Workflow for efficient parameterisation of a numerical control system

Abstract

In order to parameterise a numerical control system (3), a computing device (10) coupled to the numerical control system (3) executes a workflow in which jerk limit values ​​(RG) and filter frequencies (fF) for the position-controlled axes (2) are determined and transmitted to the numerical control system (3). The computing device (10) first transmits movement commands to the numerical control system (3) and receives resulting time curves for the actual position values ​​(x) of the position-controlled axes (2). On the basis of this, the lowest characteristic frequencies (fE) of the position-controlled axes (2) are determined. The position-controlled axes (2) are then selected one after the other and a corresponding jerk limit value (RG) and a corresponding filter frequency (fF) are determined by an operator (13). The determinations are limited by the computing device (10) to respective lower and upper limits (RUG, fUG, ROG, fOG). For the first-selected position-controlled axis (2), the computing device (10) determines the lower and upper limits (RUG, fUG, ROG, fOG) by taking into account the lowest characteristic frequency (fE) of the first-selected axis (2). For the other position-controlled axes (2), the determination is carried out by taking into account the lowest characteristic frequency (fE) of each selected axis (2) and the jerk limit value (RG) determined for the first-selected position-controlled axis (2) or the filter frequency (fF) determined for the first-selected position-controlled axis (2).

Description

[0001] Description

[0002] Workflow for efficient parameterization of a numerical control

[0003] The present invention is based on a parameterization method for a numerical control,

[0004] - whereby the numerical control, in normal operation, moves a tool of the machine tool along an actual path relative to a workpiece to be machined by means of the tool by coordinated control of several position-controlled axes of a machine tool, so that a maximum deviation of the actual path from a desired target path defined by a part program is maintained,

[0005] - whereby the numerical control in normal operation when moving the position-controlled axes maintains jerk limit values ​​of the position-controlled axes and filters position setpoints of the position-controlled axes into setpoint values ​​before determining control values ​​of the position-controlled axes,

[0006] - whereby, before the execution of normal operation, the jerk limit values ​​for the position-controlled axes and filter frequencies for the setpoint filters are defined in a computing device coupled to the numerical control within the framework of a workflow, and the computing device transmits the jerk limit values ​​and the filter frequencies to the numerical control.

[0007] The present invention is further based on a computer program which comprises machine code which can be processed by a computing device which can be coupled to a numerical control, wherein the processing of the machine code by the computing device causes the computing device to carry out such a parameterisation method.

[0008] The present invention is further based on a computing device which can be coupled to a numerical control and is programmed with such a computer program, so that it carries out such a parameterization method during operation.

[0009] Such parameterization procedures and the associated computer programs and computing devices are generally known.

[0010] DE 102 00 680 A1 discloses specifying jerk limits and adapting jerk profiles for a machine tool with multiple position-controlled axes, thereby influencing the filtering effect of the jerk limit. The corresponding adjustments are made separately for each axis of the machine tool involved. A similar disclosure can be found in DE 103 15 525 A1.

[0011] An operating method for a production machine is known from EP 4 130 902 A1. Within the scope of this operating method, maximum values ​​for acceleration and jerk can be specified before an identification run. During the identification run, various operating variables are recorded and from this a current and / or torque limit of the drive causing the run is specified. Other parameters can also be specified, in particular the maximum permissible jerk for subsequent operation. EP 4 130 902 A1 also mentions that position setpoint filters can be used for regular ongoing operation. The associated machine can comprise several position-controlled axes.

[0012] From DE 10 2017 106 559 A1 a method is known in which a jerk limit value is continuously adjusted during operation of a numerical control.

[0013] From EP 2 624 090 A1 it is known that a travel movement of a drive control is jerk-limited, whereby the specific course of the jerk is determined in such a way that the excitation of vibrations is suppressed.

[0014] Machine tools are complex mechatronic systems capable of oscillation. In order to be able to follow a desired target path with sufficient accuracy (and thereby apply a desired contour to a workpiece), it is necessary, among other things, that the position-controlled axes of the machine tool and the machine body as a whole oscillate only at relatively low amplitudes so that the required contour accuracy is maintained. This is especially true when, for example, very homogeneous surfaces must be produced by milling in mold making.

[0015] In the prior art, it is known, among other things, to limit the jerk with which the position-controlled axes are moved in order to avoid vibrations. It is also known to filter the position setpoints of the axes using setpoint filters.

[0016] The determination of jerk limit values ​​and filter frequencies is a demanding task that can often only be adequately solved by qualified mechatronics experts.

[0017] At this point, it should be noted that regardless of the grammatical gender of a particular term, personal terms (such as the term “mechatronics expert” here) always include persons with male, female and other gender identities.

[0018] The object of the present invention is to create possibilities by means of which the jerk limit values ​​for the position setpoints of the position-controlled axes and the filter frequencies of the setpoint filters can be determined in such a way that, on the one hand, the path can be followed as dynamically as possible and, on the other hand, the maximum deviation is maintained. The determination should be as efficient as possible, in particular with the smallest possible number of individual steps. Furthermore, the determination of the jerk limits and the filter frequencies should be able to be carried out not only by qualified mechatronics experts, but also by a machine tool commissioning engineer.

[0019] The problem is solved by a parameterization method having the features of claim 1. Advantageous embodiments of the parameterization method are the subject of dependent claims 2 to 8.

