Program-control systems

GPHYSICS G05Controlling systems G05BCONTROL OR REGULATING SYSTEMS IN GENERAL FUNCTIONAL ELEMENTS OF SUCH SYSTEMS MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS

G05B2219/00Program-control systems

G05B2219/10Plc systems G05B2219/11Plc I-O input output G05B2219/1101Remote I-O G05B2219/1102Speed up I-O manipulation G05B2219/1103Special, intelligent I-O processor, also plc can only access via processor G05B2219/1104Display state of connection of I-O G05B2219/1105I-O G05B2219/1106Pneumatic, hydraulic output module connected to plc module G05B2219/1107Hardware expansion of function of plc, programmable, connected in output line G05B2219/1108Relay module G05B2219/1109Expansion, extension of I-O G05B2219/11101Verifying ram data correct, validity, reload faulty data with correct data G05B2219/1111I-o grouped on one board G05B2219/1112Bit addressing, handling G05B2219/1113Address setting G05B2219/1114Address by module name G05B2219/1115Avoid to give two different addresses to same I-O, no duplicate G05B2219/1116Position of module in loop, ring determines address of module G05B2219/1117Parallel input addressed as memory G05B2219/1118Peripherals have a key to determine kind of peripheral G05B2219/1119Key is 8-resistors connected to either 0-or-1 to form a byte key G05B2219/1121Read key multiplexed, 16-bit wide, connect some resistors to reversed potential G05B2219/1122Program address module after installation, connect programmer into module G05B2219/1123Poll and detect connected I-O addresses, not connected means high address G05B2219/1124Transfer address to module, decrement, send this as address for next module G05B2219/1125I-O addressing G05B2219/1126Conversion table between original defined module address and actual physical address G05B2219/1127Selector for I-O, multiplex for I-O G05B2219/1128Several networks linked to host computer G05B2219/1129Serial addressed modules on bus G05B2219/1131I-O connected to a bus G05B2219/1132High speed bus between plc and plc or programming device G05B2219/1133Sensor actuator, asi, bus, network G05B2219/1134Fieldbus G05B2219/1135Profibus G05B2219/1136Canbus G05B2219/1137Peer to peer communication G05B2219/1138Configuration of I-O G05B2219/1139By using software configurable circuit, integrated, pga between cpu and I-O G05B2219/1141Modify manually, using keyboard configuration of module G05B2219/1142Load in replacement I-O stored configuration G05B2219/1143Base configuration contains all I-O modules, deselect not present modules G05B2219/1144Program, program I-O module G05B2219/1145Normal scan of I-O and direct acces of some I-O independent from normal scan G05B2219/1146Scanning sequence as function of previous logic expression G05B2219/1147Variable rate of scan G05B2219/1148If I-O module cannot be scanned in time, report to controller G05B2219/1149I-o in groups, serviced according to critical inputs, tasks matched to I-O G05B2219/1151Fast scanning of I-O to put I-O status in image table G05B2219/1152I-O module delivers interrupt on event, store port and 10ms timestamp in buffer G05B2219/1153Scan only some I-O registers, use flags G05B2219/1154Reading repeatedly input state, try again G05B2219/1155Switching over from one input to another one G05B2219/1156Special latches release all simultaneously G05B2219/1157I-O used either as input or as output G05B2219/1158Control of output current G05B2219/1159Image table, memory G05B2219/1161Signal processing, detect or deliver analog signals G05B2219/1162Forcing I-O G05B2219/1163Multiplexer for analog signals G05B2219/1164Latch for output or input G05B2219/1165Disable I-O card by preventing current flow G05B2219/1166Create optimum data blocks for transmission G05B2219/1167Pulse wave output G05B2219/1168Peak amplitude for input, nul amplitude for activating output G05B2219/1169Activating output if input changes, transition input and output not yet on G05B2219/1171Detect only input variation, changing, transition state of variable G05B2219/1172Direct negation, inversion of inputsignal G05B2219/1173Activating output only if powersupply is sufficient G05B2219/1174Input activates directly output and vice versa G05B2219/1175Activating output repeatedly for guaranteed turning on of output G05B2219/1176I-O signal processing, adaption, conditioning, conversion of signal levels G05B2219/1177Insertion mistake G05B2219/1178Display states of I-O in time G05B2219/1179Safety, on error, fault, block, inhibit output G05B2219/1181Detection of I-O faults, shut down of I-O G05B2219/1182I-O isolation, optical G05B2219/1183On error shut off output by independent system, not normal I-O G05B2219/1184Test ability of input for on, off capability G05B2219/1185Feedback of output status to input module and compare with command G05B2219/1186Redundant inputs parallel, outputs series, load safe switch off, AND condition G05B2219/1187Test input value with stored limits, permissable range, plausibility G05B2219/1188Detection of inserted boards, inserting extra memory, availability of boards G05B2219/1189Duplicated I-O also triple G05B2219/1191I-O voter G05B2219/1192Output of interfaces parallel, for safe load switch on, OR condition G05B2219/1193I-O ram as buffer for signals and self test for I-O bus G05B2219/1194Send dummy, check data to I-O to check correct I-O connection G05B2219/1195Critical I-O monitored by safety module connected to plc, other I-Os by plc self G05B2219/1196Intelligent, smart I-O can function independently, monitoring limit values G05B2219/1197Each interface, module has simulation module which takes over control G05B2219/1198Activate output only if power sufficient G05B2219/1199Inserting or taking out of boards during power on, hot plug in G05B2219/12Plc mp multi processor system G05B2219/1201Each plc can act as master, flying master G05B2219/1202Modules with same hardware and software G05B2219/1203Expand logical expression over multiple controllers G05B2219/1204Multiprocessing, several plc's, distributed logic control G05B2219/1205Memory access for different processors, memory arbitration, mailbox G05B2219/1206All processors are loaded with same program, only part of program is loaded G05B2219/1207Download programcode to node, I-O and execute programcode G05B2219/1208Communication, exchange of control, I-O data between different plc G05B2219/1209Exchange control, I-O data to other plc, individually, without host G05B2219/1211Exchange control, I-O data to other plc, using separate synchronizing G05B2219/1212Exchange control data between plc's only when other plc's are inactive G05B2219/1213All plc send their input to a common image memory, output directly send out G05B2219/1214Real-time communication between plc, Ethernet for configuration, monitor G05B2219/1215Master slave system G05B2219/1216Interlock problem, avoid sending data to slave when slave processes data G05B2219/13Plc programming G05B2219/13001Interrupt handling G05B2219/13002Transfer rom content to ram, load ram from non volatile memory G05B2219/13003Initial program load, host to controller G05B2219/13004Programming the plc G05B2219/13005Subroutine G05B2219/13006Prom burning G05B2219/13007Program hardwired logic, pld, fpga when out of machine, or inactive G05B2219/13008Quicker execution of jumps when repeating same kind of operation G05B2219/13009State machine instructions G05B2219/13011Batch control G05B2219/13012Using other programs, adapting program to machine, exchanging or rom G05B2219/13013Transferring ram to eprom see also prom burning G05B2219/13014Expanding functions of display by modular hardware G05B2219/13015Semi automatic, manual automatic G05B2219/13016Jump while output is disabled, or disabling output when running test instruction G05B2219/13017Macro instructions G05B2219/13018Conversion ladder diagram to decision system, machine code, language G05B2219/13019Translate program in order to be used on different plc G05B2219/13021Convert Petri net to ladder diagram G05B2219/13022Convert source program to intermediate program G05B2219/13023Convert natural language, graphic to coded states, input G05B2219/13024Convert digital logic of hardware circuit into plc software G05B2219/13025Convert batch recipe into plc program G05B2219/13026Convert ladder to event chaining, internal state for fpga or similar G05B2219/13027Convert time chart to relation vector to calculate plc I-O state as function of time G05B2219/13028Convert plc type program in pc type program for running in pc environment G05B2219/13029Enter values with incremental keys G05B2219/13031Use of touch screen G05B2219/13032Different menus on screen, softkeys G05B2219/13033Code wheel to enter data, push button to accept G05B2219/13034Operator interface derived from comment label in program G05B2219/13035Name, address duplication detection for program components, symbols G05B2219/13036Tracing, use of dummy ladder to collect signals together in one G05B2219/13037Tracing G05B2219/13038Comment, message data displayed with program instructions G05B2219/13039Print out of program, printer for program G05B2219/13041Display ladder or logic diagram, mnemonics, switch between two display G05B2219/13042Display logic diagram, LOP G05B2219/13043Display statement, instruction list, IL, BL, AWL G05B2219/13044Display as flow chart, SFC, FUP G05B2219/13045Additional data to restore ladder diagram from machine instructions G05B2219/13046Display status of edited program segments: inserted, deleted, replaced G05B2219/13047Display data on chart with comment, message about type of data G05B2219/13048Display of ladder, RLD, RLL, KOP G05B2219/13049Display progress of program, state, highlight, colour G05B2219/13051Display status of I-O in intelligible, easy to understand language G05B2219/13052Display of ladder diagram G05B2219/13053Edit by use of a ladder mask, raster, enter a symbol and select place in mask G05B2219/13054Enter a symbol and number of times symbol to be used in ladder diagram G05B2219/13055Place cursor, enter symbol, move cursor G05B2219/13056Edit conversion, jump table interactively G05B2219/13057Automatic search for unused, available address assign to symbol G05B2219/13058One instruction of plc generates a whole independent sequence, relay G05B2219/13059If not able to execute instruction block, skip and execute next G05B2219/13061Selection between sequential and conditional program G05B2219/13062Booting G05B2219/13063Synchronization between modules G05B2219/13064Execute reverse sequence G05B2219/13065Tasks for executing several programs asynchronously G05B2219/13066Execute next step if state, control zone changes G05B2219/13067Use of variables, symbols in instructions, to indicate mechanisms, interfaces G05B2219/13068Program divided in operation blocks, groups, tasks each executed G05B2219/13069Execute bit operation during instruction fetch cycle for word operation G05B2219/13071Non time critical program by processor, time critical program by hardware G05B2219/13072Super scalar computing G05B2219/13073Several interacting programs, each for a separate machine, exchange of start, stop G05B2219/13074Result of bit operation can modify or stop instruction execution G05B2219/13075User program, then interlock program to override certain conditions G05B2219/13076Interprete in pc a ladder diagram, use of sequence engine G05B2219/13077Interlock conditions stored in tables G05B2219/13078Sequence operation and interlock set programs are separated G05B2219/13079Solving stored logic function if value is equal target value G05B2219/13081Select between initialisation and normal control instructions sequence plc G05B2219/13082Parallel execution of bit operations G05B2219/13083Jumps G05B2219/13084Rom or eprom with conditional instructions G05B2219/13085Plc controls several machines in sequence G05B2219/13086Priority interrupt G05B2219/13087Separate interrupt controller for modules G05B2219/13088Analyzing only relevant rows of ladder diagram G05B2219/13089Skip part of expression evalutation if no influence on end result G05B2219/13091Use of precalculated and stored values to speed up calculations G05B2219/13092Speed up, evaluation of expressions between brackets G05B2219/13093Using functions like arithmetic timers in program G05B2219/13094Using a-d convertor as function G05B2219/13095Pid regulator G05B2219/13096Fuzzy control function G05B2219/13097Function is true macro program, not subroutine, conversion to machine G05B2219/13098Nc function to control axis, written in C or not G05B2219/13099Function block, OOP, various functions grouped, called by name as servo G05B2219/13101Function block instance, only one function block exists, several instances G05B2219/13102Function is a user written program, separate from rest G05B2219/13103Adaptive selftuning regulator G05B2219/13104Assembly, machine code, instruction list, AWL, IL, BL G05B2219/13105Two or more languages, ladder diagram or progression, basic program G05B2219/13106Natural language, use simple words like move, rotate G05B2219/13107Logic symbols, plan LOP, functional block symbols FBS, functional programming FUP G05B2219/13108Flow diagram, sequential function chart with transitions and states SFC Grafcet G05B2219/13109Pld programmable logic device software for plc G05B2219/13111Expert system G05B2219/13112Petri net G05B2219/13113Read image of sequence ladder diagram, flow chart drawing, translate into code G05B2219/13114Use of relative addresses for program G05B2219/13115Optimize ladder diagram block by rearrangement of serial and parallel G05B2219/13116Machine code, instruction for processor G05B2219/13117Two languages, ladder diagram and machine code for processor G05B2219/13118Decompiler, translate machine code to hll, reverse processing, easy modification G05B2219/13119Compiler G05B2219/13121DDE direct data exchange, DLL dynamic library linking G05B2219/13122Flow chart program activates several ladder diagrams, each controls one machine G05B2219/13123C language G05B2219/13124Step language G05B2219/13125Use of virtual, logical connections G05B2219/13126Csl computer simulation language G05B2219/13127Hybrid sfc for description of sequence, ladder diagram for conditions, interlock G05B2219/13128Relay ladder diagram, RLL RLD KOP G05B2219/13129Automatic documentation of program G05B2219/13131Select out several languages: FBD, SFC, RLL or RLD G05B2219/13132Select out several languages: FBD and SFC G05B2219/13133Select control languages out of FB RLL or RLD, SFC, ST G05B2219/13134Two or more languages mixed, RLD, SFC, FBD, IL, ST, relay ladder, function block, sequential function, instruction list, structured