Patent ID: 11927936
Assignee: SIEMENS AKTIENGESELLSCHAFT
Field: Control (Instruments)
Classification: CPC B  G | IPC G

Claim 15:
16. A non-transitory control device for safely operating a multi-axis kinematic system, having a safety function block, wherein the safety function block is configured to initiate safety reactions based on respective positions of respective axes of the multi-axis kinematic system, the non-transitory control device comprising:
a compensation block configured to calculate compensation values at a run time of a controller of the multi-axis kinematic system,
wherein the compensation block has inputs for an error value for each axis of the respective axes of the multi-axis kinematic system, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system,
wherein a sensor resolution is used as a respective error value for each axis of the respective axes, and wherein each error value represents a maximum sensor error possible for a respective axis sensor,
wherein the compensation block has outputs for the compensation values, and
wherein the safety function block is configured to initiate the safety reactions based on the outputs for the compensation values.