[0020] According to the invention, an operating method of the type mentioned at the outset is designed in that

[0021] - that the computing device, as part of the processing of the workflow

[0022] -- based on an operator 's input , movement commands for the position - controlled axes are determined and transmitted to the numerical control , so that the numerical control moves the position - controlled axes in accordance with the transmitted movement commands , and receives from the numerical control time profiles for the actual position values ​​of the position - controlled axes caused by the movement commands ,

[0023] -- based on the received temporal progressions of the actual position values, it determines the lowest natural frequencies of the position-controlled axes or outputs a preliminary evaluation of the temporal progressions of the actual position values ​​to the operator and receives such a determination from the operator,

[0024] -- selects the position-controlled axes one after the other and receives from the operator a specification of the jerk limit value and the filter frequency for the respectively selected position-controlled axis and

[0025] -- the specified jerk limit values ​​and the specified filter frequencies are transmitted to the numerical control ,

[0026] - that the computing device allows the setting of the respective jerk limit value only between a respective lower jerk limit and a respective upper jerk limit and allows the setting of the respective filter frequency only between a respective lower frequency limit and a respective upper frequency limit,

[0027] - that the computing device sets the lower and upper jerk limits as well as the lower and upper frequency limits for the first selected position-controlled axis, taking into account the lowest natural frequency of the first selected axis, and

[0028] - that the computing device sets the lower jerk limit and / or the upper jerk limit for the other position-controlled axes, taking into account the lowest natural frequency of the respective selected axis and the jerk limit value set for the first selected position-controlled axis, and sets the lower frequency limit and / or the upper frequency limit, taking into account the lowest natural frequency of the respective selected axis and the filter frequency set for the first selected position-controlled axis.

[0029] The movement commands for the position-controlled axes, which the computer determines at the beginning of the workflow, are usually several short, jerky movements, with the extent of movement (i.e., the travel distance) and / or the jerk varying from movement to movement. For example, three movements with distances of 1 mm, 3 mm, and 10 mm can be specified, with the jerk in all three cases being set to 100 m / s. 3is limited. The values ​​given are of course purely examples. It is possible that the movements themselves are fixed, so that the operator's input merely triggers the transmission of the movement commands to the numerical control. It is also possible that the movements themselves are already present in parameterized form in the control device, so that the operator's inputs only represent a few parameters of the movement. It is also possible that the operator's inputs specify the movement directly.

[0030] Various procedures are possible for determining the lowest natural frequencies of the position-controlled axes based on the recorded temporal progression of the actual position values. Under certain circumstances, it may be possible for the computing device to carry out an automatic evaluation. For example, the computing device can automatically carry out a frequency analysis - separately for each position-controlled axis -, determine the natural frequencies of the respective position-controlled axis based on the frequency analysis, and assign the lowest natural frequency found for the respective position-controlled axis to the respective position-controlled axis. Alternatively, the computing device can, for example - again separately for each position-controlled axis - carry out a frequency analysis of the temporal progression of the actual position values ​​and display the respective frequency analysis to the operator via a user interface.In this case, the operator can perform an intellectual evaluation of the respective frequency analysis, so that the operator specifies the natural frequencies of this position-controlled axis, or at least the lowest natural frequency of this position-controlled axis, to the computing device. Regardless of whether one or the other approach is taken, the lowest natural frequencies of the position-controlled axes are known to the computing device after the specification.

[0031] The purpose of selecting the first position-controlled axis is to select the position-controlled axis with the lowest natural frequency. So, for example, if there are three position-controlled axes and the lowest natural frequency of axis 1 is 12 Hz, the lowest natural frequency of axis 2 is 20 Hz, and the lowest natural frequency of axis 3 is 25 Hz, axis 1 is selected.

[0032] In certain cases, it may be permissible to select a different axis. However, this is only permissible if there are multiple position-controlled axes that compete, so to speak, to determine which one has the lowest natural frequency with the smallest value. For example, if the lowest natural frequencies of axes 1, 2, and 3 are 12.5 Hz, 12.8 Hz, and 20 Hz, it is essentially equivalent to select axis 1 or axis 2 first. Axis 3, on the other hand, should not be selected first.

[0033] Similar to determining the lowest natural frequencies, various procedures are possible for selecting the first position-controlled axis. Due to the fact that the lowest natural frequencies of the position-controlled axes are already known to the computing device, automatic selection by the computing device is easily possible. However, it is also possible for the operator to specify which position-controlled axis is selected. In this case, the selection made by the operator must ensure that the first position-controlled axis selected is the position-controlled axis whose lowest natural frequency has the smallest value.

[0034] Various procedures are possible for determining the respective jerk limit value and the respective filter frequency. Advantageous embodiments will be discussed later. The decisive factor is that the computing device determines the respective lower and upper limits for the jerk limit value and the filter frequency so that adjustment by the operator is only possible within the respectively specified interval. It is also important that the lower and upper limits are only determined for the first selected axis exclusively by the lowest natural frequency of the first selected axis. For the other axes, however, the computing device also takes into account the jerk limit value or the filter frequency determined for the first selected position-controlled axis when determining the lower limits and / or upper limits.For this reason, it is also necessary that the first position-controlled axis selected is the axis with the lowest natural frequency. Preferably, the computing device first receives the jerk limit value from the operator for the selected position-controlled axis and only then the filter frequency. This avoids, in particular, any repercussions of the filter frequency on the appropriate setting of the jerk limit value.

