Method of setting movable operation members in automatic machine for manufacturing or packaging consumer article

Abstract

To provide a method of easily and economically setting movable operation members in an automatic machine for packaging a consumer article.SOLUTION: Provided are the steps of: defining a first operation profile; and defining a second operation profile corresponding to electrical actuator systems 8, 9, that moves movable operation members 5, 7 each comprising the first operation profile. There are provided the steps of: determining deficiency capable of occurring in a treatment of a consumer article 3, that is generated by the movable operation members 5, 7; changing the first operation profile by an interface device, based on the deficiency capable of occurring therein to obtain a first changed profile of the movable operation members 5, 7; and calculating inverse kinematics of the first changed profile by a control unit to obtain a corresponding second changed profile by being commanded with the electrical actuator systems 8, 9.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This application claims the priority of Italian Patent Application No. 102019000015950 filed on September 10, 2019, and the entire disclosure content thereof is incorporated herein by reference.

Background Art

[0002] The present invention relates to a method for setting movable operating members of an automatic machine for manufacturing or packaging consumer goods.

[0003] The application field of the present invention is advantageously, but not limited to, an automatic packaging machine for manufacturing tobacco packs and a method for controlling the same. The following disclosure will be explicitly described without sacrificing the generality as a result.

[0004] An automatic packaging machine includes a plurality of movable operating members that act on consumer goods (such as tobacco packs, food, sanitary absorbent articles, etc.) to change the shape, structure, or position of the consumer goods. The movable operating members are generally mechanical parts of different shapes and sizes that are adapted to process consumer goods and are most often actuated by an electric motor or a pneumatic cylinder.

[0005] During the initial startup of an automatic machine, due to different assembly methods and normal tolerances of mechanical parts, it is often necessary to set the movable operating members in order to achieve high processing accuracy. That is, it is necessary to perform operations such as calibration, filing, sizing, or synchronization required for the proper functioning of the automatic machine. Without this setting, the motion profile of the movable operating members does not exactly correspond to the profile developed at the design stage of the automatic machine, so the product will most likely not meet the quality specifications agreed upon by the customer, and thus the product will not meet the desired accuracy specifications.

[0006] These operations are currently being performed directly by on-site technical experts. These technicians insert shims (by filing, milling, cutting) and / or change parts so that the movable operating member (or the last link of the automatic machine) can perform the necessary processing with the desired accuracy.

[0007] Due to the lack of repeatability of these operations (since each automatic machine is improvised and changed on-site according to the assembly of available parts and / or structural defects), an uncomputable variety is created between automatic machines that should be identical or between parts of automatic machines.

[0008] Furthermore, since the main form of adjustment of different motors belonging to the automatic machine has been purely mechanical until recently, the mechanical parts on which the technicians operate are usually mechanical parts (especially those having a kinematic section).

[0009] Finally, due to the mechanical properties of the processed parts, this setting operation is rarely recorded and / or shared, resulting in a significant amount of wasted time when troubleshooting subsequent defects and providing after-sales support to the customers who obtained the above automatic machines.

[0010] Also, Patent Document 1 (Japanese Patent Laid-Open No. 11-79117) describes an apparatus for avoiding breakage of a packaging material while adjusting the packaging material in various sizes by a method of separately controlling a drive source for moving a pushing portion forward and a drive source for conveying the cut packaging sheet along a supply surface.

Prior Art Documents

Patent Documents

[0011]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0012] The object of the present invention is to provide a method for setting a movable operating member of an automatic machine for manufacturing or packaging consumer articles, which at least partially overcomes the aforementioned drawbacks and is at the same time easy and economical to implement.

Means for Solving the Problems

[0013] According to the present invention, there is provided a method for setting a movable operating member of an automatic machine for manufacturing or packaging consumer articles as described in the appended claims. Also provided is an apparatus configured to carry out the method.

[0014] The claims describe preferred embodiments of the present invention and form an essential part of this specification.

