FORCE-LIMITED METHOD OF AT LEAST ONE ELEMENT OF A PRODUCTION MACHINE IN MANUAL OPERATION

摘要

The basic idea of the present invention is to limit the force exerted on an element of a production machine and thus also to limit the force with which collisions between elements of the production machine can possibly occur. This means that collisions cannot be avoided, but with suitable limitation, the consequences of a collision can be avoided or at least significantly reduced. In the method according to the invention, a control device (3) of a production machine receives a current path (B) and a travel command (C1) from an operator (6) in manual operation of the production machine via an input device (7). At least one element (2) of the production machine is to be moved in one direction of movement along the path (B). The control device (3) determines a sequence of position setpoints (x *) for the axes (1) on the basis of the travel command (C1). The nominal position values (x *) proceed at a nominal speed (v *) in the direction of travel along the current path (B). The control device (3) uses the nominal position values (x *) and corresponding actual position values (x) to determine control commands (C2) for the drives (12) driving the axes (1) and controls the drives (12) accordingly. The control device (3) determines the control commands (C2) in such a way that a contact force (F) with which the at least one element (2) acts on its surroundings is limited to a force limit value (F0) specified for the control device (3).