[0035] To determine the respective jerk limit value, the computing device preferably first deactivates the respective setpoint filter and then iteratively carries out the following steps:

[0036] - It receives a specification of the jerk limit value from the operator.

[0037] - It initiates movements of the respective position-controlled axis, limited to the received jerk limit value.

[0038] - It shows the operator the resulting temporal progression of the actual position value of the respective position-controlled axis.

[0039] These steps are carried out iteratively again and again until the operator gives the computing device a command to accept the last received jerk limit value as the specified jerk limit value.

[0040] Preferably, the computing device sets the jerk limit value to an initial jerk before it is first set by the operator, initiates movements of the respective position-controlled axis while limiting it to the initial jerk, and shows the operator the resulting temporal progression of the actual position value of the respective position-controlled axis. In this way, in many cases, multiple passes through the loop of setting the jerk limit value, initiating the respective movement, and displaying the temporal progression of the actual position value can be avoided because either the initial jerk can already be adopted as the set jerk limit value, or at least the initial setting of the jerk limit value by the operator leads to the desired result. Preferably, the computing device sets the initial jerk to a value - in particular an average value - between the lower jerk limit and the upper jerk limit of the selected position-controlled axis.Here, the probability is highest that the initial jerk can be adopted as a defined limit value. For example, the computing device can determine the initial jerk as a function of the lowest natural frequency of the selected position-controlled axis.

[0041] In an analogous manner, the computing device activates the respective setpoint filter to determine the respective filter frequency and then iteratively carries out the following steps:

[0042] - It accepts a setting of the filter frequency from the operator.

[0043] - It initiates movements of the respective position-controlled axis, limited to the specified jerk limit value and taking into account the received filter frequency.

[0044] - It shows the operator the resulting temporal progression of the actual position value of the respective position-controlled axis.

[0045] These steps are carried out iteratively again and again until the operator gives the computing device a command to accept the last received filter frequency as the specified filter frequency.

[0046] Preferably, the computing device sets the filter frequency to an initial frequency before it is first set by the operator, initiates movements of the respective position-controlled axis while limiting it to the set jerk limit value and taking the initial frequency into account, and shows the operator the resulting temporal progression of the actual position value of the respective position-controlled axis. In this way, in many cases, multiple passes through the loop of setting the filter frequency, initiating the respective movement, and displaying the temporal progression of the actual position value can be avoided because either the initial frequency can already be adopted as the set filter frequency, or at least the initial setting of the filter frequency by the operator already leads to the desired result.

[0047] Preferably, the computing device sets the initial frequency to a value—in particular, an intermediate value—between the lower frequency limit and the upper frequency limit of the selected position-controlled axis. This provides the highest probability that the initial frequency can already be adopted as the specified filter frequency. For example, the computing device can determine the initial frequency as a function of the lowest natural frequency of the selected position-controlled axis.

[0048] The object is further achieved by a computer program having the features of claim 9. According to the invention, the processing of the computer program by the computing device causes the computing device to carry out a parameterization method according to the invention.

[0049] The object is further achieved by a computing device having the features of claim 10. According to the invention, the computing device is programmed with a computer program according to the invention, so that the computing device carries out a parameterization method according to the invention during operation.

[0050] The above-described properties, features and advantages of this invention, as well as the manner in which they are achieved, will become clearer and more readily understood in connection with the following description of the embodiments, which are explained in more detail in conjunction with the drawings. Herein, in schematic representation:

[0051] FIG 1 a machine tool, a numerical control and a computing device, FIG 2 sections of paths,

[0052] FIG 3 shows a control structure of a position-controlled axis, FIG 4 shows a flow diagram,

[0053] FIG 5 shows a frequency response,

[0054] FIG 6 a flow chart,

[0055] FIG 7 a flow chart,

[0056] FIG 8 a timing diagram,

[0057] FIG 9 a flow chart,

[0058] FIG 10 a flow chart and

[0059] FIG 11 a flow chart .

[0060] According to FIG 1, a machine tool 1 has a plurality of position-controlled axes 2. At least the position-controlled axes 2 are controlled by a numerical control 3. In normal operation, the numerical control 3 controls the position-controlled axes 2 in a coordinated manner. By means of the coordinated control of the position-controlled axes 2, a tool 4 of the machine tool 1 (for example a milling cutter) is moved relative to a workpiece 5 along an actual path B (see FIG 2). The workpiece 5 is thereby machined by means of the tool 4.

[0061] FIG 2 shows an example of a section of a target path B*. The target path B* is defined by a parts program 6 (see FIG 1) with which the numerical control 3 is programmed. The target path B* is the actually desired path along which the tool 4 is to be moved relative to the workpiece 5. In practice, the actual path B deviates slightly from the target path B*. However, the tool 4 is always moved relative to the workpiece 5 in such a way that a maximum deviation of the actual path B from the target path B* is maintained. For example, the tool 4 is moved relative to the workpiece 5 in such a way that the actual path B always moves around the target path B* within a hose defined by the maximum deviation. The hose is indicated in FIG 2 by dashed lines.As part of the control of the individual position-controlled axes 2, the numerical control 3 generates a sequence of position setpoints x* for the respective position-controlled axis 2 according to FIG 3. The sequence of position setpoints x* is fed to a respective setpoint filter 7 which is implemented within the numerical control 3. In the respective setpoint filter 7, the respective sequence of position setpoints x* is filtered based on a respective filter frequency fF. The filtered position setpoints are designated below by the reference symbol x' *.