[0015] Next, the present invention will be described with reference to the accompanying drawings which illustrate non-limiting embodiments.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0017] Figure 1 shows an automatic machine 1 for manufacturing articles of the tobacco industry, in particular an automatic wrapping machine 1 for applying a transparent overwrap to tobacco packs.

[0018] The automatic machine 1 comprises a frame 2 to which a plurality of movable operating members (for example, grippers, drums, pushing parts, etc.) are attached, and these perform operations for the manufacture and / or packaging of consumer articles (in the non-limiting embodiment illustrated in Figure 1, a pack 3 of tobacco).

[0019] In particular, the automatic machine 1 comprises a packaging unit 4 provided with a plurality of movable operating members, and each of the plurality of movable operating members is moved by a corresponding electric motor (or any type of actuating device).

[0020] In the non-limiting embodiment shown in Figures 2 and 3, the packaging unit 4 comprises two movable operating members, namely, a movable wheel 5 provided with a chamber 6 (in particular a pocket) which is mounted in a rotatable manner about a central axis of rotation RA and is configured to receive a pack 3 of tobacco, and a pushing part 7 configured to push the pack 3 of tobacco into the chamber 6 of the movable wheel 5. The movable wheel 5 and the pushing part 7 perform processing operations (movements) on the pack 3 and are thus movable operating members as a result.

[0021] In the non-limiting embodiments shown in FIGS. 2 and 3, the packaging unit 4 of the automatic machine 1 also comprises two electric actuator systems 8 and 9. In particular, the two electric actuator systems 8 and 9 are two electric motors M. The electric actuator system 8 is connected to the wheel 5 so as to cause the rotation of the wheel 5 about the rotation axis RA, and is connected to a static power converter (known and not shown) that controls the electric actuator system 8 to rotate the wheel 5 (through the intervention of a speed reducer not shown). The electric actuator system 9 is connected to the pushing part 7 so as to linearly move the pushing part 7 along the direction D and by a predetermined stroke S (FIGS. 2 and 3), and is connected to a further static power converter (known and not shown) that controls the electric actuator system 9. In particular, the electric actuator systems 8 and 9 are connected via the intervention of a motion transmission system 12, i.e., a movable operating member, namely, the wheel 5 and the pushing part 7 (in the case of the pushing part 7, for example, a speed reducer 13 connected to a screw, or a multi-joint quadrilateral link mechanism that converts circular motion into linear motion, or in the case of the wheel 5, a speed reducer, for example, a planetary gear that disengages the wheel 5 moving at exactly the same speed as the motor M).

[0022] In other non-limiting cases not shown, the motion transmission system 12 can be any device that transmits motion from the electric actuator systems 8 and 9 to the corresponding movable operating members (the wheel 5 and the pushing part 7 in the embodiments shown in FIGS. 2 and 3), such as, for example, a mechanical cam, a rack, a crank mechanism, a kinematic chain, a parallel link mechanism, etc.

[0023] According to a preferred non-limiting embodiment, the electric actuator systems 8 and 9 are brushless. In particular, the static power converter is a drive device that controls the amount of current supplied to each of the electric actuator systems 8 and 9 based on the desired method, and thus controls the electric motor M.

[0024] The automatic machine 1 further includes a control unit 14 (Figure 1) configured to control electric actuator systems 8 and 9.

[0025] The automatic machine 1 advantageously includes an interface device 15 (shown in Figure 1) configured such that an operator O can change the movement of movable operating members (for example, the wheel 5 and the pushing part 7). In particular, the interface device 15 includes a screen 10, and more precisely, the screen 10 is a touch screen.