text mixed to form logic control program G05B2219/13135Using audio and-or video playback G05B2219/13136Translate spreadsheet into code G05B2219/13137Interpreter considers hierarchy of plc in system structure for programming it G05B2219/13138High level language HLL, structured text ST, resembles pascal G05B2219/13139CAD, design plc system by inputting desired failure, fault behaviour G05B2219/13141Derive sequence program from design, cad data of machine G05B2219/13142Debugging, tracing G05B2219/13143Manual testing G05B2219/13144GUI graphical user interface, icon, function bloc editor, OI operator interface G05B2219/13145Graphical input of network of symbols, simulation on screen, translate to machine G05B2219/13146Process image blocks have a relation to software function blocks G05B2219/13147Program using time charts G05B2219/13148Object oriented programming G05B2219/13149Encapsulated actuator model with standardized interface: state, action, interlock G05B2219/13151Correction of program using grammatical error detection G05B2219/13152Modification of program G05B2219/13153Modification, change of program in real time G05B2219/13154Patching rom to correct program G05B2219/13155Inserting instructions in program G05B2219/13156IC-memory card G05B2219/13157Tape G05B2219/13158Non volatile memory, no battery G05B2219/13159Cassette G05B2219/13161Easily exchangable rom, eprom cassette, earom G05B2219/13162Core memory G05B2219/13163Light pen G05B2219/13164Remote and local programming unit, control panel G05B2219/13165Program plc by independent build in processor G05B2219/13166Program intelligent I-O separate from main plc G05B2219/13167Personal computer pc G05B2219/13168With contact pins G05B2219/13169Voice, oral, vocal, speech announcement G05B2219/13171Portable, detachable programming unit G05B2219/13172Remote programming from computer G05B2219/13173Selection out of all possible programs with switch G05B2219/13174Pc, computer connected to plc to simulate machine G05B2219/13175For each input corresponding delay time for output response G05B2219/13176Functionality of a complex controlled systems, composed of sub-systems G05B2219/13177Select next stimuli as function of input state of previous step, so useless stimuli skipped G05B2219/13178Reiterate simulation till minimum delay stimuli, original contact stat G05B2219/13179Reiterate simulation for different conditions or subsystems G05B2219/13181Selection of limited stimuli, inputs for simulation G05B2219/13182With petrinets G05B2219/13183Connect simulation card with overlay into control system, to learn programming G05B2219/13184Pc, computer connected to plc to simulate only part of machine G05B2219/13185Software function module for simulation G05B2219/13186Simulation, also of test inputs G05B2219/13187Checking validity of data G05B2219/13188Checking program data, parity, key G05B2219/13189On error, look in table for alternative allowed next instruction G05B2219/13191Inhibit next step if signature fails, response different from stored response G05B2219/13192Eeprom and software interlock, user cannot change ram data G05B2219/13193Examine needed I-O, detect connected I-O, execute program only if proper I-O G05B2219/13194Build in measurement processing time and input time, input time must be smaller G05B2219/13195Protected programs, running these programs G05B2219/13196Check if instruction for special module is valid for that module G05B2219/13197Host and remote version of ladder program, avoid different versions G05B2219/13198Safety, forbid dangerous instruction, instruction order while programming G05B2219/13199On error choose another program G05B2219/14Plc safety G05B2219/14001Detect direction, sign of change of signal G05B2219/14002Independent processor, coprocessor monitors plc G05B2219/14003Pc, personal computer monitors contact data of several plc's G05B2219/14004On error I-O control state is substituted by actual state to continue G05B2219/14005Alarm G05B2219/14006Safety, monitoring in general G05B2219/14007Plc as standalone for safety control of machine G05B2219/14008Pc monitors plc G05B2219/14009Manual overide control, digital or analog, between plc and machine G05B2219/14011Explosion free control, intrinsically safe G05B2219/14012Safety integrity level, safety integrated systems, SIL, SIS G05B2219/14013IN , dual plc worker coworker, switch, OUT persistency G05B2219/14014Redundant processors and I-O G05B2219/14015Dual plc's, processors and dual I-O G05B2219/14016Triple plc's, processors and dual I-O, triple modular redundant G05B2219/14017Triple plc's, processors and triple I-O G05B2219/14018IN, plc and comparator, error detector, backup, standby plc, switch, update OUT G05B2219/14019Dual IN, crosscoupled relay, dual AND, dual OUT G05B2219/14021IN, direct link parallel to plc, AND, OUT G05B2219/14022Dual IN, dual plc with dual OUT comparator, dual AND, dual OUT G05B2219/14023IN, three plc and 2-out-of-3 processor voter, 2-out-of-3 output voter, OUT G05B2219/14024Dual IN, three plc with comparator, dual 2-out-of-3 output voter, dual OUT G05B2219/14025Dual IN, relay parallel to plc with comparator, dual AND, feedback OUT, dual OUT G05B2219/14026IN, relay, direct link parallel to plc, AND, OUT G05B2219/14027IN, plc and comparator, feedback OUT, OUT G05B2219/14028Dual IN, plc and comparator, feedback OUT, AND, OUT G05B2219/14029Dual IN, plc and comparator, feedback OUT, dual AND, OUT G05B2219/14031Dual plc, dual I-O, single actuator, crosscoupling IN and OUT G05B2219/14032Dual plc, dual I-O, crosscoupling analog IN of first plc to OUT of second plc G05B2219/14033Dual plc, dual I-O bus, dual I-O amplifier G05B2219/14034Quad system, dual worker coworker, output voter, switch G05B2219/14035Single analog I-O IN, dual signal processing, dual plc G05B2219/14036Detection of fault in processor G05B2219/14037Fault in I-O communication G05B2219/14038Fault in I-O racks, point level G05B2219/14039Fault in sensor, actuator G05B2219/14041Influence of execution of interrupts G05B2219/14042Process time G05B2219/14043Detection of abnormal temperature G05B2219/14044Operating time test for over or under conditions G05B2219/14045Parameter, over or under condition detection G05B2219/14046Current flow G05B2219/14047Open circuit, broken line, cable G05B2219/14048Short circuit G05B2219/14049Broken led, signalling device G05B2219/14051Correct polarity of supply G05B2219/14052Detect missing module G05B2219/14053Power failure, loss, abnormal battery G05B2219/14054Self test G05B2219/14055Make log, journal, history file of state changes G05B2219/14056Monitor only particular devices which are required for execution of process G05B2219/14057Compare response time, time interval with reference response time, interval G05B2219/14058Diagnostic, using expert, knowledge based system G05B2219/14059Selftest of voting, switching unit G05B2219/14061On-off-line diagnostic G05B2219/14062Diagnostic of dead state, machine does not function anymore G05B2219/14063Diagnostic of degrading performance G05B2219/14064Portable diagnostic unit, offline G05B2219/14065Checking step, diagnostic routine at end of each scan G05B2219/14066Look up table to determine particular fault conditions G05B2219/14067Log, history of key, input information before last fault occurred G05B2219/14068Compare operation time of each independent block, group with stored G05B2219/14069Dual watch dog, one for operating system, other for user program G05B2219/14071Test of equipment, system without using actual system G05B2219/14072Test of I-O scanner G05B2219/14073Real time modeling of plc behaviour, display pictogram of system G05B2219/14074Signature analysis, recorded states, zones are compared to actual G05B2219/14075Test of interface G05B2219/14076Test of sensor G05B2219/14077Detect difference in signal between identical channels, if plausible G05B2219/14078If fault in next cycle persists, declare channel faulty G05B2219/14079If signal out of range, use for next cycle previous detected signal G05B2219/14081Take average, mean of two valid signals of same input G05B2219/14082Sample input signal again to verify if signal is correct G05B2219/14083Derive diagnostic program from model needed for sequence program G05B2219/14084Remote diagnostic G05B2219/14085Memory testing G05B2219/14086Watch dog G05B2219/14087Selecting parameters or states to be displayed on panel, displaying states G05B2219/14088Display result of computation, calculation G05B2219/14089Display of control states on cards, by leds G05B2219/14091Message generation, composer from variables and states, zones G05B2219/14092Display menu and its code, sense code, compare with registered code G05B2219/14093Display matrix of relay, contact symbols, select and show time G05B2219/14094Display instruction with corresponding states, markers G05B2219/14095Library of pictures to display process, pictogram G05B2219/14096Voice, vocal, speech alarm G05B2219/14097Display of error messages G05B2219/14098Displaying instructions for monitoring state of machine G05B2219/14099What kind of fault, first fault latch indication G05B2219/14101Indication of status in a ready, off, running of fault state G05B2219/14102Fault stages, confinement, logical segregation of I-O, separate modules G05B2219/14103Detection on or off-line, latency from failure occurence to fault recognition G05B2219/14104Fault masking, redundant module is selected, fault will not propagate G05B2219/14105Retry, reacquire input data and start fault sequence again G05B2219/14106Reconfiguration of components or graceful degradation, degrade G05B2219/14107Recovery, after detection or reconfiguration, effect an error eliminati G05B2219/14108Restart of processing G05B2219/14109Repair on or off-line G05B2219/14111Reintegration, after correction of fault, failed module reinserted G05B2219/14112Diagnostic, troubleshooting G05B2219/14113Fault tolerant objectives for equipment, controller G05B2219/14114Integrity, error detector, switch off controller, fail safe G05B2219/14115Rapid recovery after fault detection G05B2219/14116Safe, emergency shutdown, esd of system G05B2219/14117Emergency shut down of control processor, power down G05B2219/14118Interlock of control switches G05B2219/14119Inhibit remote control G05B2219/14121Dual hand control G05B2219/14122Prevent conflicting writing of data use lock flags G05B2219/14123Majority voting, dynamic redundant, persistency and integrity G05B2219/14124Redundant network, client server nodes G05B2219/14125Redundant I-O racks, interfaces to points G05B2219/14126Redundant I-O points, two sensors, actuators for same point G05B2219/14127Redundant communication between processor and I-O G05B2219/14128Redundant I-O rack has spare slots, hot repair feature, spare blocks f G05B2219/14129Primary, worker and backup, coworker plc for testing I-O G05B2219/14131Workby plc, all plc function in parallel, synchronous data exchange G05B2219/14132Dual plc, each monitors other G05B2219/14133Each plc is different from others G05B2219/14134Each plc is programmed by different person G05B2219/14135Single plc, load between two I-O to plus and two I-O to ground G05B2219/14136Redundancy, masking redundancy, avoid failure but no fault detection G05B2219/14137Restart, power up of processor, outputs are off, disabled or hold last state G05B2219/14138Each independent operation block, group has own restart, home position G05B2219/14139On the fly software replacement in case of error G05B2219/14141Restart G05B2219/14142Low impedance bus G05B2219/14143Structure, low pass filter, debouncing input, output driver with ramp G05B2219/14144Galvanic isolation G05B2219/14145Serial feedback of several states of output G05B2219/15Plc structure of the system G05B2219/15001Local remote switch control G05B2219/15002Image table in I-O expansion module G05B2219/15003Interbus-s G05B2219/15004Identity kind of module, control unit connected G05B2219/15005Set switches defining control function G05B2219/15006Set configuration from master control station G05B2219/15007On reinsertion board, power up, program setting, configuration automatically set G05B2219/15008Identify connected I-O and store in address table G05B2219/15009Object oriented configuring, graphical display of plant G05B2219/15011Configuration of operating system G05B2219/15012Configuration software for networks G05B2219/15013Set configuration, address of connected module from fixed non volatile G05B2219/15014Configure priorities of different tasks G05B2219/15015Assign functions to group of complete or partial cells, modules G05B2219/15016Intialize amount of memory space needed in module G05B2219/15017Optical fiber G05B2219/15018Communication, serial data transmission, modem G05B2219/15019RS232 serial G05B2219/15021Convertor between plc and pc built into serial communication line G05B2219/15022Synchronus serial datatransmission G05B2219/15023Data packet, each module reads input stream and replaces with output G05B2219/15024RS422, balanced lines, xor, only one transmitter, receiver, RS485 G05B2219/15025Before starting communication between modules, initialize modules G05B2219/15026Detection of data transmission faults G05B2219/15027RS485, MPI multipoint interface, multiple transmitters, receivers connected G05B2219/15028Controller and device have several formats and protocols, select common one G05B2219/15029I-O communicates with local bus at one end and with fieldbus at other end G05B2219/15031RS485 for service connection to module G05B2219/15032Exchange objects having I-O, configuration, status, parameters, functions attributes G05B2219/15033Exchange objects between cpu and intelligent I-O, stored in their memory G05B2219/15034Serial transmission using one line for data and one line for clock G05B2219/15035Select between simplex, only reading I-O data or duplex, also writing to interface G05B2219/15036Control words for interface itself and for connected I-O G05B2219/15037Fail safe communication G05B2219/15038Internet, tcp-ip, web server see under S05B219-40 G05B2219/15039Display of reference, set value, of measured, feedback value G05B2219/15041Sense area of screen, compare if corresponds with correct area G05B2219/15042Synoptic display of process, mimic diagram G05B2219/15043Lcd, 7-segment displays ten different states G05B2219/15044Multiple lcd, alphanumerical display G05B2219/15045Portable display unit G05B2219/15046Low-high intensity display, flashing G05B2219/15047Colour display G05B2219/15048Microprocessor G05B2219/15049Timer, counter, clock-calendar, flip-flop as peripheral G05B2219/15051Dual port memory G05B2219/15052Communication