[0062] The filtered position setpoints x' * are linked in a respective position controller 8 with the associated actual position values ​​x, thus generating an output signal y from the position controller 8, which is also implemented within the numerical control 3. The output signal y is further processed in at least one subordinate structure 9, so that the output signal y becomes a modified output signal y'. Among other things, the jerk is limited so that the current jerk (in terms of magnitude) is always limited to a respective jerk limit value RG. The numerical control 3 therefore maintains the jerk limit values ​​RG of the position-controlled axes 2 during normal operation when the position-controlled axes 2 are moved. The respective control signals for driving the respective position-controlled axis 2 are determined based on the respective modified output signal y'.

[0063] The precise type of filtering in the setpoint filter 7 is of secondary importance. FIR filtering (FIR = finite impulse response) is often carried out in the setpoint filter 7. Regardless of the specific design of the setpoint filter 7, the precise design of the setpoint filter 7 often depends on many individual parameters. However, those skilled in the art are aware of procedures for simply setting the filter frequency fF and then determining the parameters of the setpoint filter 7 as a function of the filter frequency fF. The jerk limit values ​​RG and the filter frequencies fF are set - individually for the respective position-controlled axis 2 - before normal operation is carried out in a computing device 10 (see FIG. 1). The computing device 10 also transmits the set jerk limit values ​​RG and the set filter frequencies fF to the numerical control 3.For this purpose, the computing device 10 is coupled to the numerical control 3. The computing device 10 is programmed with a computer program 11. The computer program 11 includes machine code 12 that can be processed by the computing device 10. Based on the programming of the computing device 10 with the computer program 11 or the processing of the machine code 12 by the computing device 10, the computing device 10 executes a parameterization process. The parameterization process and the associated workflow are explained in more detail below in connection with FIG. 4 and the other FIGS.

[0064] According to FIG. 4, the computing device 10 is first coupled to the numerical control 3 in a step S 1 . The coupling is generally not carried out exclusively by the computing device 10, but at least partially by an operator 13 (see FIG. 1). Therefore, step S 1 is only shown in dashed lines in FIG. 4.

[0065] In a step S2, the computing device 10 receives an input from the operator 13. Based on the input, the computing device 10 determines movement commands for the position-controlled axes 2 in a step S3 and transmits the movement commands to the numerical control 3 in a step S4. The numerical control 3 thereby moves the position-controlled axes 2 in accordance with the transmitted movement commands. For example, the computing device 10 can determine a number of short, jerky movements per position-controlled axis 2 as movement commands and transmit them to the numerical control 3, whereby the travel path and / or the jerk are changed from jerky movement to jerky movement. Typical movement commands are movement commands with a travel path of a few millimeters with a jerk between 80 m / s 3 and 200 m / s 3For example, the computing device 10 can determine a movement command with a travel distance of 1 mm, 3 mm and 10 mm for the respective position-controlled axis 2, whereby the jerk for the movement commands is uniformly 100 m / s 3 The figures given are purely exemplary.

[0066] The conversion of the motion commands into actual controls of the position-controlled axes 2 takes place in the numerical control 3. The corresponding function generators for broadband excitation are typically present in the numerical control 3.

[0067] In a step S5, the computing device 10 receives from the numerical controller 3 the temporal profiles of the actual position values ​​x of the position-controlled axes 2, which are caused by the motion commands. In a subsequent step S6, i.e. based on the received temporal profiles of the actual position values ​​x, a frequency analysis is performed, with the lowest natural frequencies fE of the position-controlled axes 2 being determined on this basis.

[0068] To implement step S 6, it is possible for the computing device 10 itself to carry out the corresponding frequency analysis and determination. Alternatively, it is possible for the computing device 10 to carry out a preliminary evaluation of the temporal profiles of the actual position values ​​x, in particular to determine a frequency response by frequency analysis (see FIG 5 as an example, in which the frequency in Hz is shown on the abscissa and the gain in dB is shown on the ordinate). In this case, the computing device 10 outputs the preliminary evaluation (for example the frequency response) to the operator 13. The operator 13 is thus able to determine the lowest natural frequency fE for the respective position-controlled axis 2. The determination can be made, for example, by entering a numerical value or by positioning a cursor 14.The corresponding determination of poles and zeros in the frequency diagram is generally known to experts and can even be automated.

[0069] For the sake of clarity, it should be noted that although several natural frequencies can be defined for each of the position-controlled axes 2, in this case only the lowest natural frequency fE of the respective position-controlled axis 2 is relevant. Here is a numerical example:

[0070] Assume that there are a total of three position-controlled axes 2 . One of the position-controlled axes 2 has the natural frequencies 12 Hz , 17 Hz , 24 Hz , 30 Hz and values ​​above . Another of the position-controlled axes 2 has the natural frequencies 20 Hz , 27 Hz , 34 Hz ​​, 40 Hz and values ​​above .