[0026] In the non-limiting case shown in Figure 2, the stroke S of the pushing part 7 is not sufficient to fully insert the pack 3 inside the chamber 6 (in Figure 2, the stroke S is, for illustrative purposes, grossly insufficient, and it should be noted that such a deficiency can be on the order of one-tenth of a millimeter). During use, this situation is accompanied by the possibility that the pack 3 may be lost during the rotation of the wheel 5 and / or the possibility that the pack 3 itself may be damaged. The limited stroke S may be due to a number of factors such as an incorrect assembly of one of the plurality of parts (such as the pushing part 7, the wheel 5, the motor M, the rod or piston of the pushing part, etc.) of the packaging unit 4, or an incorrect processing of the plurality of parts. At this time, instead of inserting (fixing and / or welding) a shim to carry the pack 3 completely into the pocket 6 in order to speed up the setting of the pushing part 7, and instead of calling on the designer to change the law of motion of the pushing part 7, the operator O interacts with the interface device 15 to change the operating profile of the motor M that moves the pushing part 7. In this way, once the operating profile is changed by the interface device 15, the stroke S enables the pack 3 to fully enter the pocket 6 as illustrated in Figure 3. In particular, the operator O will change the operating profile of the motor M of the electric actuator system 9 by inputting how much he desires to increase the stroke S of the pushing part 7 regardless of the motion transmission system 12.

[0027] Obviously, this description also applies when the movement of the movable operating member is changed by the operator O using the interface device 15 (operating at the level of the movable operating member, not at the level of the actuator system). As an example, other cases may include an excessive stroke S that compresses the pack 3 in the chamber 6, an inaccurate rotation of the wheel, etc.

[0028] According to the non - limiting embodiment shown in FIG. 4, the control unit 14 is connected to the interface device 15, enabling the operator O to interact with the control unit 14. In particular, the control unit 14 includes (or is connected to) a storage device 11, in which an operation profile that the movable operating member of the automatic machine 1 performs during use is stored.

[0029] Advantageously, although not necessarily essential, the automatic machine 1 includes a computing unit 26, which is connected to the control unit 14 and is configured to calculate a modified operation profile based on the changes provided by the operator O via the interface device 15. In particular, such a modified profile will then be commanded by the control unit 14 to the motor M of the automatic machine.

[0030] FIG. 5 shows a flowchart representing a method according to a non - limiting embodiment of the present invention.

[0031] In the flowchart shown in FIG. 5, the oval blocks indicate the start or end of the chart, the rectangular blocks indicate comprehensive instructions, and the diamond blocks placed at the branch points are decision blocks with logical conditions that determine the direction the flow takes. These blocks have been conventionally used. In particular, in the decision block, if the logical condition is satisfied, the flow branches in the direction of the check mark symbol "√", and if the logical condition is not satisfied, the flow of the chart branches in the direction of the symbol "X".

[0032] This method comprises step 16 of determining the operating profile FP (illustrated in FIG. 6) of a movable operating member (for example, of the pushing-in part 7), thereby performing at least one treatment operation on an article (i.e., the pack 3). In particular, step 16 is carried out during the design of the automatic machine 1 and defines the specifications for the calculation of the operating profile FP carried out on the last link (i.e., on the movable operating member to be moved).

[0033] In order to move the pushing-in part with the desired operating profile, the method comprises a subsequent step 17 of defining the operating profile SP of the electric actuator system 9 corresponding to the operating profile FP. In particular, the electric actuator system 9 is mechanically connected to the movable operating member (i.e., the pushing-in part 7) via the motion transmission system 12 and moves the movable operating member with the operating profile FP. In other words, during step 17, the operating profile SP is defined such that the electric actuator system 9, i.e., the electric motor M, must move the pushing-in part 7 (i.e., in this non-limiting case, the movable operating member, i.e., the last link of the kinematic chain) with the profile FP.

[0034] According to the non-limiting example shown in FIG. 6, the operating profile FP corresponds to the variation in the position of the pushing-in part 7 along the stroke S (vertical axis) shown in FIG. 2 with respect to a reference (horizontal axis), and the operating profile SP corresponds to the variation in the position that the motor M of the electric actuator system 9 must carry out in order to move the pushing-in part with the profile FP.

[0035] According to non-limiting examples such as the example shown in FIG. 6, the operating profile FP describes the movement of the pushing-in part 7 of the packaging unit shown in FIG. 2. In particular, this profile requires an initial step of advancing, a central step at a constant position, and a final step of retracting.