processor, link interface G05B2219/15053Microcontroller G05B2219/15054LIFO for storing intermediate results G05B2219/15055FIFO G05B2219/15056DMA G05B2219/15057FPGA field programmable gate array G05B2219/15058Tristate interface G05B2219/15059Floating point coprocessor G05B2219/15061RISC processor for plc G05B2219/15062Battery backup G05B2219/15063Real time clock G05B2219/15064MMU, memory management unit G05B2219/15065Optimize program memory space G05B2219/15066Use of external memory G05B2219/15067Using a mixture of memories G05B2219/15068SBC single board computer, UCM universal control module G05B2219/15069Use of function modules with timer, counter, relay functions and I-O G05B2219/15071Circuit in module connected to bus over two contacts, closed in operat G05B2219/15072Modules in daisy chain, connected by parallel cable G05B2219/15073Interface card, module has own power supply independent from pc G05B2219/15074Modules on bus and direct connection between them for additional logic G05B2219/15075Each connected module has own power suppl G05B2219/15076Stackthrough modules, modules are stacked, no need for backplane G05B2219/15077Modular structure, memory tables hold data about type of connected apparatus and data format G05B2219/15078Modules, construction of system G05B2219/15079Multitasking, real time multitasking G05B2219/15081Period length ratio between application and communication task is settable G05B2219/15082Dos operating plc system G05B2219/15083Operating system, microsoft windows G05B2219/15084MSDOS G05B2219/15085Windows NT G05B2219/15086Windows-95 G05B2219/15087Open control system G05B2219/15088Prestabilized power supply followed by another stabilized power supply G05B2219/15089Double, parallel power supply, double, two rails for power supply G05B2219/15091Power and data bus G05B2219/15092Power supply with extended range inputs G05B2219/15093For each module a power supply G05B2219/15094Clock for power converters also for microprocessor and I-O G05B2219/15095Power supply for input, output derived from microprocessor pin G05B2219/15096Cpu controls power supply on I-O modules G05B2219/15097Power supply G05B2219/15098Switching power on only when system needs control, stand by G05B2219/15099Bus arbitration G05B2219/15101Personal computer pc and plc, slot plc, same kernel G05B2219/15102Programmer simulates, behaves like a programming drum G05B2219/15103Microprogram stored in rom or ram G05B2219/15104Microprogram rom is externally attached G05B2219/15105Hardwired logic to accelerate, speed up execution of instructions G05B2219/15106High speed limited function sub plc together with slow speed general G05B2219/15107Linesolver, columnsolver G05B2219/15108Intelligent I-O is a plc itself, with limited interface G05B2219/15109Intelligent interface is much faster than main plc G05B2219/15111Intelligent interface behaves like a plc, by special communucation pro G05B2219/15112Two cpu control plc, select cpu, video switch, with special key G05B2219/15113Common display, monitor for two controlling cpu G05B2219/15114Coprocessor connected to main via bus and separate channel G05B2219/15115Pc serves as plc, programming panel, monitoring panel G05B2219/15116Pc implements plc, in application program, plc instruction register G05B2219/15117Radio link, wireless G05B2219/15118Shared memory G05B2219/15119Backplane controller G05B2219/15121Plc build into application, like power invertor G05B2219/15122Less frequent used subroutines arranged at high addresses G05B2219/15123Plc with build in console, I-O and communication G05B2219/15124Plc integrated in plug, connector G05B2219/15125Multiple kernels G05B2219/15126Calculate duration of cycle G05B2219/15127Bit and word, byte oriented instructions, boolean and arithmetic operations G05B2219/15128Ternary logic instead of binary G05B2219/15129Separating address and databus G05B2219/15131Pipeline registers G05B2219/15132Bank switching G05B2219/15133Opto isolation, optical separation G05B2219/16Plc to applications G05B2219/161Nuclear plant G05B2219/162Transfer line G05B2219/163Domotique, domestic, home control, automation, smart, intelligent house G05B2219/20Pc systems G05B2219/21Pc I-O input output G05B2219/21001Analog input G05B2219/21002Neural classifier for inputs, groups inputs into classes G05B2219/21003Proximity switch as input G05B2219/21004Microprocessor plus electromechanical, cam control for output G05B2219/21005Several slave modules connected to same I-O of master, multiplexed by master G05B2219/21006Detect position switches, connect resistances, analog value gives position G05B2219/21007A processor to evaluate signals of detector only, I-O processor G05B2219/21008Read in analog values by microprocessor, potentiometer, resistor taps G05B2219/21009Display states of I-O G05B2219/21011Forcing I-O G05B2219/21012Configurable I-O G05B2219/21013Microcontroller and power output switches integrated on same chip G05B2219/21014Interface, module with relays G05B2219/21015Easy expansion, extension of I-O G05B2219/21016I-O has own power supply G05B2219/21017Use of stack memory between processor and machine G05B2219/21018Connect sensors to a concentrator, concentrators to bus G05B2219/21019Split, separate urgent from non urgent, interrupt from status inputs, store in two register G05B2219/21021Intelligent I-O, executes tasks independently from main cpu G05B2219/21022Telephone ring interface, detect ring sequence to control devices G05B2219/21023Midi interface G05B2219/21024Analog output G05B2219/21025To address single module, assign a group with only that single module G05B2219/21026Indirect adressing of I-O through a control register G05B2219/21027Address extension, module with several I-O, command has subaddress for each I-O G05B2219/21028Address of module determined by position G05B2219/21029Address of module determined by function of module G05B2219/21031Address of module determined by signature : type, value of measured, controlled data of module G05B2219/21032Controlled module in a ring, each module detects its own address G05B2219/21033Serial transfer address to each module, decrement, if zero module found G05B2219/21034Address I-O G05B2219/21035Identification with serial header G05B2219/21036Each connected module has own address and address of originator of message G05B2219/21037Serial time multiplex bus, programming each module with one delayed line TDM G05B2219/21038Special clock line, module counts clock until equal to its address G05B2219/21039Slaves, modules in daisy chain, each handles control data, transmits to next G05B2219/21041Detect length of packet of pulses to recognise address G05B2219/21042Address a group, a zone G05B2219/21043Device address and subdevice address and function address G05B2219/21044Modules with same address are each selected by different transmission speed G05B2219/21045Modules with same address are each selected by different modulation G05B2219/21046Address a single module out of a group G05B2219/21047Select module if address of module equals required address, compare addresses G05B2219/21048Compare fixed address of module to required address G05B2219/21049Poll and detect connected I-O modules, address terminator, address line high G05B2219/21051Modules able to communicate to other modules are connected to arbiter G05B2219/21052Modules having a common function are allocated ascending number to address G05B2219/21053Each unit, module has unique identification code, set during manufacturing, fMAC address G05B2219/21054Connector on bus has two rows of contacts, if one contact is connected, other not G05B2219/21055Number of halfwaves equals number of I-O, send block of halfwaves, synchro gap G05B2219/21056Decoding on module, module can be inserted anywhere, fixed address in bus connector G05B2219/21057Buslines connecting modules are offset by one line from module to module G05B2219/21058Find address by activating power and detect which address gives feedback G05B2219/21059I-O in address space G05B2219/21061Adapter bus connected to centronics G05B2219/21062Pc and I-O bus manager and network nodes linked to I-O clusters G05B2219/21063Bus, I-O connected to a bus G05B2219/21064Calibration: automatic of a-d convertor, store null and maximum in eeprom G05B2219/21065Module calibrates connected sensor G05B2219/21066Disconnect data line from module before, reconnect after configuration G05B2219/21067Set group of module by hardware for each module, no program protocol G05B2219/21068Configure input signals either as interrupt or status signals G05B2219/21069At start up check I-O and store addresses in secure device G05B2219/21071Configuration, each module has a settable address, code wheel, encoder G05B2219/21072Write, modify address into module by optical means, laser G05B2219/21073Each module has push button, trigger circuit to initialise address setting G05B2219/21074Master has keyboard to enter address of called slave G05B2219/21075Initialise each module random, count down, if zero master sets address G05B2219/21076Plug, connector with build in decoding, encoding for module G05B2219/21077Module address fixed, defined by fixed identification lines on motherboard G05B2219/21078Fixed address of slot on motherboard changed, using address convertor, decoder G05B2219/21079Allocate at start up also to each controlled device a code for the master G05B2219/21081At start up, check I-O configuration and store addresses in ram G05B2219/21082At start, send first address to all modules, manually trigger first module and so on G05B2219/21083At start up detect if connected devices are input or output devices G05B2219/21084Actuate module, seek response by counting up address, store address on response G05B2219/21085Define type of I-O, analog, digital, pulse G05B2219/21086Configuration menu program for I-O G05B2219/21087Define sensor type, resistance, thermocouple, thermistor, voltage, current G05B2219/21088Define name and address of I-O G05B2219/21089Detect configuration of I-O regulary G05B2219/21091First module initializes its address, then signals next to do same, serial G05B2219/21092At start up, autoconfigure module for proper I-O execution, bootstrap G05B2219/21093Module has a configuration part for own logic and one for application logic G05B2219/21094Different connectors for serial transmission as function of machine or connected sensor G05B2219/21095Screen, display connected directed to control system via optical fibre G05B2219/21096Connection of machine to pc via centronics, parallel port G05B2219/21097DMA G05B2219/21098Connect pc to machine, controller, module via serial port G05B2219/21099Two independent interfaces, one for pc, other for remote monitoring G05B2219/21101Connect I-O interface to joystick port G05B2219/21102Pc control of device over normal remote control connected between them G05B2219/21103Connect pc to machine, controller, module via PCMCIA G05B2219/21104Wire pc connector to output of controlled module, for printer, modem, other module G05B2219/21105Read in data only if value changes, transition to save processor time G05B2219/21106If specific I-O not updated in memory, priority access of I-O, data directly to microprocessor G05B2219/21107Change sensivity of detection if input value is very low G05B2219/21108Module, I-O module consisting of counters and comparators G05B2219/21109Field programmable gate array, fpga as I-O module G05B2219/21111Each module has a push button to bypass control and switch module on G05B2219/21112Each module has push button to turn module off G05B2219/21113Bus interface has multiplexer, control register, data shift register G05B2219/21114Universal input, AC or DC G05B2219/21115Same connector can represent either input or output G05B2219/21116Universal cabling control interface between processor and devices G05B2219/21117Universal I-O, same pin is input or output, bidirectional G05B2219/21118Two sensors on same line, superpose pulsed digital on analog signal G05B2219/21119Circuit for signal adaption, voltage level shift, filter noise G05B2219/21121Output only enabled during a short period of positive going power supply G05B2219/21122Programmable signal discrimination, input can be used for several functions G05B2219/21123Impedance matching G05B2219/21124A-d conversion if input signal is analog, no a-d conversion if input signal is digital G05B2219/21125Digital value of analog signals depends on range between signal and threshold G05B2219/21126Signal processing, filter input G05B2219/21127Signal adaption I-O G05B2219/21128Change control signal, first max or min signal, then normal desired signal G05B2219/21129Low pass filter for input G05B2219/21131Sample two input values, one in positive wave, other in negative wave, average G05B2219/21132Window for signal G05B2219/21133Module to adapt connection of signals to general connector G05B2219/21134Signal adaption circuit build into connector G05B2219/21135On closing contact, clean contact with large current, then normal signal current G05B2219/21136Detection of zero crossing for command and maximum for reading value G05B2219/21137Analog to digital conversion, ADC, DAC G05B2219/21138Variable filtering as function of kind of sensor signal G05B2219/21139Input activates directly output and vice versa G05B2219/21141Latched I-O G05B2219/21142Read input signal when switching power supply is not switched G05B2219/21143Sample analog signal between superposed digital signal G05B2219/21144Link between input and output, output only activated if corresponding input on G05B2219/21145Fuse in case of overcurrent G05B2219/21146If real status is different from controlled status stop motor G05B2219/21147Time critical I-O shut off by I-O module, otherwise by processor G05B2219/21148Over current protection on clock line G05B2219/21149If read write error, keep last I-O status for next cycle G05B2219/21151Activate output only if power sufficient G05B2219/21152If output defect, switch it off G05B2219/21153In order to follow higher data input rate, shut off non essential peripherals G05B2219/21154Over current protection G05B2219/21155Over voltage protection G05B2219/21156Over temperature protection G05B2219/21157Broken, open line, cable, circuit, faulty connection G05B2219/21158Activate I-O only after system stabilises from start up G05B2219/21159If I-O defect, warning light, operator pushes buttom, cpu disconnects I-O G05B2219/21161Send dummy, check data to I-O to check correct I-O connection G05B2219/21162Detect short circuit of cable G05B2219/21163Test I-O if functional or safe value G05B2219/21164Resistors between transmitter and