[0071] The last of the position-controlled axes 2 has the natural frequencies 25 Hz , 33 Hz , 40 Hz , 50 Hz and values ​​above .

[0072] Then the lowest natural frequency fE is 12 Hz for the first position-controlled axis 2, 20 Hz for the other position-controlled axis 2 and 25 Hz for the last position-controlled axis 2.

[0073] In a step S7, one of the position-controlled axes 2 is selected. When step S7 is executed for the first time, the position-controlled axes 2 with the lowest natural frequency fE with the smallest value should be selected; according to the above example, this is the position-controlled axis 2 whose lowest natural frequency fE is 12 Hz.

[0074] For the selected position-controlled axis 2, the computing device 10 receives a specification of the jerk limit value RG and a specification of the filter frequency fF from the operator 13 in a step S8. The implementation of step S8 will be explained in more detail later.

[0075] In a step S9, the computing device 10 checks whether the jerk limit value RG and the filter frequency fF have already been defined for all position-controlled axes 2. If this is not the case, the computing device 10 returns to step S7. When step S7 is executed again, another one of the position-controlled axes 2 is selected for which the jerk limit value RG and the filter frequency fF have not yet been defined. If, on the other hand, the definition has already been made for all position-controlled axes 2, the defined jerk limit values ​​RG and the defined filter frequencies fF are transmitted from the computing device 10 to the numerical control 3 in a step S10. The determination of the individual parameters of the setpoint filter 7 based on the defined filter frequencies fF takes place in the numerical control 3. The corresponding determinations are common practice and therefore do not need to be explained in detail.

[0076] The parameterization process is completed with the execution of step S10. Only in a step S11 is the computing device 10 decoupled from the numerical control 3. The decoupled operation is generally not carried out exclusively by the computing device 10, but at least partially by the operator 13. Therefore, step S11 is shown only in dashed lines, analogous to step S1 in FIG. 4.

[0077] According to FIG. 6, step S8 is generally divided into two separate steps S21 and S22. In step S21, the respective jerk limit value RG is determined. In step S22, the respective filter frequency fF is determined. Step S21 is preferably executed before step S22. In this case, when step S22 is executed, the jerk limit value RG determined in step S21 is already taken into account.

[0078] A possible (and currently preferred) implementation of step S21 is explained below in conjunction with FIGS. 7 to 9. A possible (and currently preferred) implementation of step S22 is then explained in conjunction with FIGS. 10 and 11. According to FIG. 7, the computing device 10 first deactivates the setpoint filter 7 of the selected position-controlled axis 2 in a step S31. For example, the computing device 10 can transmit a corresponding control signal to the numerical control 3. In a step S32, the computing device 10 defines a lower jerk limit RÜG and an upper jerk limit ROG for the selected position-controlled axis 2.

[0079] In a step S33, the computing device 10 receives a specification of the jerk limit value RG from the operator 13. The specification of the jerk limit value RG by the operator 13 is only permissible within the interval defined by the lower jerk limit RÜG and the upper jerk limit ROG. The specification of a jerk limit value RG by the operator 13 outside the interval defined by the lower jerk limit RÜG and the upper jerk limit ROG is rejected by the computing device 10. In a step S34, the computing device 10 initiates movements of the respective position-controlled axis 2 - similar to steps S3 and S4 of FIG 4. The computing device 10 limits the jerk for these movements to the jerk limit value RG received in step S33.

[0080] In a step S35, the computing device 10 - similar to step S5 of FIG 4 - receives from the numerical control 3 the time profiles of the actual position values ​​x of the selected position-controlled axis 2, which are caused or brought about by the movement commands of step S34. In a step S36, the computing device 10 displays the corresponding time profile of the actual position value x of the respective position-controlled axis 2. FIG 8 shows a possible profile with an oscillation of the actual position value x around the associated position setpoint x* as a function of time t. If necessary, the area with the highest oscillation amplitude can be visually highlighted in the display.

[0081] In a step S37, the computing device 10 checks whether it has been given an OK signal by the operator 13. If this is the case, the computing device 10 accepts the last received jerk limit value RG as the specified jerk limit value RG. Otherwise, the computing device 10 goes back to step S33 and receives a changed specification of the jerk limit value RG from the operator 13. It is possible that when step S33 is carried out again (within the permissible interval) a free specification of the jerk limit value RG is possible. Preferably, however, starting from the last specified jerk limit value RG, only a change by a certain extent is possible, for example by a maximum of 5% or a maximum of 10% or a maximum of 20% of the size of the permissible interval.

[0082] FIG. 9 shows a slight modification of the procedure in FIG. 7. The difference essentially consists in the fact that step S33 is executed in the NO branch of step S37, and then the program returns to step S34. Furthermore, after the execution of step S32, a step S38 is executed. Otherwise, the procedure in FIG. 9 corresponds to that in FIG. 7.

[0083] In step S38, the computing device 10 sets the jerk limit value RG for the selected position-controlled axis 2 to a starting value, i.e., an initial jerk. The first execution of step S34 thus occurs by limiting the movements to the initial jerk. The computing device 10 sets the initial jerk to a value between the lower jerk limit RÜG and the upper jerk limit ROG of the selected position-controlled axis 2, usually to an average value between the lower jerk limit RÜG and the upper jerk limit ROG of the selected position-controlled axis 2. The following values ​​are particularly suitable for the initial jerk:

[0084] - the geometric mean of the lower limit of the jerk RÜG and the upper limit of the jerk ROG (geometric mean = form the product and take the root),

[0085] - the arithmetic mean of the lower jerk limit RÜG and the upper jerk limit ROG (arithmetic mean = take the sum and divide by 2) and - values ​​between the geometric and the arithmetic mean of the lower jerk limit RÜG and the upper jerk limit ROG.

