dt n Given, where n is an integer greater than or equal to 1.

[0016] The maximum value of the first kinematic parameter can be considered, in particular, the maximum value of the absolute value of the kinematic parameter. For example, to define the first maximum value based on a geometric description, the control unit can determine, in particular, a local gradient or a local curvature of the path in the segment and determine the first maximum value based thereon. The local gradient, curvature, etc. can be included in a subroutine or calculated by the control unit based on the geometric description.

[0017] Planning the feed motion along a segment includes, for example, determining all required kinematic axis parameters, i.e., axis speed, axis acceleration, axis jerk, etc., for each individual axis along the segment, or determining corresponding control parameters or current levels for the corresponding axis drives of the machine tool. Planning the feed motion in particular includes determining one or more specific values ​​for the first kinematic parameter while taking into account a first maximum value, i.e., while not exceeding the specific value of the first kinematic parameter along the segment.

[0018] Thus, unlike in universally parameterized machine tools or machine tool controls, according to this improved design, the first maximum value is determined based on a specifically predefined path. The first maximum value and the corresponding first kinematic parameter can thus be optimally and individually adapted to the path or each segment of the path. Consequently, when determining the first maximum value or the first kinematic parameter, fewer or no compromises must be made that would sacrifice the desired manufacturing quality or operating speed but offer no advantages in the specific case.

[0019] For example, if the shortest possible run time is the priority, the first maximum value can be selected differently than if the priority is maximum precision, for example, minimal overshoot of an axis. The first maximum value can be determined differently for different sections of the path, allowing individually adapted route planning and thus an increase in the productivity and / or quality of the finished workpieces or workpiece measurements performed using the machine tool.

[0020] It should be noted that the first maximum value determined as described based on the geometric description of the path cannot be fully utilized in all cases, as limitations may arise due to other axes or other kinematic parameters. Therefore, in this case, the feed motion is planned with the first maximum value in mind, with the understanding that it should not be exceeded. In other words, other maximum values ​​may result for the first kinematic parameter, which are predetermined in other ways or by other boundary conditions. The planning of the feed motion ensures that the first kinematic parameter is always less than its smallest maximum value. The same applies to the other kinematic parameters discussed below.

[0021] In various embodiments of the method, the method steps of determining the first kinematic parameters and planning the feed motion can be performed, for example, offline, i.e., before the machine tool begins operating, in particular before the feed motion begins. The offline steps can be performed, for example, by means of a first sub-processing unit of a control unit, while the actual axis control can be performed by means of a second sub-processing unit of the control unit. The sub-processing units can be designed, in particular, to be independent of one another and / or spatially separated from one another and to communicate with one another wirelessly or by wire, so that, in particular, the first sub-processing unit can transmit the structure of the feed motion plan to the second sub-processing unit.

[0022] According to at least one embodiment, a control unit determines a further first maximum value of a first kinematic parameter associated with the feed motion along another section of the trajectory based on the geometric description. The feed motion along the other section is planned by the control unit taking into account the further first maximum value. To execute the feed motion along the other section according to the planned motion, the first axis and the second axis are controlled by the control unit.

[0023] Here, the first maximum value associated with this section and another first maximum value associated with another section typically differ from each other. Accordingly, the planning of the feed motion associated with the first kinematic parameters in this section can also deviate from the planning of the other sections. This allows for individual conditions and requirements to be met within the production or measurement of individual workpieces, depending on the area of ​​the workpiece being processed or measured. For example, it can be advantageous to determine the first kinematic parameters differently in areas with low surface curvature than in areas of the same workpiece with high local curvature.

[0024] According to at least one embodiment, the first maximum value is given by the maximum path speed of the feed movement.

[0025] Here, the path velocity of the feed motion is determined by v B =ds / dt, where s corresponds to the position on the path. Here, s can be understood as a function of the respective axis coordinates of at least two axes of the machine tool, so that in particular s=s(x1, x2), where x1 and x2 are the coordinates corresponding to the first axis or the second axis.

[0026] The first maximum value is defined by the maximum path speed, which can be understood to mean, in particular, that the first maximum value is equal to the maximum path speed or a function of the maximum path speed and, if necessary, a path-related parameter. It should be noted that the maximum path speed is not considered as a function of time, but rather as a value, so that the function does not include any time derivatives. In various embodiments, the maximum path speed can be a function of the path, for example, as a polynomial function.

[0027] According to the invention, a second maximum value of a second kinematic parameter associated with the feed motion along the segment is determined by means of a control unit based on a geometric description, for example offline. Planning of the feed motion along the segment is performed taking into account the second maximum value.

