Patent ID: 8463410
Filing Date: 2013-06-11
Classification: B23Q,G05B

Abstract:
1. A method for moving a machine element of an automation machine, comprising the steps of: dividing an overall movement of the machine element into movement sections having a first movement component and a second movement component extending in a common direction, generating desired movement values for controlling the overall movement, said desired movement values being composed of first desired values for controlling the first movement component and second desired values for controlling the second movement component, simultaneously monitoring the first and second desired values for compliance with at least one predefined movement constraint selected from the group consisting of V when at least one value of the first and second desired values fails to comply with the at least one predefined movement constraint, generating restriction monitoring information and changing the overall movement of the machine element based on the restriction monitoring information in an iterative process until new changed first and second desired values derived from the changed overall movement are in compliance with the at least one predefined movement constraint, and moving the machine element by using the complying changed first and second desired values in accordance with the at least one predefined movement constraint.