receiver, against disturbances G05B2219/21165Zenerdiodes for protection of output of transmitter, input of receiver G05B2219/21166Output state, over resistance, coupled back to input to monitor output G05B2219/21167Intelligent I-O monitors also local load, controlled object G05B2219/21168Couple, feedback each output to corresponding input to verify output G05B2219/21169Low voltage protection G05B2219/22Pc multi processor system G05B2219/2202Controller calculates a control parameter from values sent by other controllers G05B2219/2203Grid, array of controllers G05B2219/2204Use default values if communication with other controllers not available G05B2219/2205Multicore G05B2219/2206Microprocessor for display and parameter input, link to control microprocessor G05B2219/2207Microcontroller combined with state sequencer G05B2219/2208Each processor controls a different function of the machine G05B2219/2209Only one processor is permitted to execute a common function at a time G05B2219/2211Active controllers are allocated more time if request rate is low G05B2219/2212All processors are loaded with same program, only part of program is used G05B2219/2213Local processor uses data from own local store and data from other stations G05B2219/2214Multicontrollers, multimicrocomputers, multiprocessing G05B2219/2215Process directly process signals without interrupt or polling G05B2219/2216Define module independent and module specific element, interconnection, capability G05B2219/2217First cluster runs normal program, second cluster runs different program G05B2219/2218Join two clusters of processors together G05B2219/2219Processor starts application program only if it receives predetermined data G05B2219/2221Only common memory in host, master, no local memory in slave, local controller G05B2219/2222Use of priority levels for gaining access to resources G05B2219/2223Use a different frequency to address each processor G05B2219/2224Processor sends data to next, downstream processor G05B2219/2225Communication, CPU accesses own I-O and next CPU over dual port memory G05B2219/2226Processor accesses own I-O and I-O of all processors connected on his right G05B2219/2227Common memory as well as local memory G05B2219/2228Master detects and configures slaves G05B2219/2229Multiprocessing, change over from master slave to peer to peer, no master G05B2219/2231Master slave G05B2219/2232Master executes modified program on slave demand G05B2219/2233Each slave can control several other slaves G05B2219/2234Each slave can function in stand alone if master fails G05B2219/2235Each slave has library of states during which operation is permitted to start G05B2219/2236Master determines critical time when each of slaves must be controlled G05B2219/2237Selection of master or slave G05B2219/2238Several masters at same time G05B2219/2239Reallocate, reschedule execution of controlled functions if one processor fails G05B2219/2241Real time database, each processor stores in local memory used variables G05B2219/2242Program references to variable by absolute address, update of absolute address G05B2219/2243Detect incompatibilites between control devices G05B2219/23Pc programming G05B2219/23001Expansion of control words, code of standard language to increase functionality G05B2219/23002Petrinet G05B2219/23003Bumpless control transfer, map corresponding operation states to operation tables G05B2219/23004Build up program so that safety conditions are met, select most stable states G05B2219/23005Expert design system, uses modeling, simulation, to control design process G05B2219/23006Finite state modeling G05B2219/23007CAD to develop sequential control system, use data also to test G05B2219/23008Computer aided software engineering, program generation, case tools, CASE G05B2219/23009Automatic documentation of program G05B2219/23011Sequence control design using pc, cad of control system CADCS G05B2219/23012Derive sequence program from design, cad data of machine CADCS G05B2219/23013Build up program by selecting function modules as function of amount paid for it, charging, payment G05B2219/23014Conversion of ASCII scripting language to machine code G05B2219/23015Convert input signals to universal machine control signals represented by music G05B2219/23016Accelerate input, exponent as function of pressure, time, turning speed, keys for 10-to-1 G05B2219/23017Page, scroll key G05B2219/23018Enter parameters by combinations of keys and duration of actuation of keys G05B2219/23019Joystick delivers reference function as function of speed of its movement, except about null G05B2219/23021Gesture programming, camera sees hand, displays it on screen, grasp buttons G05B2219/23022Production design metaphore, tool, operation like input system G05B2219/23023Control knobs, levers integrated into display, display parameters near knobs G05B2219/23024Delivers reference when in neutral position, otherwise delivers desired value G05B2219/23025Overlay, template for keys with different meaning G05B2219/23026Recognise user input pattern and present possible intended program G05B2219/23027Database with information on how to control or test different appliances G05B2219/23028Switch function of panel, detect this and execute other orders G05B2219/23029Up down, increment decrement keys, jog, sequentially show functions or values G05B2219/23031Simulate control panel to give remote instructions G05B2219/23032Input of data from second control unit if first fails G05B2219/23033Variable pressure on key gives input value G05B2219/23034Press once on key to raise signal, twice to lower signal G05B2219/23035Same knob, different functions, turn for pulses, push to enter value G05B2219/23036Same knob, different function, normal for parameter, value, pushed to enter value G05B2219/23037Touch key integrated in display G05B2219/23038Select function by amplitude of analog value, potentiometer, resistor taps G05B2219/23039Remote programmer G05B2219/23041Enter analog value G05B2219/23042Only increment key G05B2219/23043Remote and local control panel, programming unit, switch G05B2219/23044Transparent overlay with touch sensors, put over display panel, select function G05B2219/23045Function key changes function as function of program, associated pictogram G05B2219/23046Selection out of menu by function keys G05B2219/23047Operating, repair manual stored in memory G05B2219/23048Knob to select program serves also as indicator for progress of program G05B2219/23049Control panel serial, RS232 connected to controller G05B2219/23051Remote control, enter program remote, detachable programmer G05B2219/23052Matrix, plugboard like control panel with modules for display, switches G05B2219/23053Knob with tactile feedback, representing clicks, detents programmed G05B2219/23054Simulate response on entered parameters and display, quicker response G05B2219/23055Cursor keys to select cells of a spreadsheat with control parameter, enter value G05B2219/23056Foot pedal, control, operated G05B2219/23057Position of knob, pedal detected by encoder, addresses memory for functions G05B2219/23058Knob, pedal selects ranges, functions and controls in each range as function of position G05B2219/23059Configuration of pedal, knob with code card, adapt pedal to person G05B2219/23061Variable range of knob, pedal for each function, adapt to person G05B2219/23062Position of knob, pedal detected by bundle of optical fibres G05B2219/23063Double, two foot pedal G05B2219/23064Entry of function or parameter during manipulation of tool, operation G05B2219/23065Manual override of program G05B2219/23066Same knob starts two different functions G05B2219/23067Control, human or man machine interface, interactive, HMI, MMI G05B2219/23068Give instructions, messages to operator G05B2219/23069Illuminated, lighting up keys, build in led, display, show sequence data entry G05B2219/23071If up, down key is selected, linear display of values appears, pops up G05B2219/23072Telephone, dial as control panel G05B2219/23073Keyboard decoding by microprocessor G05B2219/23074Each control unit can control own associated load or as central control G05B2219/23075Control unit can switch load on off or can also go into program mode G05B2219/23076Pushbuttons to manually up or down control of motor also for entry of program G05B2219/23077Reconfigurable remote programmer, learn control signals for different devices G05B2219/23078Input a code representing a sequence of operations G05B2219/23079Local programmer can switch to remote to use same capabilities as remote G05B2219/23081MMI design, operator workplace design G05B2219/23082Enter parameters with two hands, dead man knob, switch, pedal G05B2219/23083Joystick with buttons for menu and function selection, scrolling, +sign and -sign G05B2219/23084Synoptic display of available, selectable control modules with their functions G05B2219/23085Several users can enter data simultaneously to same processor G05B2219/23086Menu is sequentially selected and read from cd disk and guides operator G05B2219/23087Programmable selector switch, can be programmed by connected apparatus G05B2219/23088Same switch to power control and to set references of several devices G05B2219/23089Key cap label rewritten, changed to indicate changed or alternate functions G05B2219/23091Multiple consoles, panels to issue concurrent commands to different groups I-O G05B2219/23092Soft up down keys, simulated on screen G05B2219/23093Input a code representing a device function G05B2219/23094Debounce key G05B2219/23095If knob pushed during power up, knob can be used afterwards as data input G05B2219/23096Use single button, knob to enter code number, equals number of pushes G05B2219/23097Messages to operator in mother tongue, selection out of different languages G05B2219/23098Manual control, via microprocessor instead of direct connection to actuators G05B2219/23099Switches on panel, connected to serial port G05B2219/23101Enter quality parameters to select control parameters G05B2219/23102Quality parameter is low energy consumption of machine G05B2219/23103Quality parameter is high production rate G05B2219/23104Change display of window to another as function of settable active display time of window G05B2219/23105Window, drop, pull down menus G05B2219/23106Cockpit metaphore, condensed representation, urgent things better shown G05B2219/23107Push on flashing alarm indicator, corresponding window pops up on whole screen G05B2219/23108Floorplan, room metaphore, dedicated windows, unchangeable but can be selectable G05B2219/23109Configuration of display device, operator panel G05B2219/23111Adapt control signal logarithmic G05B2219/23112Ramp, slope connection between two reference values G05B2219/23113Reread, retransmit several times data for valid data, redundant command G05B2219/23114Maintain parameter setting for a while to avoid changes due to noise G05B2219/23115Buffer G05B2219/23116Input signal can be sent simultaneously to several processors G05B2219/23117Lookup table, interpolation between points G05B2219/23118Column and line select in memory to access address data in second memory, tree G05B2219/23119Display state, variable only when needed, energy saving G05B2219/23121Display graphics with corresponding text G05B2219/23122Display on off time chart for different events G05B2219/23123Production report G05B2219/23124Notepad, message from other operator G05B2219/23125Switch display to show different things, test or normal state G05B2219/23126Display tree structure of whole system or relevant info after function selection G05B2219/23127Switch from one kind of display to other, selected by duration discrimination G05B2219/23128Switch from one kind of display to other when parameter is changed G05B2219/23129Animated display, changes as function of parameters G05B2219/23131Select on large display part of pictogram to show on display of used workstation G05B2219/23132Multifunction display G05B2219/23133Animated, rotating fan indicates speed, flashing bulb for intensity G05B2219/23134Display history of used, selected programs, their frequency G05B2219/23135Display to console, panel which sends parameters, commands G05B2219/23136Display all subsystems, select one and display screen corresponding to subsystem G05B2219/23137Display program step, instruction number G05B2219/23138Linear, bar display of variables G05B2219/23139Segment display G05B2219/23141Flat panel, thin film electro luminescent G05B2219/23142Colour display G05B2219/23143Adjustable display G05B2219/23144Kind of display, matrix like display, large surface G05B2219/23145Blinking, flickering display G05B2219/23146Programmable, reconfigurable via microprocessor or coding switches G05B2219/23147LCD liquid crystal display G05B2219/23148Helmet display, mounted on head of operator G05B2219/23149Dual, two displays G05B2219/23151Highlight G05B2219/23152Large and several smaller displays for each workstation, each own cursor on large display G05B2219/23153Controlled load, lightbulb, roller blind itself acts as display to acknowledge command G05B2219/23154Line of light diodes LED G05B2219/23155Display on screen reference value and sequence steps G05B2219/23156Show upper, lower value, position with upper, lower segment of 7-segment display G05B2219/23157Display process, synoptic, legend, pictogram, mimic G05B2219/23158Display of evaluated and selectable program G05B2219/23159Display plurality of parameters simultaneously G05B2219/23161Hand held terminal PDA displays machine control program when user is near that machine G05B2219/23162Display real time or time already elapsed or rest time for program G05B2219/23163Display enlarged, zoomed detail and small overall schematic, plan G05B2219/23164Display data on a scrolling line, ticker display G05B2219/23165Display of parameter plus permissable, allowable range G05B2219/23166Display program in fast, quick, speed mode G05B2219/23167Display of selected sequence, permissable sequence G05B2219/23168Display progress of program G05B2219/23169Operation field together with control parameters G05B2219/23171Display dynamic change of process, animation G05B2219/23172Different states with one LED, blinking, on and off or different colours G05B2219/23173Display modified program together with original program to see differences G05B2219/23174Display of parameter and several suggested values for that parameter G05B2219/23175What to display: program channels, running of program G05B2219/23176Display entered data for each controlled station G05B2219/23177Indicate all selected devices operating currently G05B2219/23178Display status of