[0086] The procedure according to FIG. 10 is essentially similar to the procedure of FIG. 7. According to FIG. 10, the computing device 10 first activates the setpoint filter 7 of the selected position-controlled axis 2 in a step S41. For example, the computing device 10 can transmit a corresponding control signal to the numerical control 3. In a step S42, the computing device 10 defines a lower frequency limit fUG and an upper frequency limit fOG for the selected position-controlled axis 2.

[0087] In a step S43, the computing device 10 receives a specification of the filter frequency fF from the operator 13. The specification of the filter frequency fF by the operator 13 is only permissible within the interval defined by the lower frequency limit fUG and the upper frequency limit fOG. The specification of a filter frequency fF by the operator 13 outside the interval defined by the lower frequency limit fUG and the upper frequency limit fOG is rejected by the computing device 10. In a step S44, the computing device 10 initiates movements of the respective position-controlled axis 2 - similar to step S34 in FIG 7. The computing device 10 limits the jerk for these movements to the (previously) specified jerk limit value RG and continues to take into account the received filter frequency fF.

[0088] In a step S45, the computing device 10 - similar to step S35 of FIG 7 - receives from the numerical control 3 the time profiles of the actual position values ​​x of the selected position-controlled axis 2, which are caused or effected by the movement commands. In a step S46, the computing device 10 displays the corresponding time profile of the actual position value x of the respective position-controlled axis 2. The representation is similar to that of FIG 8. In a step S47, the computing device 10 checks whether it has been given an OK signal by the operator 13. If this is the case, the computing device 10 accepts the last received filter frequency fF as the defined filter frequency fF. Otherwise, the computing device 10 returns to step S43 and receives a changed definition of the filter frequency fF from the operator 13.It is possible that upon repeated execution of step S43 (within the permissible interval), a free specification of the filter frequency fF is possible. However, starting from the last specified filter frequency fF, only a change of a certain magnitude is possible, for example, by a maximum of 5%, a maximum of 10%, or a maximum of 20% of the size of the permissible interval.

[0089] FIG. 11 shows a slight modification of the procedure of FIG. 10. The modification is analogous to the modification of FIG. 9 compared to the procedure of FIG. 7. The difference is essentially that step S43 is executed in the NO branch of step S47 and then a return is made to step S44. Furthermore, after the execution of step S42, a step S48 is first executed. Otherwise, the procedure of FIG. 11 corresponds to that of FIG. 10.

[0090] In step S48, the computing device 10 sets the filter frequency fF for the selected position-controlled axis 2 to a start value, i.e. an initial frequency. The first execution of step S44 therefore takes place taking the initial frequency into account. The computing device 10 sets the initial frequency to a value between the lower frequency limit fUG and the upper frequency limit fOG of the selected position-controlled axis 2, usually to an average value between the lower frequency limit fUG and the upper frequency limit fOG of the selected position-controlled axis 2. For the initial frequency, the geometric mean, the arithmetic mean and values ​​between the geometric and the arithmetic mean of the lower frequency limit fUG and the upper frequency limit fOG are particularly suitable - analogous to the initial jerk.

[0091] As explained so far, the jerk limit value RG and the filter frequency fF are determined in the same way for the respectively selected position-controlled axis 2. The difference lies in which values ​​are accepted as permissible by the computing device 10, i.e., the result is the determination of the lower jerk limit RÜG and the upper jerk limit ROG as well as the lower frequency limit fUG and the upper frequency limit fOG by the computing device 10.

[0092] Specifically for the position-controlled axis 2 selected first - as the position-controlled axis 2 for which the lowest natural frequency fE has the smallest value - the computing device 10 specifies the lower jerk limit RÜG, the upper jerk limit ROG, the lower frequency limit fUG and the upper frequency limit fOG taking into account the lowest natural frequency fE of the first selected axis 2. Other dependencies are generally not taken into account. For example, to specify the lower jerk limit RÜG, the computing device 10 can multiply the lowest natural frequency fE of the first selected axis 2 by a suitable factor and use the resulting value as the lower jerk limit RÜG. In an analogous manner, the computing device 10 can also specify the upper jerk limit ROG, the lower frequency limit fUG and the upper frequency limit fOG taking into account the lowest natural frequency fE of the first selected axis 2.The factors can, of course, differ. In particular, different factors must be used to determine the respective lower limit (RÜG, fUG) and the respective upper limit (ROG, fOG).

[0093] Here is another numerical example, based on the example already given, where the lowest natural frequency fE with the smallest value is 12 Hz. For example, one can multiply the numerical value "12" by the factor 0.5 and express the result in the unit "m / s 3 " as the lower jerk limit RÜG. In an analogous way, the numerical value "12" can be multiplied by the factor 2.0 and the result can be expressed in the unit "m / s 3" as the upper jerk limit ROG . In a similar way - now without changing the unit and if necessary with the same factors as when defining the lower jerk limit RÜG and the upper jerk limit ROG or with other factors - the lower frequency limit fUG and the upper frequency limit fOG can also be defined for the position-controlled axis 2 selected first.