[0028] According to at least one embodiment, the second maximum value is given by the maximum path acceleration of the feed movement. In particular, the path acceleration corresponds to a B =d 2 s / dt 2 .

[0029] In particular, the first kinematic parameter and the second kinematic parameter are dependent on one another. If the first kinematic parameter is a function of the path velocity and the second kinematic parameter is a function of the path acceleration, they generally cannot be determined independently of one another. By taking into account the first and second kinematic parameters and the corresponding limits according to the first and second maximum values, a constant optimization of the path planning can be achieved.

[0030] According to the present invention, a value range for the first maximum value is determined, in particular, by means of a control unit, depending on a predefined first kinematic limit value of the first axis. In particular, a value range for the second maximum value is determined, in particular, by means of the control unit, depending on the first kinematic limit value of the first axis. To determine the first and second maximum values, a dividing parameter is determined by means of the control unit based on a geometrical description, by which the first and second maximum values ​​are clearly defined within the respective value ranges.

[0031] The first kinematic limit value of the first axis can in particular be a maximum axis acceleration of the first axis, which is fixedly predefined for the machine tool, for example, and does not change within the scope of the parameterization of the control.

[0032] From the equations of motion of the axes, a relationship can be established between the respective axis acceleration on the one hand and the path velocity and the path acceleration on the other hand. In particular, the axis acceleration of an axis is given by the sum of a centripetal component proportional to the square of the path velocity and a track acceleration component proportional to the path acceleration. Since the respective axis acceleration is limited by the first kinematic limit value, the limit values ​​of the centripetal term and the path acceleration term must be divided accordingly in order to parameterize the control. In this case, the division parameter determines to a certain extent: how much of the available axis acceleration should be attributed to the centripetal term and which correspondingly to which portion should be attributed to the path acceleration term. The division parameter can be regarded as the effect of the curvature on the path acceleration and can therefore be called, for example, CEOPA (English: "curve effect on patch acceleration").

[0033] By selecting the CEOPA, the available axis accelerations can thus be divided optimally according to the specific requirements by determining the CEOPA independently of one another according to the geometrical description and in particular for each section of the path.

[0034] It should be noted that specific path planning must take into account the limitations of all axes. Accordingly, the explanations regarding the first axis in the corresponding embodiment can be transferred to all other axes of the machine tool. In particular, a corresponding partitioning based on the partitioning parameters can also be performed for the second axis of the machine tool and for each additional axis. For example, if the maximum axis accelerations of the individual axes differ, it may not be possible to fully utilize the full range of values, and the boundary conditions of the remaining axes must be considered.

[0035] According to at least one embodiment, an optimization method is carried out by means of the control unit to determine the partitioning parameter, wherein the partitioning parameter serves as the optimization parameter.

[0036] Due to the possible interactions of the individual axes with regard to the permissible value ranges, the optimization method can take into account corresponding boundary conditions in order to take all axis limitations into account.

[0037] By performing the optimization using the division parameter as the optimization parameter, the respectively specified requirements, for example with regard to quality or runtime, can be achieved as well as possible.

[0038] According to at least one embodiment, the run time for machining or measuring a workpiece according to a path is used as a target function of the optimization method.

[0039] In such an embodiment, for example, larger dimensional tolerances can be accepted than would be the case in a general, robust design of a machine tool. For example, a higher degree of axis overshoot can be accepted in order to achieve the goal of the shortest possible run time.

[0040] According to at least one embodiment, a characteristic variable for the accuracy of machining or measuring a workpiece according to a path is used as a target function of the optimization method.

[0041] For example, in this embodiment, the focus is not necessarily on minimizing the run time, but on moving the axis as precisely as possible along the path. This is particularly important, for example, when measuring workpieces, when increasing demands are made on dimensional stability, or when the tolerances for manufacturing workpieces are very small.

[0042] According to at least one embodiment, a characteristic variable for the surface quality of a workpiece processed as a function of the path is used as a target function of the optimization method.

[0043] For example, the surface quality can be optimized by moving the axes as evenly as possible without sudden changes of direction, etc.

[0044] Thanks to the improved design, the machine tool can therefore operate optimally according to the actual requirements.

[0045] Different target functions can also be combined for different areas of the workpiece or for different sections of the path, so that, for example, the shortest possible run time is the priority in a first area of ​​the workpiece, but the highest possible accuracy or surface quality is the priority for another area.

[0046] According to at least one embodiment, a third maximum value of a third kinematic parameter associated with the feed movement along the segment is determined by the control unit based on the geometric description. The feed movement along the segment is planned taking into account the third maximum value.