currently selected controlled devices G05B2219/23179Warning display if heavy energy consuming programsteps are selected G05B2219/23181Use of sound, acoustic, voice G05B2219/231823D display of controlled system G05B2219/23183Display effects of high level commands G05B2219/23184Display different states by using two leds, first blinks, then second, then both G05B2219/23185Setting of internal dipswitches, jumpers G05B2219/23186Visual display of workpiece with actions to execute on G05B2219/23187Display number of each program G05B2219/23188Software independent and dependent of hardware G05B2219/23189Information is code G05B2219/23191Command to control simultaneously several machines G05B2219/23192A limited number of programs to be used by plurality of machines, multiplex G05B2219/23193Memory stores lifetime, different settings, configurations of controlled device G05B2219/23194Check validity data by writing in sector control data and check data G05B2219/23195Memory stores available, allowable, possible options, variations, alternatives of program or modules G05B2219/23196From lookup table and real time clock, select actual daylight period G05B2219/23197Curve entered with pen on touchscreen G05B2219/23198Disk with segments connected to separate input of microprocessor, represents different values G05B2219/23199Reference value, setpoint for regulator G05B2219/23201Value is analog signal G05B2219/23202Curve, surface represents analog value, line, surface follower G05B2219/23203Curve represents analog value, tv scan G05B2219/23204Reference in coded form G05B2219/23205Reference together with sequence commands G05B2219/23206Set reference as function of position, for compensations G05B2219/23207Capacitive detection of line G05B2219/23208Potentiometer G05B2219/23209Linear potentiometers with multiple sliders G05B2219/23211Limit value to tolerances, ranges, plausibility G05B2219/23212Store entered data, program status, reread regularly, against data loss G05B2219/23213Check validity of entered data G05B2219/23214Checksum CRC G05B2219/23215Check data validity in ram, keep correct validity, compare rom ram G05B2219/23216Extend processing time by extending enable signal with special output signal G05B2219/23217Parallel processing G05B2219/23218Interrupt queued requests only at the end of each segment of each of requests G05B2219/23219Different tasks in different memory, called as function of priority of tasks G05B2219/23221Each event can have two sub events, device can be activated twice in cycle G05B2219/23222On off time tables, as function of angle, each linked to groups for device selection, pointer G05B2219/23223During each cycle, different on off sequences can be used G05B2219/23224Offset on off signals for different sections G05B2219/23225Program system from more than one source G05B2219/23226Table with data on how to execute the same function in different modules G05B2219/23227Environment conditions affect execution of program G05B2219/23228Program execution, if external programs exist, execute them instead of internal G05B2219/23229Execute first current program, then select new program G05B2219/23231Mark objects, execute sequence according to mark G05B2219/23232Execute program from added, expansion rom, memory G05B2219/23233Input state executes immediately corresponding block program G05B2219/23234In real time loop do one of the control modules and a safety module program G05B2219/23235Set address code in register to switch between program in ram and in eprom, flash G05B2219/23236Table lookup driven system G05B2219/23237Program execution by message passing G05B2219/23238TV microprocessor executes also home control, monitoring of appliances G05B2219/23239Execute other program during idle time of main program, or between interrupts G05B2219/23241Idle, during idle time of main program, a game can be played G05B2219/23242Synthesize time logic circuits G05B2219/23243Specification language G05B2219/23244Ascii script: one line is read each time, each letter controls a device G05B2219/23245Block, buffer the inputs when executing critical process, read them when finished, for a finite state machine G05B2219/23246Create control program by demonstrating behaviours using widget and inferencing them G05B2219/23247Widget have states, properties, events associated, demonstrate control behaviour G05B2219/23248Integrate function blocks from different machines CORBA, RMI protocols G05B2219/23249Using audio and or video playback G05B2219/23251Use two or more different programming languages in same program G05B2219/23252High level language HLL, basic, control language G05B2219/23253Expert system G05B2219/23254Interactive programming, sentence on screen filled in by operator G05B2219/23255Object oriented programming, OOP G05B2219/23256Hybrid programming, part sequence, part continuous G05B2219/23257Grafcet G05B2219/23258GUI graphical user interface, icon, function bloc editor, labview G05B2219/23259Synchronous language G05B2219/23261Use control template library G05B2219/23262DDE direct data exchange, DLL dynamic library linking G05B2219/23263C++ G05B2219/23264Assembly language, pass parameters by registers instead of stack G05B2219/23265Select device driver for actuator, sensor G05B2219/23266Compiler G05B2219/23267Program derived from sequence time diagram and stored in table G05B2219/23268Forth G05B2219/23269Program provides for communication protocol with device, equipment G05B2219/23271Decompiler, translate machine code to HLL , reverse processing, easy modification G05B2219/23272Natural language, use simple words like move, rotate G05B2219/23273Select, associate the real hardware to be used in the program G05B2219/23274Link graphical data for display automatically into program G05B2219/23275Use of parser G05B2219/23276Use of virtual, logical connections G05B2219/23277Use of separate interface software, main program calls functions from it G05B2219/23278Program by data flow G05B2219/23279Enter simple words: start motor, pc translates boolean equations into orders G05B2219/23281PEARL process experimental automation real time language G05B2219/23282Detect erroneous instructions in asic systems G05B2219/23283Debugging, breakpoint G05B2219/23284Eliminate redundant states in finite state machine G05B2219/23285Enable, disable hardware logic to implement finite state machines G05B2219/23286Graphical representation of finite machine states to help operator G05B2219/23287Executing sequential program concurrently with state machine instructions G05B2219/23288Adaptive states learning transitions G05B2219/23289State logic control, finite state, tasks, machine, fsm G05B2219/23291Process, graphic programming of a process, text and images G05B2219/23292Use of model of process, divided in part models with IN, OUT and actuator G05B2219/23293Automated assembly of machine control software, reusable software components G05B2219/23294Whole program to first processor, transfer to next processor if not for 1st G05B2219/23295Load program and data for multiple processors G05B2219/23296Load, update new program without test program, save memory space G05B2219/23297Remote load of program with cellular, wireless, satellite connection G05B2219/23298Remote load of program, through internet G05B2219/23299Remote load of program, through fieldbus G05B2219/23301Load program from file system of a controller G05B2219/23302Load program in data blocks G05B2219/23303Load program, optical connection between programmer and eprom G05B2219/23304Download program from host G05B2219/23305Transfer program into prom with passwords G05B2219/23306Load program from host, remote load, non volatile card to volatile, ram G05B2219/23307Initial program loader, ipl, bootstrap loader G05B2219/23308Transfer program from ram to eprom, flash, card G05B2219/23309System boot only allowed after inputting user identification, password G05B2219/23311Load new program together with test program G05B2219/23312Load program from attached device to control that device G05B2219/23313Load program to initial configure machine, then erase and install userprogram G05B2219/23314Switch between initialisation, program, test, end of programming, erase mode G05B2219/23315Normal and emulated, pass through for disabled persons modes G05B2219/23316Standby, inactive, sleep or active, operation mode G05B2219/23317Safe mode, secure program, environment in case of error, intrusion G05B2219/23318Mode, two mode, directly from console or download from host G05B2219/23319Microprocessor control or manual control G05B2219/23321Switch between manual, automatic, inching or step by step mode, select mode G05B2219/23322Hand, manual or automatic G05B2219/23323Select between entry and execution of program G05B2219/23324Separate update program onboard G05B2219/23325Transfer modified data from ram to eprom, flash after system have run several cycles G05B2219/23326Clone, duplicate hardware functions of another device G05B2219/23327Modification of program in real time G05B2219/23328Modification program G05B2219/23329Modification, correction entered values G05B2219/23331Patch program during non execution, tables to load modified program G05B2219/23332Overide stored parameters G05B2219/23333Modify program and store it G05B2219/23334Use of table with addresses for different modules, write new table if modified G05B2219/23335History, log of program modifications G05B2219/23336Identification of program, application, device to be controlled G05B2219/23337Modify if history of program coincides with history of modifying data G05B2219/23338Transfer modified program from ram to eprom, flash G05B2219/23339Update diskette, cassette initiates bootstrap program to load eeprom, flash G05B2219/23341Only new module in high level language, combine with existing modules G05B2219/23342Pluggable rom, smart card G05B2219/23343Earom, alterable eeprom, erasable G05B2219/23344Changeable memory, program G05B2219/23345Memory is eeprom G05B2219/23346Permeability of pin sets frequency of oscillator, record carrier G05B2219/23347Eprom G05B2219/23348Programmed parameter values in memory, rom, function selection and entry, no cpu G05B2219/23349Pluggable pin module, fits in corresponding female receptacle, coded plug G05B2219/23351Film G05B2219/23352Ram rom memory G05B2219/23353Endless tape, loop G05B2219/23354Hard disk G05B2219/23355Magnetic card G05B2219/23356Programmable, pluggable module, logic set up on front of module G05B2219/23357Grammophone record, disk G05B2219/23358Program card with integrated control panel, flexible circuit G05B2219/23359Screw like form of record carrier G05B2219/23361Ram card with write protection switch G05B2219/23362Floppy diskette G05B2219/23363Barcode G05B2219/23364Bubble memory G05B2219/23365Ferrite memory G05B2219/23366Temperature induced on tape, sensors read temperature as program data G05B2219/23367Card with picture of work to be done, together with selectable codes G05B2219/23368VRAM videoram G05B2219/23369Memory in controlled device is ram, rom G05B2219/23371Fixed and variable memory for parameters or user program G05B2219/23372XY matrix, switching controlled by pc G05B2219/23373Interactive guidance by voice message G05B2219/23374Set potentiometer automatically G05B2219/23375Function switch, knob with piezo, strain gauge G05B2219/23376Template for program, set values to template G05B2219/23377Touch screen, with representation of buttons, machine on screen G05B2219/23378Touch sensitive key G05B2219/23379Knob, delivering pulses, digipot, electronic potentiometer G05B2219/23381Balls with different properties circulate and form the sequence G05B2219/23382Knobs with build in illumination, legend G05B2219/23383Lightpen G05B2219/23384Tape, card with magnetic, luminescent, iron particles for sequence G05B2219/23385Programming pencil, touch probe G05B2219/23386Voice, vocal command or message G05B2219/23387Trackball G05B2219/23388Mixture of different means, joystick, keys, pedals, fader, potentiometer G05B2219/23389Modular program, each process has corresponding program module G05B2219/23391Each module can transfer data to I-O or other module and has parameter memory G05B2219/23392Change execution time ratio of several programs G05B2219/23393Set finish, end time and total program time to calculate, derive begin, start time G05B2219/23394Set time constant G05B2219/23395Set value of limit switches, high low value G05B2219/23396Enter start and end of selected program G05B2219/23397Set day, week G05B2219/23398Set start time and duration G05B2219/23399Adapt set parameter as function of measured conditions G05B2219/23401Programmer has connection with pc to enter parameters into system directly by pc G05B2219/23402Edit reference value on screen by lightpen G05B2219/23403Store edited program also in detachable programmer, can be used elsewhere G05B2219/23404If data error detected, switch automatically to program mode G05B2219/23405Change settings of events for a whole group of related events G05B2219/23406Programmer device, portable, handheld detachable programmer G05B2219/23407Program machine during execution of other program in real time G05B2219/23408Handheld programmer has cover to protect operator from environment G05B2219/23409Portable, detachable programmer has emulation for fixed control panel G05B2219/23411Voltage supply or allow, not inhibit signal to memory on connection of programmer G05B2219/23412Discriminate with id code the module to be programmed G05B2219/23413Remote programmer can only program a device if nearby, narrow beam communication G05B2219/23414Pc as detachable program, debug, monitor device for control system G05B2219/23415Program each station with specific data, all, global with general, common data G05B2219/23416Enter application program into I-O module, like motion program, servo program G05B2219/23417Read program from pluggable memory card G05B2219/23418Read tape, card forward, backward, in two directions G05B2219/23419Automatic passage of tape to reader G05B2219/23421Record program on tape, disk, memory G05B2219/23422Learn parameters by producing a small number of objects G05B2219/23423Record playback G05B2219/23424Select construction element from function library G05B2219/23425Selection of program, adaptive to process G05B2219/23426Layout of program choice around knob according to used intensity G05B2219/23427Selection out of several programs, parameters G05B2219/23428Select program from look up tables as function of detector states, pointer, index to program G05B2219/23429Selection as function of connected machine G05B2219/23431Change program on detection