[0036] This method also advantageously comprises a step 18 of determining possible defects in the handling of the article (pack 3) caused by the movable operating member (e.g., the pushing-in part 7). In other words, during this step, the correct functioning of the movable operating member is checked. If no incompleteness is encountered during this step, the method ends at step 30 and the manufacture of the pack 3 proceeds smoothly.

[0037] Advantageously, in step 18, if it is determined that there is a defect in the handling of the article, the method comprises a subsequent step 19 of changing the operating profile FP by the interface device 15 of the automatic machine 1 so as to obtain a modified profile MFP (FIG. 6) of the movable operating member (i.e., the pushing-in part 7) based on the possible defects that may occur in the handling of the pack 3. In this way, it is possible to focus on the operating profile of the movable operating member, as a result of which the task is disengaged from the mechanism of the motion transmission system 12.

[0038] According to the non-limiting embodiment shown in FIG. 5, this method comprises a step 20 of calculating, by the control unit 14, the inverse kinematics of the modified profile MFP of the movable operating member (e.g., the pushing-in part 7) in order to obtain a corresponding modified profile MSP commanded to the electric actuator system 9. In particular, the inverse kinematics are evaluated while calculating the intervention of the motion transmission system 12 (e.g., the reduction gear 13). In this way, the operator implements a change in the operating profile FP of the pushing-in part 7 (e.g., by increasing the stroke of the pushing-in part 7 as in the case shown in FIG. 2), and actually implements a change in the operating profile SP of the electric actuator system 9 (actively moving the pushing-in part 7 during use).

[0039] Advantageously, although not necessarily essential, this method comprises a subsequent step 21 of changing the control in order to control the electric actuator system 9 to implement the corresponding modified profile MSP. In this way, the electric actuator system 9 moves the pushing part 7 with the desired correct modified profile MFP through the intervention of the motion transmission system 12.

[0040] Advantageously, although not necessarily essential, the step 18 of determining possible deficiencies and / or the step of changing such deficiencies are carried out by the operator O of the automatic machine 1 using the interface device 15 of the automatic machine 1. In this way, the setting of the movable operating member is much faster with respect to the prior art situation where the operator has to mechanically process the components of the automatic machine 1 or, in particular, has to pose problems to the designers of the computing department.

[0041] Advantageously, although not necessarily essential, the step 18 of determining possible deficiencies is repeated following the step 19 of changing the operating profile FP (more precisely, following the step 21 of changing the control of the electric actuator system 9). In particular, once the step 19 of changing the profile FP has been carried out, an analysis step 27 is carried out, after which, if the operating profile MFP implemented by the movable operating member (for example, the pushing part 7) is satisfactory (as shown in Figure 3, the pack 3 is entirely within the chamber 6), one proceeds to step 30 (the production of the pack 3 proceeds), while if the profile MFP is not satisfactory (if the pushing part 7 does not accurately push the pack 3 into the chamber 6), steps 18, 19, 27 are repeatedly carried out until the desired performance is achieved by the movable operating member for which they are set.

[0042] Advantageously, although not necessarily, the operating profile FP and the corresponding standby profile SP comprise at least one working stage WP (where the movable operating member is in operation) and at least one recovery stage RP (where the movable operating member is at rest), during which a step 21 of changing the control is carried out. In this way, by changing the control to change the profile FP to the profile MFP, it is avoided to interfere with the movement of the electric actuator system 9 (i.e., the motor M).

[0043] Advantageously, although not necessarily, this method comprises a step 22 of identifying one or more segments K of the operating profile FP. At least some of these segments can be changed by the interface device 15, or more precisely by the operator O.

[0044] In particular, the step 19 of changing the profile FP is carried out by changing the value of the position of the movable operating member at the node K.

[0045] According to a non-limiting embodiment such as the embodiment shown in FIG. 6, the operating profile FP comprises at least one linear function segment LF.