[0047] According to at least one embodiment, the third maximum value is given by the maximum path jerk of the feed movement. 3 s / dt 3 given.

[0048] As explained above for the axis acceleration, a fixed maximum axis jerk can also be preset for each of the machine tool axes. Due to the kinematic relationship between axis jerk and path acceleration, path velocity, and path jerk, corresponding limitations are also achieved for path acceleration, path velocity, and path jerk by limiting the axis jerk. Here, too, the available maximum axis jerk can be effectively divided into individual terms using two further division parameters, which can also be referred to as CEOPJ and CEOPAJ (in English: curve effect on path jerk or curve effect on path acceleration jerk). The division is then given, for example, by a first term that is proportional to the cube of the path velocity, a second term that is proportional to the product of the path velocity and the path acceleration, and a third term that is proportional to the path jerk.

[0049] The resulting limitations on, for example, the path speed, path acceleration and path jerk can also be taken into account as further boundary conditions for determining the first maximum value or the second maximum value of the first kinematic parameter or the second kinematic parameter in the manner described above.

[0050] By correspondingly individualizing the third maximum value or individually limiting the third kinematic parameter by geometrical specification, the parameterization of the control can be further personalized and optimized.

[0051] According to an improved design, a control system for at least a two-axis machine tool is also provided, wherein the control system comprises or is formed by a control unit. The control unit is configured to control the machine tool so as to execute a feed motion according to a path defined by a predetermined geometric description by at least partially simultaneous movement of a first axis and a second axis of the machine tool. The control unit is configured to determine, based on the geometric description, a first maximum value of a first kinematic parameter associated with the feed motion along the segment of the path and to plan the feed motion along the segment taking into account the first maximum value. To execute the feed motion according to the planned movement along the segment, the control unit is configured to control the first axis and the second axis.

[0052] Other embodiments of the control system according to the improved design are directly derived from the various embodiments of the method according to the improved design and vice versa. In particular, the control system according to the improved design is designed or programmed to: carry out the method according to the improved design or the control system carries out such a method.

[0053] According to this improved design, a machine tool is also proposed, which is constructed at least biaxially and contains a control system according to the improved design.

[0054] According to the improved design, a computer program is also proposed, which has instructions, wherein when the instructions or computer program are executed by a control system according to the improved design, in particular by a control unit of the control system, the instructions cause the control system to perform the method according to the improved design, and / or when the instructions are executed by a machine tool according to the improved design, in particular by a control unit of the control system of the machine tool, the instructions cause the machine tool to perform the method according to the improved design.

[0055] According to the improved design, a computer-readable storage medium is also provided, which stores a computer program according to the improved design. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The present invention will be explained in more detail below based on specific embodiments and the corresponding schematic diagrams.

[0057] Figure 1 A schematic diagram shows an exemplary embodiment of a machine tool according to an improved design. DETAILED DESCRIPTION

[0058] exist Figure 1Schematically depicts an exemplary embodiment of a machine tool 1 according to an improved design, which is designed to move a tool 3 relative to a workpiece 4 along at least two linear axes, in the present example, three linear axes X1, X2, and X3. Feed motions can be performed by moving the tool 3 while the workpiece 4 is stationary, and vice versa. The illustration of the machine tool 1 in the figure is to be understood as purely schematic and exemplary and, in particular, does not restrict the improved design with respect to the type of machine tool or feed motion.

[0059] The machine tool 1 also has a control unit 2 which is a control system according to an improved design.

[0060] Maximum achievable path speed v at machine tool 1 B is limited by the axial dynamic limit. For example, the dynamic limit of axis i can be the maximum axis speed v i,max , maximum axis acceleration a i,max and maximum axial jerk j i,max The shaft speed is determined by v i =dx i / dt is given by the axis acceleration through a i =d 2 x i / dt 2 Given, and the axis jerk is given by j i =d 3 x i / dt 3 Given, where x i represents the coordinate corresponding to axis i or the degree of freedom corresponding to axis i. Thus, by means of λ i =dx i / ds,k i =d 2 x i / ds 2 and m i =d 3 x i / ds 3 Applicable to

[0061] v i = λ i *v B , (1)

[0062] a i = k i *v B 2 + λ i *a B , and (2)

[0063] j i = mi *v B 3 + 3*k i *v B *a B + λ i *j B . (3)

[0064] Shaft speed v i For path velocity v B has a direct impact. Equation (1) is the shaft speed v i and path velocity v B The linear relationship between the maximum allowable shaft speed v i,max Knowing this, the first maximum achievable path speed v can be determined from equation (1) B .