of deviations G05B2219/23432Select as function of different connected tools, each tool has its parameters G05B2219/23433Selection of program as function of connected keyboard, panel G05B2219/23434Select automatically prefered program data, ordered to most used program G05B2219/23435Select a program per zone to be controlled G05B2219/23436Select by dipswitches on power on G05B2219/23437Each operator can select his own program, data entry G05B2219/23438Select application program as well as connected control device G05B2219/23439Select additional programfunctions by pushing two different keys G05B2219/23441Select between user program selection or service program selection G05B2219/23442As function of colour or number code on object to be treated G05B2219/23443Upon detected function changes of remote device, activate proper local program G05B2219/23444Select as function of surface property, characteristic of object handled by machine G05B2219/23445Real time simulation G05B2219/23446HIL hardware in the loop, simulates equipment to which a control module is fixed G05B2219/23447Uses process simulator to develop, simulate faults, fault tree G05B2219/23448Find optimum solution by simulating process with constraints on inputs G05B2219/23449Use of an additional dedicated processor for emulating sensor output G05B2219/23451Software in the loop, bypass function, execute new program parts on external device G05B2219/23452Simulate sequence on display to control program, test functions G05B2219/23453Pc simulates equipment and is connected to sequencer to test program G05B2219/23454Execute program in fast mode, real system has no time to respond G05B2219/23455Determine capability of machine by simulating model of capability of its parts G05B2219/23456Model machine for simulation G05B2219/23457Programmer magnetically attachable to machine G05B2219/23458Remote controller pluggable, attachable to pc G05B2219/23459Keyboard attachable, pluggable into household apparatus G05B2219/23461Module has coded cams darking optical detectors G05B2219/23462No local entry panel, only central remote programmer for all appliances G05B2219/23463Before controlling module execute monitoring of module and its resources G05B2219/23464Use signatures to know module is not corrupt, cfc, control flow checking G05B2219/23465Master processor blocks input of data to slaves G05B2219/23466Block, latch entry keys once program launched G05B2219/23467Code and program on two objects to be assembled, compared for compatibility G05B2219/23468Before switch to execution of second, non failsafe program, inhibit I-O for it G05B2219/23469Execute alternatively a failsafe, proven program and a non failsafe program G05B2219/23471Interrupt after set time non failsafe program, switch to failsafe program G05B2219/23472Confirmation of user for the selection of a program setting G05B2219/23473Program stopped if consumed current to high G05B2219/24Pc safety G05B2219/24001Maintenance, repair G05B2219/24002Clock failing, adaptive to clock G05B2219/24003Emergency stop G05B2219/24004If control lever, joystick, handle is released, spring return to neutral G05B2219/24005Inhibit update control program if default values has been changed by program during processing G05B2219/24006Code coverage memory:contains data about addressed addresses during program run G05B2219/24007Backup data if microprocessor not responding G05B2219/24008Safety integrity level, safety integrated systems SIL SIS G05B2219/24009If board, card is retrieved, then disconnect first power, then block machine G05B2219/24011Transmit warning, error message to all devices in a list G05B2219/24012Use camera of handheld device, head mounted display G05B2219/24013Unlatch all relays in common with micorprocessor G05B2219/24014Protection to extract, insert circuit board G05B2219/24015Monitoring G05B2219/24016Unlatch for reparation G05B2219/24017Powering up, starting machine supervised by microprocessor G05B2219/24018Computer assisted repair, diagnostic G05B2219/24019Computer assisted maintenance G05B2219/24021Separate processor for monitoring system G05B2219/24022Stop error message after a number of repeated error events G05B2219/24023Stop error message after permission operator, acknowledgement G05B2219/24024Safety, surveillance G05B2219/24025Remove board with system on power, hot plug in, swap, docking, life insertion G05B2219/24026Latch, block unlatch, unblock G05B2219/24027Circuit, independent from microprocessor, detects contact switch to allow power to actuator G05B2219/24028Explosion free control, intrinsically safe G05B2219/24029Alarm if wrong device, apparatus is connected to control module G05B2219/24031Fpga takes over control if emergency or programmed stop, to shut down sequence G05B2219/24032Power on reset, powering up G05B2219/24033Failure, fault detection and isolation G05B2219/24034Model checker, to verify and debug control software G05B2219/24035Superpose testsignal on normal I-O lines, through transfo and rectifier G05B2219/24036Test signal generated by microprocessor, for all I-O tests G05B2219/24037Switch on pin of microprocessor for test G05B2219/24038Several test signals stored in memory and used as input signals G05B2219/24039Test sequence time and sequence profile G05B2219/24041Pc as detachable debug, monitor device for control system G05B2219/24042Signature analysis, compare recorded with current data, if error then alarm G05B2219/24043Test memory comparing with known stored valid memory states G05B2219/24044Second controller monitors diagnostics system of first controller G05B2219/24045Test if memory card is inserted, present G05B2219/24046Test if controller has enough memory available G05B2219/24047Count certain number of errors, faults before delivering alarm, stop G05B2219/24048Remote test, monitoring, diagnostic G05B2219/24049Use of control bits G05B2219/24051Two test pins, one for input and one for output G05B2219/24052Set switch on for diagnostic G05B2219/24053Diagnostic of controlled machine G05B2219/24054Self diagnostic G05B2219/24055Trace, store a working, operation history G05B2219/24056Portable, detachable module to input test signals, read test results G05B2219/24057Set jumper on board to change user mode to diagnostic mode G05B2219/24058Remote testing, monitoring independent from normal control by pc G05B2219/24059Diagnostic programmed in state logic G05B2219/24061Simulator, generates input signals, shows output signals of logic G05B2219/24062During simulation, test inhibit output to actuators G05B2219/24063Select signals as function of priority, importance for diagnostic G05B2219/24064Sample rate variable as function of importance of alarm signals G05B2219/24065Real time diagnostics G05B2219/24066Monitor only devices essential to current process G05B2219/24067Processor stores variables, events and date in eeprom, for external monitor G05B2219/24068Find intermittent errors G05B2219/24069Diagnostic G05B2219/24071Online service documentation G05B2219/24072Detect faulty circuit, display on screen and replace it G05B2219/24073Avoid propagation of fault G05B2219/24074Probability of defect, seriosity or severity of defect, fault G05B2219/24075Predict control element state changes, event changes G05B2219/24076Markov model for safety analysis G05B2219/24077Module detects wear, changes of controlled device, statistical evaluation G05B2219/24078Debounce, correct periodicity of command G05B2219/24079Detect correct command wave form G05B2219/24081Detect valid sequence of commands G05B2219/24082Detect if driver, actuation circuit is correct G05B2219/24083Detect if actuators are correct, react G05B2219/24084Remote and local monitoring, local result to remote, remote takes action G05B2219/24085Analyze, trace fault signals according to tree, table G05B2219/24086Expert system, guidance operator, locate fault and indicate how to repair G05B2219/24087After correct repair, update fault tree G05B2219/24088Simulate process graphically using feedback from real, to prevent or repair G05B2219/24089Change colour of message after reading message G05B2219/24091Display indication out of order, alarm indication G05B2219/24092Warning display lights, lamps, leds on module G05B2219/24093Display, show place of error, fault G05B2219/24094Voice alarm G05B2219/24095Show timely order of errors G05B2219/24096Show number of error event G05B2219/24097Camera monitors controlled machine G05B2219/24098Scan and display states of all actuators if controller fails G05B2219/24099On error, send error over lightdiode to external pc, display G05B2219/24101Stop error message after a certain time G05B2219/24102Display status of controller G05B2219/24103Graphical display of proces as function of detected alarm signals G05B2219/24104Operator can select a graphical screen at his will as help diagnostic G05B2219/24105Perform an initial display process to check displays G05B2219/24106Display instructions, program statements together with monitored parameter value G05B2219/24107Display centrally detected user, function changes of remote device G05B2219/24108Correct fault so that microprocessor functions correctly, without reset G05B2219/24109Execute first diagnostic, service program before normal control program G05B2219/24111Inhibit control until control lever is first set to neutral position G05B2219/24112Delay software reset until critical operations are finished G05B2219/24113No transmission of errors to central during intervention of maintenance operator G05B2219/24114Continue program if crashed microprocessor, program module is not crucial G05B2219/24115Continue critical operation only if detector, operator input is satisfied G05B2219/24116Reprogram inserted module, reread parameters to enable operation machine G05B2219/24117If error detected, shut down G05B2219/24118Inhibit, disable control if program module not inserted or wrong module addressed G05B2219/24119Compare control states to allowed and forbidden combination of states G05B2219/24121On fault, detect bit pattern to indicate kind of fault and stop program G05B2219/24122Inhibit automatic control if in manual control G05B2219/24123Alarm filtering, level and direct precursor, required action, blocking condition G05B2219/24124Identification of program, if not assigned for machine, reject, stop G05B2219/24125Watchdog, check at timed intervals G05B2219/24126Program stopped if instruction not executed or if output module is missing G05B2219/24127Disable, inhibit control signal in I-O interface if alarm status set G05B2219/24128Command and intermediate error feedback used to verify correct execution G05B2219/24129means for safety such as resettable fuse, PPTC G05B2219/24131Noise rejection, shielding board, bus, lines G05B2219/24132Over voltage protection G05B2219/24133Ground each module and total system G05B2219/24134Use of high voltage 28-Volt logic level G05B2219/24135Use of infra red for optical limit switch against day light G05B2219/24136Monitor load state of battery G05B2219/24137Non volatile memory to store program on power loss G05B2219/24138Battery backup G05B2219/24139Recovery from power loss, failure G05B2219/24141Capacitor backup G05B2219/24142Program has a protected, independent part and a free programmable part G05B2219/24143Inhibit control if device does not answer a start signal within time interval G05B2219/24144Load new program, overwrite old program only if machine is halted G05B2219/24145Test for collision of actuated devices, articles, if interference inihibit entry G05B2219/24146Configure actuators to be switched off in case of emergency stop G05B2219/24147Program entry, inhibit manual control if in automatic mode G05B2219/24148Inhibit local control if in remote G05B2219/24149Inhibit program entry if an essential sensor of apparatus is missing, broken G05B2219/24151Inhibit programming if physical resources are missing, no gas for heating G05B2219/24152Normal and emergency program are integrated G05B2219/24153System controller can control independent from host G05B2219/24154Password with time limited access to system, protect protocol G05B2219/24155Load, enter program if device acknowledges received password, security signal G05B2219/24156Inhibit program entry, keyboard by entering sequence of certain keys G05B2219/24157Block, inhibit certain inputs by entering certain keycode G05B2219/24158Access only for service, hide, forbidden tamperfree keys, program G05B2219/24159Several levels of security, passwords G05B2219/24161Use of key, in key is stored access level G05B2219/24162Biometric sensor, fingerprint as user access password G05B2219/24163Authentication tag in configuration file G05B2219/24164Parts of program accesible only during execution, no access with programming tool G05B2219/24165Use codes to activate features of controller G05B2219/24166Permit from several operators to allow access G05B2219/24167Encryption, password, user access privileges G05B2219/24168Identify connected programmer to allow control, program entry G05B2219/24169Identification of last person who changed program G05B2219/24171Supervisor code to change passwords G05B2219/24172Use of second password, different from first G05B2219/24173One sensor, two I-O channels each for different processor G05B2219/24174One channel is used for communication while other is tested, in redundant I-O G05B2219/24175Redundant communication channel, if one fails use the other G05B2219/24176Central controller may override redundant controller G05B2219/24177State machine arbitrates which redundant controller is active G05B2219/24178Controlled device decides which redundant controller will be active G05B2219/24179Redundant storage of control parameters G05B2219/24181Fail silent nodes, replicated nodes grouped into fault tolerant units G05B2219/24182Redundancy G05B2219/24183If error, spare unit takes over, message to master, confirm new configuration G05B2219/24184Redundant I-O, software comparison of both channels G05B2219/24185After repair, update redundant system during non critical periods G05B2219/24186Redundant processors are synchronised G05B2219/24187Redundant processors run identical programs G05B2219/24188Redundant processors run different programs G05B2219/24189Redundant processors monitor same point, common parameters G05B2219/24191Redundant processors are different in structure G05B2219/24192Configurable redundancy G05B2219/24193Two transducers for same parameter G05B2219/24194One channel monitors correct programcode execution, other correct process state G05B2219/24195Compare data in channels at timed intervals, for equality G05B2219/24196Plausibility