[0046] Alternatively or additionally, the operating profile FP comprises at least one polynomial function segment PF (for example, a polynomial of degree 5 or higher, a B-spline of degree 3 or higher, etc.). In particular, the node K is an inflection point or a connection point of these function segments LF and PF.

[0047] Advantageously, although not necessarily, this method comprises a step 23 of defining an allowable interval I in order to limit the change of each node K.

[0048] According to non - limiting embodiments such as the embodiment illustrated in FIG. 6, the tolerance interval I is linear and has an upper limit UL and a lower limit LL on the vertical axis line (the operating member of the last link). The tolerance interval I (and thus the limits UL and LL) is selected taking into account the boundary conditions indicated by the system in order to avoid mechanical collisions or risks to the automatic machine 1 and / or the operator O.

[0049] According to other non - limiting embodiments not shown, the tolerance interval I is linear and has an upper limit UL and a lower limit LL on the horizontal axis line (reference). The interval I (and thus the limits UL and LL) is selected taking into account the boundary conditions indicated by the system in order to avoid mechanical collisions or risks to the automatic machine 1 and / or the operator O.

[0050] According to a further non - limiting embodiment not shown, the tolerance interval I is circular and its center is the node K.

[0051] Advantageously, although not necessarily essential, before step 20 in which the inverse kinematics is calculated, the control unit 14 checks (at step 24 shown in FIG. 6) that all nodes K of the motion profile FP of the movable operating member are respectively within the corresponding tolerance interval I. If a node K is outside the tolerance interval I, it moves back from step 24 to step 19 to allow the insertion of values constituted by the tolerance interval I.

[0052] Advantageously, although not necessarily essential, the method comprises step 25 of collecting a plurality of data items (such as which variables were changed and the degree of change, etc.) regarding step 19 of changing the motion profile FP. In particular, the plurality of data items are used for changing the motion profile FP at the stage of designing the automatic machine 1 and / or for understanding possible calculation errors. In this way, it is possible to identify errors that may occur due to the acquisition of machine parts or errors regarding the design or calculation of the motion profile FP.

[0053] In some advantageous, non-limiting situations, a plurality of collected data items are used for the training of an artificial intelligence system. In particular, the plurality of collected data items are analyzed by a decision tree algorithm to identify possible improvements that should be implemented immediately at the design stage in the case of similar changes to a plurality of automatic machines 1 having similar parts.

[0054] According to some non-limiting embodiments, the step 21 of changing the control is performed while the automatic machine 1 is stationary. In this way, a higher level of safety can be ensured so that the operator O after each change controls with equal effectiveness.

[0055] According to a further non-limiting embodiment, the step 21 of changing the control is performed while the automatic machine 1 is operating. In this way, the setting of the movable operating member (for example, the pushing-in part 7) can be advanced.

[0056] Advantageously, although not necessarily essential, the operating profile FP and the operating profile SP have a cam relation with the master profile MP. By the expression "have a cam relation", it is understood that the operating profiles FP and SP are in an instantaneously changeable relation and are connected to the reference profile (master profile MP). In other words, this term indicates that, for each position of the master profile MP, the corresponding position of the movable operating member (pushing-in part 7) (and thus, indirectly, the corresponding position of the electric actuator system 9) is defined. In this way, the master profile MP is related to the operating profile FP of the movable operating member by sections. Such a relation is useful for synchronizing all the movable operating members of the automatic machine that are directly or indirectly connected to the main axis, not only during standard operation but also during the acceleration and deceleration phases of the automatic machine 1, particularly at the start and end of the production of an article.

[0057] In some non-limiting cases, the master profile MP is, for example, the profile of a physical axis such as a drive pulley or wheel. In other non-limiting situations, the master profile MP is the profile of a virtual axis.