[0065] In contrast, the relationship in equation (2) is not linear and cannot be easily solved. i An optimal partitioning must be made between the two terms on the right side of equation (2), which can be called the centripetal term and the orbital acceleration term. The partitioning can be done with the aid of the partitioning parameter CEOPA i To achieve, where 0≤CEOPA i ≤1, the division parameter is to a certain extent the centripetal term to retain the maximum axial acceleration a i,max Part of:

[0066] CEOPA i * a i,max := k i *v B,max 2 , (4)

[0067] Make the maximum path speed v B,max Given by:

[0068] v B,max = (CEOPA i * a i,max / k i ) 1 / 2 . (5)

[0069] Therefore, for the path acceleration term we get:

[0070] (1 - CEOPA i ) * a i,max = λ i *a B,max (6)

[0071] or

[0072] a B,max = (1 - CEOPA i ) * a i,max / λ i . (7)

[0073] In understanding the maximum axis acceleration a i,max and the coefficient CEOPA i In the case of , the other maximum achievable path speed v can be determined according to equations (5) and (7) B,max and the maximum achievable path acceleration a B,max , whereby the restrictions of equation (1) must be taken into account if necessary.

[0074] A subroutine containing a geometrical description of the path along which the feed motion is to be performed is stored in a memory unit of the control unit 2. The control unit 2 can plan the feed motion for individual segments or all segments of the path based on the predefined geometrical description.

[0075] For this purpose, the control unit 2 can for example determine the maximum path speed v B,max And considering the maximum path speed v B,max The feed motion along the segment is planned in the following way: the actual path speed v along the segment B The absolute value does not exceed the maximum or programmed path speed v B,max .

[0076] In order to determine the maximum path speed v B,max , the control unit 2 determines in particular the CEOPA i It must be taken into account that the relationship (5) applies to all axes of the machine 1. Therefore, the maximum path speed v B,max The determination is carried out in particular taking into account all corresponding connections, for example as the maximum path speed v B,max The minimum possible value of .

[0077] By determining CEOPA i , the maximum path acceleration a can also be determined via association (7) B,max , wherein the corresponding associations of all axes are also taken into account here.

[0078] CEOPA can be selected differently for different workpiece categories or for each specific workpiece 4. i , and if necessary, can also be dynamically changed for different sections of the path when processing or measuring a single workpiece 4.

[0079] Here, CEOPA iThe larger the value determined for , the more attention is paid to achieving the highest possible path speed or centripetal acceleration at the expense of the maximum available path acceleration, and vice versa. For example, in the case of small path curvature, CEOPA i Can be selected to be quite large, ie in particular greater than 0.5. In the case of larger curvatures within the same workpiece 4 or in other components or component types, for example, a smaller CEOPA can be selected. i A value, in particular a value of approximately 0.5, is used in order to achieve a symmetrical division between the centripetal acceleration and the path acceleration.

[0080] Maximum axis jerk j i,max The simulation partitioning of can be performed based on equation (3). For this purpose, two additional partitioning parameters CEOPJ are required: i and CEOPAJ i :

[0081] CEOPAJ i *j i,max := m i *v B,max 3 , (8)

[0082] CEOPJ i *(1-CEOPAJ i )*j i,max := 3*k i *v B,max *a B,max , (9)

[0083] So that subsequently

[0084] [1 – CEOPJ i *(1-CEOPAJ i )]*j i,max = λ i *j B,max , (10)

[0085] or

[0086] j B,max = [1 – CEOPJ i *(1-CEOPAJ i )]*j i,max / λ i (11)

[0087] As above for CEOPA i As mentioned above, the division parameter CEOPAJ i and CEOPJ i It can also be adapted and optimized according to specific requirements.

[0088] In various embodiments, when machining or measuring a workpiece 4 using the machine tool 1, corresponding real-time parameters can also be stored during each run. These real-time parameters or data can be taken into account in subsequent runs. This allows, when machining the same workpiece 4, the calculation steps required for optimizing or determining the partitioning parameters to be omitted if necessary. Alternatively or additionally, the partitioning parameters can also be adapted iteratively to gradually achieve the optimal result.

[0089] As described, the improved design enables the control of a machine tool having at least two axes to be individually and optimally parameterized, so that compromises such as are accepted in universally parameterized control devices can be avoided and thus overall operating times can be reduced and / or production or measurement quality can be increased depending on the specific requirements.

[0090] In corresponding developments, the improved design can also be used accordingly for the cross-axis accuracy or for adjusting other relevant parameters of the drive.