[0094] For the other position-controlled axes 2, however, the computing device 10 sets the lower jerk limit RÜG and / or the upper jerk limit ROG taking into account not only the lowest natural frequency fE of the respective selected axis 2, but also taking into account the jerk limit value RG specifically defined for the first-selected position-controlled axis 2. For example, the computing device 10 can multiply the lowest natural frequency fE of the now selected axis 2 by a suitable factor and multiply the jerk limit value RG for the first-selected position-controlled axis 2 by another suitable factor. The computing device 10 can use the larger of the two resulting values ​​as the lower jerk limit RÜG.

[0095] In an analogous manner, the computing device 10 can multiply the lowest natural frequency fE of the now selected axis 2 by a suitable factor and multiply the jerk limit value RG for the first selected position-controlled axis 2 by another suitable factor. The computing device 10 can use the smaller of the two resulting values ​​as the upper jerk limit ROG.

[0096] In an analogous manner, the computing device 10 sets the lower frequency limit fUG and / or the upper frequency limit fOG for the other position-controlled axes 2, taking into account not only the lowest natural frequency fE of the respective selected axis 2, but also taking into account the filter frequency fF specifically defined for the first-selected position-controlled axis 2. For example, the computing device 10 can multiply the lowest natural frequency fE of the now selected axis 2 by a suitable factor and multiply the filter frequency fF for the first-selected position-controlled axis 2 by another suitable factor. The computing device 10 can use the larger of the two resulting values ​​as the lower frequency limit fUG.In an analogous manner, the computing device 10 can use the lowest natural frequency fE of the now selected axis 2 and multiply it by a suitable factor, and multiply the filter frequency fF for the initially selected position-controlled axis 2 by another suitable factor. The computing device 10 can use the smaller of the two resulting values ​​as the upper frequency limit fOG.

[0097] In summary, the present invention relates to the following:

[0098] To parameterize a numerical control 3, a computing device 10 coupled to the numerical control 3 carries out a workflow in which jerk limit values ​​RG and filter frequencies fF for the position-controlled axes 2 are defined and transmitted to the numerical control 3. The computing device 10 first transmits movement commands to the numerical control 3 and receives the resulting time profiles for the actual position values ​​x of the position-controlled axes 2. Based on this, the lowest natural frequencies fE of the position-controlled axes 2 are defined. The position-controlled axes 2 are then selected one after the other and an operator 13 defines a respective jerk limit value RG and a respective filter frequency fF. The definitions are limited by the computing device 10 to respective lower and upper limits RUG, fUG, ROG, fOG.For the first selected position-controlled axis 2, the computing device 10 sets the lower and upper limits RÜG, fUG, ROG, fOG taking into account the lowest natural frequency fE of the first selected axis 2. For the other position-controlled axes 2, the setting is made taking into account the lowest natural frequency fE of the respective selected axis 2 and the jerk limit value RG set for the first selected position-controlled axis 2 or the filter frequency fF set for the first selected position-controlled axis 2.

[0099] The present invention has many advantages. Because the jerk limit value RG and the filter frequency fF are first defined for the position-controlled axis 2 with the lowest natural frequency fE with the smallest value and these values ​​are then taken into account when defining the jerk limit value RG and the filter frequency fF of the other position-controlled axes 2, it is possible to define the jerk limit value RG and the filter frequency fF for the position-controlled axes 2 "straight forward". In particular, the required coordination of the position-controlled axes 2 to one another and thus good contour accuracy is ensured. Because the jerk limit value RG for the respective position-controlled axis 2 is defined before the filter frequency fF is defined for the respective position-controlled axis 2, a "straight forward" definition is also possible here.By displaying the resulting temporal progressions of the actual position values ​​x and the intellectual evaluation by the operator 13 in steps S35 and S45, a simple and reliable determination of "good" values ​​for the respective jerk limit value RG and the respective filter frequency fF is possible. The vibration damping can be significantly improved, particularly in the critical frequency range between 10 Hz and 50 Hz. At the same time, a comparatively high dynamic response can be maintained. The target path B* can be followed with high accuracy and high dynamic response in normal operation of the numerical control 3.

[0100] Although the invention has been illustrated and described in detail by the preferred embodiment, the invention is not limited to the disclosed examples and other variations can be derived therefrom by those skilled in the art without departing from the scope of the invention.