[0058] In FIG. 6, the horizontal axis corresponds to the position of the master profile MP, and the vertical axis corresponds to the position of the last link, i.e., a movable operating member such as the pushing portion 7. In particular, the horizontal axis has a value represented in degrees, where one rotation (360°) corresponds to a machine cycle, and the vertical axis is represented in mm. Therefore, in the non-limiting embodiment shown in FIG. 6, the profiles FP and MFP indicate the position of the pushing portion 7 along the stroke S in mm units.

[0059] In use, once it is determined that there is a defect in the processing of the article (e.g., as soon as it is determined that the stroke S is too short), the operator O interacts with the control unit 14 through the interface device 15 so as to change the position of the joint K and thus the shape of the motion profile FP. In the non-limiting embodiment shown in FIG. 6, the operator O changes the position of the joint K (and thus the position of the pushing portion passes from 59 mm provided for the motion profile FP to 62 mm of the motion profile MFP) by specifying to move the position of the pushing portion corresponding to the position of the master profile 3 mm upward between 180° and 220°. In this way, the operator O changes the motion profile FP by specifying the changed profile MFP. Once this step is completed, the calculation unit 26 actuates the corresponding changed profile MSP of the motor M of the electric actuator system 9 (illustrated as an example in FIG. 6 and not on the same scale as the profile FP). In particular, in the non-limiting embodiment shown in FIG. 6, it should be noted that the operator can only change the specific parameters written in the empty box, while the other parameters included in the protected box cannot be changed because they may compromise the safety of the automatic machine 1 or the operator O (e.g., due to possible mechanical collisions).

[0060] Advantageously, although not necessarily essential, the interface device 15 only allows the operator O to change a part of the node K (i.e., what is included in the block 34 that can change its order while ensuring the proper functioning of the automatic machine 1), and does not allow the change of the values included in the block 35 that represent the necessary constraints for the correct processing of the article.

[0061] According to some non-limiting embodiments, the master profile MP is a linear profile. In particular, during normal operation, the master profile MP is an operating profile with a constant speed.

[0062] According to non-limiting embodiments such as the embodiment shown in FIG. 6, the operating profile FP and the operating profile SP are position profiles.

[0063] According to further non-limiting embodiments not shown, the operating profile FP and the operating profile SP are speed profiles.

[0064] Alternatively or additionally, the operating profile FP and the operating profile SP specify a torque profile.

[0065] In other non-limiting cases, the master profile MP is a time flow. For example, in such cases, the operating profiles FP, SP, MFP, MSP are speed profiles.

[0066] Advantageously, although not necessarily essential, the automatic machine 1 is configured to implement the aforementioned method.

[0067] The above-described invention has been particularly described with reference to exact embodiments, but is not limited to these embodiments. For example, all modifications, changes or simplifications that would be apparent to a person skilled in the art, such as the addition of further actuators, types of automatic machines other than packaging machines in the tobacco industry, different shapes of operating profiles, different orders of method steps, different numbers of motors, etc., fall within the scope of the above-described invention.

[0068] The present invention has a plurality of advantages.

[0069] First, it enables the implementation of the setting of the movable operating member directly on-site and in a short time without incurring material costs such as shims and consumption of tools such as drills, milling machines, and files.

[0070] Furthermore, by the method described above, it becomes possible to identify and calculate the differences between different automatic machines that are essentially similar but receive different settings due to the assembly of available parts and / or structural defects.

[0071] Finally, the present invention enables the recording and sharing of a plurality of data items related to the setting of the movable operating member, and as a result, it is possible to understand remotely and / or with the help of a digital system whether an error has been made during the design of the device and how to potentially resolve this error.

[0072] A further advantage resulting from the means according to the present invention relates to the improvement of after-sales support. For example, when the movable operating member is gradually consumed, the machine operator can autonomously change the operating profile of the movable operating member based on what he is seeing or has identified, and as a result, the present invention can avoid the need for immediate replacement of parts of the automatic machine and / or dispatch of technical personnel to the customer.