Claims

1. A method for operating a machine tool (1) having at least two axes, wherein: A geometrical description of a path is predefined, and a feed movement is performed according to the path by simultaneously moving a first axis (X1, X2, X3) and a second axis (X1, X2, X3) of the machine tool (1) at least in sections, wherein: - determining, by means of a control unit (2) of the machine tool (1), a first maximum value of a first kinematic parameter associated with the feed movement along the section of the path according to the geometric description; - planning the feed movement along the segment by means of the control unit (2) taking into account the first maximum value; - in order to carry out the feed movement according to the planned movement along the segment, the first axis (X1, X2, X3) and the second axis (X1, X2, X3) are driven by means of the control unit (2); It is characterized by: - determining, by means of the control unit (2), a second maximum value of a second kinematic parameter associated with the feed movement along the segment according to the geometric description; - performing planning of the feed movement along the segment taking into account the second maximum value; - determining a value range of the first maximum value according to a predefined first kinematic limit value of the first axis (X1, X2, X3); - determining a value range of the second maximum value as a function of the first kinematic limit values ​​of the first axis (X1, X2, X3); and - for determining the first maximum value and the second maximum value, determining a partitioning parameter by means of the control unit (2) according to the geometrical description, by means of which the first maximum value is limited within a value range of the first maximum value and the second maximum value is limited within a value range of the second maximum value, The division parameter, which determines how much of the available axis acceleration should be attributed to the centripetal term and how much to the path acceleration term, can be considered as the effect of the curvature on the path acceleration and thus as the influence of the curvature on the path acceleration.

2. The method according to claim 1, characterized in that The first maximum value is given by the maximum path speed of the feed movement.

3. The method according to claim 1 or 2, characterized in that In order to determine the division parameter, an optimization method is carried out by means of the control unit (2), wherein the division parameter is used as an optimization parameter.

4. The method according to claim 3, characterized in that The run time for machining or measuring a workpiece (4) according to the path is used as an objective function of the optimization method.

5. The method according to claim 3, characterized in that A characteristic variable for the accuracy of machining or measuring a workpiece (4) according to the path is used as an objective function of the optimization method.

6. The method according to claim 3, characterized in that Characteristic variables for the surface quality of a workpiece (4) machined according to the path are used as a target function of the optimization method.

7. The method according to claim 1 or 2, characterized in that The second maximum value is given by the maximum path acceleration of the feed movement.

8. The method according to claim 1 or 2, characterized in that - determining, by means of the control unit (2), a third maximum value of a third kinematic parameter associated with the feed movement along the segment according to the geometric description; and Planning of the feed movement along the segment is performed taking into account the third maximum value.

9. The method according to claim 8, characterized in that The third maximum value is given by the maximum path jerk of the feed movement.

10. A control system for a machine tool (1) having at least two axes, wherein: The control system comprises a control unit (2) which is designed to control the machine tool (1) to perform a feed movement according to a path defined by a predetermined geometric description by simultaneously moving a first axis (X1, X2, X3) and a second axis (X1, X2, X3) of the machine tool (1) at least in sections, wherein the control unit (2) is designed to: - determining a first maximum value of a first kinematic parameter associated with the feed movement along the segment of the path according to the geometric description; - planning the feed movement along the segment taking into account the first maximum value; - actuating the first axis (X1, X2, X3) and the second axis (X1, X2, X3) in order to carry out the feed movement according to the planned movement along the segment; It is characterized by: The control unit (2) is designed to: - determining a second maximum value of a second kinematic parameter associated with the feed movement along the segment according to the geometric description; - performing planning of the feed movement along the segment taking into account the second maximum value; - determining a value range of the first maximum value according to a predefined first kinematic limit value of the first axis (X1, X2, X3); - determining a value range of the second maximum value as a function of the first kinematic limit values ​​of the first axis (X1, X2, X3); and - for determining the first maximum and the second maximum, determining a partitioning parameter according to the geometrical description, via which the first maximum is defined within a value range of the first maximum and the second maximum is defined within a value range of the second maximum, The division parameter, which determines how much of the available axis acceleration should be attributed to the centripetal term and how much to the path acceleration term, can be considered as the effect of the curvature on the path acceleration and thus as the influence of the curvature on the path acceleration. 11 . A machine tool which is constructed at least biaxially and comprises a control system according to claim 10 .

12. A computer program product having instructions which, when executed by a control system according to claim 10, cause the control system to perform the method according to any one of claims 1 to 9.

13. A computer-readable storage medium storing the computer program product according to claim 12.

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