check in channels for correct sequence or result G05B2219/24197Dual analog output ports, second takes over if first fails G05B2219/24198Restart, reinitialize, boot system after fault detection, hanging up, stalling G05B2219/24199Recover from fault, malfunction, go to safe state, correct and set new sequence G05B2219/24201Inhibit restart program if start switch fails in normal run mode G05B2219/24202After failure and stop of program, special switch to restart G05B2219/24203Restart, recover from error only if detected states equal stored states G05B2219/24204Select restore procedure corresponding to matched abnormal condition, table G05B2219/24205Slow down processor activity if temperature rises above limit G05B2219/24206Identification by portable memory in a key G05B2219/24207If processor overloaded, reduce messages sent by other systems to it G05B2219/24208Go into safety mode if communications are interrupted G05B2219/24209Create film in case of error G05B2219/24211Override normal program, execute urgency program so machine operates safe G05B2219/24212Set off alarm state manually, acknowledge to restart normal control G05B2219/24213No shut down if after emergency detection, all control parameters are safe G05B2219/24214Detect if analog output signal is within range G05B2219/24215Scada supervisory control and data acquisition G05B2219/24216Supervision of system G05B2219/25Pc structure of the system G05B2219/25001CEBUS consumers electronics bus G05B2219/25002Interbus-S, output serial out, input serial in, as one shift register G05B2219/25003M3S bus with six lines, two power, two canbus, one to initialize, one as dead man switch G05B2219/25004Power and data bus G05B2219/25005Fluid bus for communication in process system with several fluidic control modules G05B2219/25006Interface connected to fieldbus G05B2219/25007UMS bus G05B2219/25008Different buses, protocols on same line, also dsl G05B2219/25009Profinet-I-O, producer-consumer mode G05B2219/25011Domotique, I-O bus, home automation, building automation G05B2219/25012Two different bus systems G05B2219/25013G64-bus G05B2219/25014Fieldbus general name of bus connected to machines, detectors, actuators G05B2219/25015Gpib-488, ieee-488, hp bus, parallel instrumentation bus G05B2219/25016Eiba bus, european installation bus association, ib installation bus G05B2219/25017ASI actuator sensor interface, bus, network G05B2219/25018Only actuator bus, network G05B2219/25019Parallel processors coupled to bus by configurable interface card G05B2219/25021Profibus G05B2219/25022LAN local area network for controllers G05B2219/25023Sercos serial real time communications system between servo and cpu G05B2219/25024Bitbus from intel G05B2219/25025Only sensor bus G05B2219/25026Lon local operating network, uses neuron chip with three microprocessors G05B2219/25027GSC general serial channel G05B2219/25028Power, data and clock bus G05B2219/25029Additional logic to mirror certain signals, permits node to adapt to bitrate G05B2219/25031TTCAN bus, time triggered can bus G05B2219/25032CAN, canbus, controller area network bus G05B2219/25033structure, control, syncronization, data, alarm, connect I-O line to interface G05B2219/25034Connect module to data, monitor, control lines, extra I-O and power to connector G05B2219/25035Star network G05B2219/25036Two clocks, high frequency for normal and low frequency for battery low , sleep G05B2219/25037Clock line and data line loop in a contrary sense, for data stability, settling G05B2219/25038During negative cycle of power supply, processor is set to active, else inactive G05B2219/25039Clock G05B2219/25041Select between several clock signals G05B2219/25042Clock derived from power supply G05B2219/25043Superposition time and other pulses G05B2219/25044Radio controlled clock G05B2219/25045Electronic cam, encoder for sequence control as function of position, programmable switch pls G05B2219/25046Real time clock to sample I-O states and store them in memory G05B2219/25047Common clock for redundant processors G05B2219/25048Master clock and several frequency dividers, for motion and sequence control G05B2219/25049Master processor gives timing information to slaves G05B2219/25051For serial communication a separate clock and data line G05B2219/25052VCO voltage controlled oscillator G05B2219/25053Frequency pulses as function of speed G05B2219/25054Calibration timer, compare 1st, number of pulses during calibration with second counter G05B2219/25055During calibration adapt vco, counter to deliver wanted frequency, pulses G05B2219/25056Automatic configuration of monitoring, control system as function of operator input, events G05B2219/25057Configuration stored in distributed database for real time use G05B2219/25058Job setup, use also library to select job setup G05B2219/25059Iterative configuration of identical modules, only config first one, copy to other G05B2219/25061Configuration stored in central database G05B2219/25062Detect physical location of field device G05B2219/25063Force node into an inactive state when required G05B2219/25064Update component configuration to optimize program execution G05B2219/25065Configure attributes of parameters G05B2219/25066Configuration stored in each unit G05B2219/25067Graphic configuration control system G05B2219/25068Check correct configuration of device G05B2219/25069Pseudo redundance, eliminate failing element and reconfigure system G05B2219/25071Synoptique display of system configuration, layout, evolution G05B2219/25072Initialise each module during start up G05B2219/25073Configuration of keys and related display, shown on keys G05B2219/25074Check system, change failing element, compare with stored configuration G05B2219/25075Select interconnection of a combination of processor links to form network G05B2219/25076Configure connected module only if allowed, registered module G05B2219/25077Each module can be programmed for number of input and output G05B2219/25078Store in ram a second program adapted to local conditions G05B2219/25079Function module makes bus termination, creates local bus on ok from central G05B2219/25081Clone, copy configuration from first device, in teach mode, to second identical device G05B2219/25082Display name of configuration, to recognise how device has been set, programmed G05B2219/25083For each subsystem a configuration G05B2219/25084Select configuration as function of operator G05B2219/25085Several function expansion units for master, main unit, universal system G05B2219/25086Assign functions to group of complete or partial cells, modules G05B2219/25087Selector switch to set function of each module G05B2219/25088Define scale value of analog signal, min and max value G05B2219/25089Define state of digital signal, open, closed, maintained, momentary G05B2219/25091Of alternative and parallel parts of program into synchronised tasks G05B2219/25092Customized control features, configuration G05B2219/25093During start, integration into machine, send module functionality to scheduler G05B2219/25094At start, I-O modules receive functionality and check with its own functionality G05B2219/25095Detect kind of display to configure display routine G05B2219/25096Detect addresses of connected I-O, modules G05B2219/25097Detect control panel connected, select corresponding program and parameters G05B2219/25098Detect connected sensors, set parameters, gain automatically G05B2219/25099Detect configuration I-O and select needed program G05B2219/25101Detect connected module, load corresponding parameters, variables into module G05B2219/25102Detect connected actuator, by code, select compensation non linearity G05B2219/25103Detect during start, number of modules, groups, sub groups G05B2219/25104Detect transfer of control module, use mean default values instead of normal G05B2219/25105By cable integrated in controlled machine, fixed G05B2219/25106Pluggable card, magnetic, smart with configuration data, pulled out after loading G05B2219/25107Pluggable card, magnetic or smart with configuration data, staying in device G05B2219/25108Dipswitches combined with bcd switch instead of multiple dipswitches G05B2219/25109Eeprom loaded from external device with configuration data G05B2219/25111Using broadcast message G05B2219/25112Using firmware stored in processor G05B2219/25113Strapping diodes G05B2219/25114Jumpers G05B2219/25115Card, board with configuration switches G05B2219/25116Pluggable, detachable cassette loads configuration G05B2219/25117Resistors, value, combination defines a digital value G05B2219/25118Matrix to connect sensor to corresponding actuator G05B2219/25119Dipswitches dipschalter G05B2219/25121What, which input or output to be connected to key or display G05B2219/25122Stop angle and status of different on off states G05B2219/25123Change controller pin configuration G05B2219/25124Configure attributes of parameters G05B2219/25125Relationship between different functions of a controller G05B2219/25126Synchronize communication based on internal clock of micro processor G05B2219/25127Bus for analog and digital communication G05B2219/25128Transmission with higher frequency than the processing frequency G05B2219/25129Programming a multitasking, virtual sensor network shared by various users G05B2219/25131Collect several parameters and transmit in block to control microprocessor G05B2219/25132Superposition data signals on power lines for actuators G05B2219/25133Serial parallel conversion G05B2219/25134All interfaces load their data in shift register, then serial read out G05B2219/25135On data line multiplex data and control words G05B2219/25136Transmission with variable frequency, set by operator G05B2219/25137Optical window for communication G05B2219/25138Transmit data from rotating devices G05B2219/25139Use of separate buscouple interface G05B2219/25141Normal display led used also for communication purposes G05B2219/25142Lan between host and main controller, other network between main and sub controllers G05B2219/25143Buffer for communication between two cpu G05B2219/25144Between microcomputers, processors G05B2219/25145I-O communicates with local bus at one end and with fieldbus at other end G05B2219/25146Communication between main and expansion unit, only clock and data G05B2219/25147Before communication, check if optical fiber is correctly attached G05B2219/25148Before communication, check if I-O is powered G05B2219/25149Receiver detects communication error and requests emitter to retransmit data G05B2219/25151Check appropriate protocol voltage levels G05B2219/25152Parity detection G05B2219/25153Checking communication G05B2219/25154Detect error, repeat transmission on error, retransmit G05B2219/25155Encoded transmission against noise G05B2219/25156Full echo communication check, echo back G05B2219/25157Checksum CRC G05B2219/25158Watchdog G05B2219/25159Respond to signal if initialisation and address are received within set interval G05B2219/25161Only receiving station, read several times message, select correct one or reject G05B2219/25162Contention, if several transmitters avoid collision, by separate transmittor code G05B2219/25163Transmit twice, redundant, same data on different channels, check each channel G05B2219/25164Loopback G05B2219/25165Token ring network G05B2219/25166USB, firewire, ieee-1394 G05B2219/25167Receive commands through mobile telephone G05B2219/25168Domotique, access through internet protocols G05B2219/25169Half duplex, repeater G05B2219/25171Serial, RS232 G05B2219/25172Duplex G05B2219/25173SCSI G05B2219/25174Ethernet G05B2219/25175Modem, codec coder decoder G05B2219/25176RS485, differential data signals, xor G05B2219/25177Using fm frequence modulation, fsk, biphase code G05B2219/25178Serial communication, data, also repeater G05B2219/25179Parallel G05B2219/25181Repeater G05B2219/25182Serial between host and modules, nodes, parallel in node to microcontroller G05B2219/25183Serial AND-OR parallel interface in one circuit G05B2219/25184Number of modules interfaces optimized in relation to applications with which to link G05B2219/25185Single serial line, virtual second line is earth G05B2219/25186Bluetooth G05B2219/25187Transmission of signals, medium, ultrasonic, radio G05B2219/25188Superposition high frequency data signal on power lines, current carrier G05B2219/25189Current mode sensor I-O, current loop, 40-mA loop instead of voltage G05B2219/25191Current loop G05B2219/25192Infrared G05B2219/25193Coaxial cable G05B2219/25194Twin core, twisted cable G05B2219/25195Multiwire cable, parallel G05B2219/25196Radio link, transponder G05B2219/25197Optical, glass fiber G05B2219/25198Brouter: transfers data from wireless to wired networks, router: wired to wired G05B2219/25199Router brouter broadcast configuration data periodically to update control units G05B2219/25201Program commmunication between remote I-O and controller via remote connection program object G05B2219/25202Internet, tcp-ip, web server : see under S05B219-40 G05B2219/25203Keep correct order of messages sent, of messages sequence G05B2219/25204Translate between different communication protocols G05B2219/25205Encrypt communication G05B2219/25206Protocol: only devices with changed states communicate their states, event G05B2219/25207Only devices with changed states can receive control signals for actuator G05B2219/25208Control message, address and command portion G05B2219/25209Device status answer, response, acknowledge G05B2219/25211Broadcast mode, length message, command, address of originator and destination G05B2219/25212Master address node, node answers ready, master sends command, node executes it G05B2219/25213Synchronisation, address and data G05B2219/25214Wait, delay after message G05B2219/25215Time triggered protocol for fault tolerant real time application G05B2219/25216Packet switching G05B2219/25217Configure communication protocol, select between several G05B2219/25218Broadcast mode, originator, destinator address, command, check data G05B2219/25219Probe packet to determine best route for messages G05B2219/25221Identification of messages and their relative priority G05B2219/25222Mailbox, email, mail system G05B2219/25223Slave has registers to indicate master, acknowledge, transfer address, read write G05B2219/25224Fieldbus messages services fms G05B2219/25225Peripheral messages services pms, for sensor actuator G05B2219/25226Combine CSMA-CD and TDM time multiplexed for rapid status exchange G05B2219/25227Polling time is variable for each node, as function of time needed for each node G05B2219/25228Scheduling communication on bus G05B2219/25229Partition