Claims

1. 1. A method for setting at least one movable operating member (5, 7) of an automated machine (1) for manufacturing a consumer item (3), comprising the steps of: The method comprises: A step (16) of defining a first motion profile (FP) of the movable operating member (5, 7), through which at least one treatment of the consumer article (3) is performed; (17) defining a corresponding second motion profile (SP) of an electric actuator system (8, 9), said electric actuator system (8, 9) being mechanically connected to said movable operating member (5, 7) via a motion transmission system (12) to move said movable operating member (5, 7) with said first motion profile (FP); determining a possible imperfection in the processing of the consumer item (3) caused by the movable operating member (5, 7); modifying the first motion profile (FP) by an interface device (15) of the automatic machine (1) based on a processing error of the consumer goods (3) to obtain a first modified profile (MFP) of the movable operating members (5, 7); calculating by a control unit (14) via the motion transmission system (12) an inverse kinematics of a first modified profile (MFP) of the movable operating member (5, 7) to obtain a second modified second profile (MSP) to be commanded to the electric actuator system (8, 9), The method comprises: The method further comprises the step of identifying one or more clauses (K) of said first motion profile (FP) that are modifiable by said interface device (15).

2. 2. The method according to claim 1, comprising the further step (21) of modifying the control to control the electric actuator system (8, 9) to implement a corresponding modified second profile (MSP).

3. 3. The method according to claim 1 or 2, wherein the step of determining a possible malfunction (18) and / or the step of modifying the first motion profile (FP) (19) are performed by a machine operator (O) using the interface device (15) of the automatic machine (1), in particular the step of determining a possible malfunction (18) being repeated following the step of modifying the first motion profile (FP) (19).

4. 4. The method according to claim 1, wherein the first motion profile (FP) and the corresponding second motion profile (SP) comprise at least one working phase (WP) and at least one recovery phase (RP), and wherein a step (21) of modifying control is performed during the working phase (WP) and the recovery phase (RP).

5. 5. The method according to claim 1, wherein the first motion profile (FP) comprises at least one linear function segment (LF) and / or at least one polynomial function segment (PF), and the nodes (K) are inflection points or connection points of the at least one linear function segment (LF) and the at least one polynomial function segment (PF).

6. The method according to any one of claims 1 to 5, comprising a step (23) of defining a tolerance interval (I) to limit the variation of each of said nodes (K), in particular said tolerance interval (I) comprising an upper limit (UL) and a lower limit (IL).

7. 7. The method according to claim 6, wherein before calculating the inverse kinematics, the control unit (14) checks whether all the nodes (K) of the first motion profile (FP) of the movable operating member (5, 7) are within their respective tolerance intervals (I).

8. The method according to any one of claims 1 to 7, comprising a step (25) of collecting a number of data items related to the step of modifying the first motion profile (FP), in particular said number of data items being used for making modifications of the first motion profile (FP) during the design of the automatic machine (1) and / or for understanding possible calculation errors, in particular said collected number of data items being used for training an artificial intelligence system.

9. The method according to any one of the preceding claims, wherein the step (21) of modifying the control is performed while the automatic machine (1) is stationary.

10. The method according to any one of the preceding claims, wherein the step (21) of modifying the control is performed while the automatic machine (1) is in operation.

11. The method according to any one of claims 1 to 10, wherein the first motion profile (FP) and the second motion profile (SP) have a cam relationship with a master profile (MP), in particular the master profile (MP) is a profile of a physical axis or a virtual axis.

12. The method according to any one of claims 1 to 11, wherein the Master Profile (MP) is linear, in particular the Master Profile (MP) is a time flow.

13. An automatic machine (1) for manufacturing consumer goods (3), comprising: The automatic machine (1) comprises: At least one electric actuator system (8, 9); A motion transmission system (12); A movable operating member (5, 7); An automatic machine (1) comprising a control unit (14) configured to control the electric actuator system (8, 9), the automatic machine (1) comprises an interface device (15) configured to enable a machine operator (O) to modify the movement of the movable operating members (5, 7); The automated machine (1) is configured to carry out the method according to any one of claims 1 to 12.

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