Claims

Patent claims 1. Parameterization procedure for a numerical control (3) , - wherein the numerical control (3) in normal operation moves a tool (4) of the machine tool relative to a workpiece (5) to be machined by means of the tool (4) along an actual path (B) by coordinated control of several position-controlled axes (2) of a machine tool (1), so that a maximum deviation of the actual path (B) from a desired target path (B*) defined by a part program (6) is maintained, - wherein the numerical control (3) in normal operation when moving the position-controlled axes (2) maintains jerk limit values ​​(RG) of the position-controlled axes (2) and position setpoint values ​​(x*) of the position-controlled axes (2) before determining Control values ​​of the position-controlled axes (2) in setpoint filters (7), - wherein, before the execution of normal operation, the jerk limit values ​​(RG) for the position-controlled axes (2) and filter frequencies (fF) for the setpoint filters (7) are determined in a computing device (10) coupled to the numerical control (3) within the framework of a workflow, and the computing device (10) transmits the jerk limit values ​​(RG) and the filter frequencies (fF) to the numerical control (3), - wherein the computing device (10) in the context of processing the workflow -- based on an input from an operator (13), movement commands for the position-controlled axes (2) are determined and transmitted to the numerical control (3), so that the numerical control (3) moves the position-controlled axes (2) in accordance with the transmitted movement commands, and receives from the numerical control (3) time profiles for the actual position values ​​(x) of the position-controlled axes (2) caused by the movement commands, -- based on the received temporal profiles of the actual position values ​​(x), a definition of the lowest natural frequencies (fE) of the position-controlled axes (2) is provided. or outputs a preliminary evaluation of the temporal progression of the actual position values ​​(x) to the operator (13) and receives such a determination from the operator (13), -- selects the position-controlled axes (2) one after the other and receives from the operator (13) a specification of the jerk limit value (RG) and the filter frequency (fF) for the respectively selected position-controlled axis (2) and -- the specified jerk limit values ​​(RG) and the specified filter frequencies (fF) are transmitted to the numerical control (3), - wherein the computing device (10) allows the respective jerk limit value (RG) to be set only between a respective lower jerk limit (RÜG) and a respective upper jerk limit (ROG) and allows the respective filter frequency (fF) to be set only between a respective lower frequency limit (fUG) and a respective upper frequency limit (fOG), - wherein the computing device (10) determines the lower jerk limit (RÜG) and the upper jerk limit (ROG) as well as the lower frequency limit (fUG) and the upper frequency limit (fOG) for the first selected position-controlled axis (2) taking into account the lowest natural frequency (fE) of the first selected axis (2) and - wherein the computing device (10) defines the lower jerk limit (RÜG) and / or the upper jerk limit (ROG) for the other position-controlled axes (2) taking into account the lowest natural frequency (fE) of the respective selected axis (2) and the jerk limit value (RG) defined for the first selected position-controlled axis (2), and defines the lower frequency limit (fUG) and / or the upper frequency limit (fOG) taking into account the lowest natural frequency (fE) of the respective selected axis (2) and the filter frequency (fF) defined for the first selected position-controlled axis (2).

2. Parameterization method according to claim 1, characterized in that the computing device (10) first receives from the operator (13) the specification of the jerk limit value (RG) for the respectively selected position-controlled axis (2) and only then the specification of the filter frequency (fF).

3. Parameterization method according to claim 1 or 2, characterized in that the computing device (10) for setting the respective jerk limit value (RG) deactivates the respective setpoint filter (7) and iteratively - receives a specification of the jerk limit value (RG) from the operator (13), - triggers movements of the respective position-controlled axis (2) while limiting to the received jerk limit value (RG) and - the operator (13) is shown the resulting temporal progression of the actual position value (x) of the respective position-controlled axis (2) until the operator (13) issues a command to the computing device (10) to accept the last received jerk limit value (RG) as the specified jerk limit value (RG).

4. Parameterization method according to claim 3, characterized in that the computing device (10) sets the jerk limit value (RG) to an initial jerk before the initial determination by the operator (13), initiates movements of the respective position-controlled axis (2) while limiting it to the initial jerk, and displays to the operator (13) the resulting temporal progression of the actual position value (x) of the respective position-controlled axis (2).

5. Parameterization method according to claim 4, characterized in that the computing device (10) sets the initial jerk to a Value, in particular an average value, between the lower jerk limit (RÜG) and the upper jerk limit (ROG) of the selected position-controlled axis (2).

6. Parameterization method according to one of the above claims, characterized in that the computing device (10) for setting the respective filter frequency (fF) activates the respective setpoint filter (7) and iteratively - receives a setting of the filter frequency (fF) from the operator (13), - triggers movements of the respective position-controlled axis (2) while limiting to the specified jerk limit value (RG) and taking into account the received filter frequency (f) and - the operator (13) is shown the resulting temporal progression of the actual position value (x) of the respective position-controlled axis (2) until the operator (13) issues a command to the computing device (10) to accept the last received filter frequency (fF) as the defined filter frequency (fF).

7. Parameterization method according to claim 6, characterized in that the computing device (10) sets the filter frequency (fF) to an initial frequency before the initial setting by the operator (13), initiates movements of the respective position-controlled axis (2) while limiting it to the specified jerk limit value (RG) and taking the initial frequency into account, and displays to the operator (13) the resulting temporal progression of the actual position value (x) of the respective position-controlled axis (2).

8. Parameterization method according to claim 7, characterized in that the computing device (10) sets the initial frequency to a value, in particular an average value, between the frequency lower frequency limit (fUG) and the upper frequency limit (fOG) of the selected position-controlled axis (2).

9. A computer program comprising machine code (12) which can be processed by a computing device (10) which can be coupled to a numerical control (3), wherein the processing of the machine code (12) by the computing device (10) causes the computing device (10) to carry out a parameterization method according to one of the above claims.

10. A computing device which can be coupled to a numerical control (3) and is programmed with a computer program (11) according to claim 9, so that it carries out a parameterization method according to one of claims 1 to 8 during operation.

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