control software among distributed controllers G05B2219/25231Command, task has deadline, time limit to be executed G05B2219/25232DCS, distributed control system, decentralised control unit G05B2219/25233Avoid communication delay by sending command and event, if event present, execute command G05B2219/25234Direct communication between two modules instead of normal network G05B2219/25235Associate a sequence function to each control element, event signature G05B2219/25236Detail, detect presence of operator to wake up system G05B2219/25237Drive record carrier G05B2219/25238Personalize message G05B2219/25239Relay assisted triac, in series for safety G05B2219/25241Serial bus controller G05B2219/25242Relay G05B2219/25243Digital filter G05B2219/25244State matrix connected to controller G05B2219/25245Keyboard encoder chip used as sequence controller G05B2219/25246Habituation, rehabituation and recovery chip, responds only to critical information G05B2219/25247Program drum and reverse drum driven by timer motor G05B2219/25248Microcontroller as time switch G05B2219/25249Counter, timer plus microprocessor for real time , jitter G05B2219/25251Real time clock G05B2219/25252Microprocessor G05B2219/25253Transputer G05B2219/25254DSP digital signal processor G05B2219/25255Neural network G05B2219/25256Module is timer with variable time delay G05B2219/25257Microcontroller G05B2219/25258ASIC G05B2219/25259Bus arbiter G05B2219/25261Hand calculator as time switch G05B2219/25262Oscillator to multiply pulses to counter G05B2219/25263Solid state simulating relay logic G05B2219/25264Synchronizer for pulses G05B2219/25265Flash memory G05B2219/25266Microcontroller combined with plc G05B2219/25267Shift register G05B2219/25268PLD programmable logic device G05B2219/25269Lifo G05B2219/25271Neuron controller, for lan G05B2219/25272Hall sensor, switch G05B2219/25273Fuzzy logic combined with delay element G05B2219/25274Communication processor, link interface G05B2219/25275Analog switch G05B2219/25276Fifo G05B2219/25277Tristate G05B2219/25278Timer plus microprocessor G05B2219/25279Switch on power, awake device from standby if detects action on device G05B2219/25281Detect usage of machine, adapt sleep mode timer G05B2219/25282Alternative energy for fieldbus devices G05B2219/25283Evaluate available energy prior to wireless transmitter-receiver activation G05B2219/25284Standby only for memory, prom G05B2219/25285Standby only for real time clock G05B2219/25286Switch on power, awake controlled machine from standby if command signal G05B2219/25287Power for display leds I-O only when case is open G05B2219/25288Detector to standby state if signal below certain level G05B2219/25289Energy saving, brown out, standby, sleep, powerdown modus for microcomputer G05B2219/25291Set module, component to sleep if no event or no other module needs it G05B2219/25292Standby for display, switch on if operator wants to use it G05B2219/25293Identify control parameters for several workpieces, control, both in parallel G05B2219/25294Part, workpiece, code, tool identification G05B2219/25295Identification has information on relationship with other controllers G05B2219/25296Identification module, type connected I-O, device G05B2219/25297Identify controlled element, valve, and read characteristics G05B2219/25298System identification G05B2219/25299Address memory with variable frequency G05B2219/25301Expansion of system, memory G05B2219/25302Program and data in separate memory G05B2219/25303Decode processor status bits to switch, select between memories G05B2219/25304Memory subdivided in separate blocks, high, low addressable with same address G05B2219/25305MMA, memory management, set ram and eprom part for flash memory, store state also G05B2219/25306Modules with hardwired logic G05B2219/25307Each module has file with all components in module and the available components G05B2219/25308Ecu, standard processor connects to asic connected to specific application G05B2219/25309Module in ring for power supply and ring for command signals G05B2219/25311Each module near controlled machine G05B2219/25312Pneumatic, hydraulic modules, controlled valves G05B2219/25313Clamp module on controlled system by magnet G05B2219/25314Modular structure, modules G05B2219/25315Module, sequence from module to module, structure G05B2219/25316Control unit and actuator in one unit, module G05B2219/25317Control unit, sensor and actuator in one unit, module G05B2219/25318Power supply module in common for all modules G05B2219/25319Standard connector between modules G05B2219/25321Connection modules by flexible printed circuit, printed cable, multiway, ribbon G05B2219/25322Stackthrough modules, modules are stacked, no need for backplane G05B2219/25323Intelligent modules G05B2219/25324Modules connected to serial bus G05B2219/25325Each connected module has own power supply G05B2219/25326Module with low maintenance connected to removable module with high maintenance G05B2219/25327Single channel module G05B2219/25328Module connected to parallel bus G05B2219/25329Each module, segment has only either a sensor or an actuator G05B2219/25331Module connected to canbus and to controlled device G05B2219/25332Module capability concerns allowable I-O and required sequence of operations G05B2219/25333Modules on bus and direct connection between them for additional logic functions G05B2219/25334Each module contains several channels, each with an input and an output G05B2219/25335Each module has connections to actuator, sensor and to a fieldbus for expansion G05B2219/25336Cascaded modules, one module connects to other, I-O, computing expansion G05B2219/25337Sbc single board computer, stand alone G05B2219/25338Microprocessor G05B2219/25339Supervisory plus control computer G05B2219/25341Single chip programmable controller G05B2219/25342Real time controller G05B2219/25343Real time multitasking G05B2219/25344In one cycle, application task is executed, if time is left, communication or user interface task is executed G05B2219/25345Linux, preemption, low-latency patches for real time linux G05B2219/25346Several operating systems in one device G05B2219/25347Multitasking machine control G05B2219/25348Windows expansion for real time control under windows G05B2219/25349Operating system, Microsoft Windows G05B2219/25351MSDOS G05B2219/25352Preemptive for critical tasks combined with non preemptive, selected by attribute G05B2219/25353Inductive coupling of power, transformer G05B2219/25354Power or secondary control signal derived from received signal G05B2219/25355Motor winding used as power transformator G05B2219/25356Inductive coupling of power and signal G05B2219/25357Regulation of energy coupling G05B2219/25358During detection of input, switch over to dc power G05B2219/25359Special power supply G05B2219/25361DC-DC convertor on board G05B2219/25362UPS, no break G05B2219/25363Dual power supply, for digital circuit and for analog signals G05B2219/25364For each module a powersupply G05B2219/25365Initialize parameters G05B2219/25366Detect code, kind connected machine, device before execution of program G05B2219/25367Control of periodic, synchronous and asynchronous, event driven tasks together G05B2219/25368Start group of motors, machines in sequence, power up, down sequence G05B2219/25369Control of states, real time G05B2219/25371Recharge apparatus with material, only when needed or during specific time G05B2219/25372Sequence command, next step if reference equals ramp signal level G05B2219/25373Detection position of program drum G05B2219/25374Home selection G05B2219/25375If error, execute subroutine for alternative command, no shut down G05B2219/25376Repeat part of program, kind of subroutine G05B2219/25377New sequence as function of deviation from predicted result, state G05B2219/25378Stop machine after execution of some instructions on tape, marked by code G05B2219/25379Operation on rotating table provided with a plurality of cases G05B2219/25381Restart program at predetermined position, crash recovery after power loss G05B2219/25382Skip sequences G05B2219/25383Jump G05B2219/25384Analog I-O to microprocessor to set switch moment for next step G05B2219/25385Control speed of conveyor as function of missing objects, to speed up G05B2219/25386Program execution as function of direction, forward or backward G05B2219/25387Control sequences so as to optimize energy use by controlled machine G05B2219/25388Race conditions G05B2219/25389Macro's, subroutines G05B2219/25391Start, stop sequence of different parts of machine, copier, textile, glass G05B2219/25392Convert control signal to deliver pulse modified in time and width G05B2219/25393Speed, delay, stand still of record carrier controlled, more commands possible G05B2219/25394Execute next step on feedback of result of previous step G05B2219/25395Clock dependant, select next cyclus, step as function of parameter G05B2219/25396Add pulses or stop pulses as function of changing clock, speed to compensate G05B2219/25397Compare real date with programmed date, if equal execute next command G05B2219/25398Sampling period is a product of integer number and scheduler interrupt period G05B2219/25399Variable, settable clock or cycle, phase duration G05B2219/25401Compensation of control signals as function of changing supply voltage G05B2219/25402Detect occurence of signal by higher sampling when parameter value within range G05B2219/25403Compare real clock time with programmed time, if equal execute next command G05B2219/25404Command order is delayed as function of expected and real delay G05B2219/25405Command order is delayed, corrected as function of speed G05B2219/25406Delay as function of detected characteristics of controlled element G05B2219/25407Delay between operations G05B2219/25408Given order is latched for a certain delay in order te execute order surely G05B2219/25409Feedforward of control signal to compensate for delay in execution G05B2219/25411Priority interrupt G05B2219/25412Separate interrupt for, from each interface G05B2219/25413Interrupt, event, state change triggered G05B2219/25414Interrupt without saving register states G05B2219/25415Between processors using a single line and a switch G05B2219/25416Interrupt G05B2219/25417Identify capabilities necessary to produce article G05B2219/25418Enter description of capabilities of each module G05B2219/25419Scheduling G05B2219/25421Using resource data relative to each component, module of control system G05B2219/25422Aperiodic scheduling, executed only on certain condition G05B2219/25423Verification of controlled value by comparing with recorded value, signature G05B2219/25424Mixture of wall connectors, some with fixed address others no address G05B2219/25425Personal computer G05B2219/25426Microcontroller in smart card directly controls machine, runs control program G05B2219/25427Controller inside socket, wall connector, distributor, junction box G05B2219/25428Field device G05B2219/25429Microprocessor mounted near controlled machine, cheaper line connection G05B2219/25431Dual Port memory G05B2219/25432Multiplex G05B2219/25433Dataflow processor G05B2219/25434Microprocessor and control logic integrated on same circuit board G05B2219/25435Multiplex for analog signals G05B2219/25436Main board connected to bundle of analog input lines G05B2219/25437Main board coupled to bundle of digital and analog input lines G05B2219/25438Counter controls device, machine directly or via decoder G05B2219/25439Use of flexible printed circuit G05B2219/25441Piggy back mounting G05B2219/25442Europa card G05B2219/25443Connect pc card to industrial bus, additional timing and adapting logic G05B2219/25444Stick label over opening for card, to seal opening and indicate program status G05B2219/25445Electric wiring inside pneumatic, hydraulic path G05B2219/25446Serial port has power connected to pin for external device G05B2219/25447Detachable program unit can be replaced by supplementary display G05B2219/25448Control module is pluggable into wall connector G05B2219/25449Constructive details G05B2219/25451Connect module to bus using interface with adaptive logic G05B2219/25452Bootstrap logic and ram integrated in serial connector G05B2219/25453Encoder, control knob connected to same microprocessor pins as keyboard matrix G05B2219/25454Retrofitting G05B2219/25455Buscouple interface can be integrated in actuator G05B2219/25456Piggy back controller, old controller functions as before, new functions by new G05B2219/25457Replace old processor by more powerful processor on additional card G05B2219/25458Opto isolation, optical separation G05B2219/25459Reed relay separation G05B2219/25461Transformer separation G05B2219/25462Galvanic separation, galvanic isolation G05B2219/25463Optical separation for signals, transformer separation for power G05B2219/25464MBO motherboard, backplane special layout G05B2219/25465Output of one module connected to input next module by lines on motherboard G05B2219/25466Motherboard has data, address, power and module identification lines G05B2219/25467Detect if expansion board is connected G05B2219/25468Deconnect automatically high voltage supply when taking out a module G05B2219/25469Inserting or taking out circuit boards during power on G05B2219/25471Replace existing control system with new different system in real time G05B2219/25472Synchronise controllers, sensors, measurement with data bus G05B2219/25473Compensation variable cycle time, synchronized processes G05B2219/25474Synchronize microprocessor with process or I-O G05B2219/25475Sequence synchronized with machine axis, like knitting machine G05B2219/25476Synchronous state change by clock as function of allowed states to skip certain states G05B2219/25477Master waits for signal from slave, slave active thereafter, during limited time G05B2219/25478Synchronize several controllers using syncline G05B2219/25479Synchronize controllers using messages, add transmission time afterwards G05B2219/25481Broadcast to each controller an address of part of program to be used G05B2219/25482Synchronize several sequential processes, adjust G05B2219/25483Synchronize several controllers using messages over data bus G05B2219/25484Synchronize microprocessor and connected, controlled state machine G05B2219/26Pc applications G05B2219/2601Dispense machine glue, paste, flow G05B2219/2602Wafer processing G05B2219/2603Steering car G05B2219/2604Test of external equipment G05B2219/2605Wastewater treatment G05B2219/2606Tape transport, take up, rewind, play G05B2219/2607Infusion controller G05B2219/2608Hospital bed G05B2219/2609Process control G05B2219/2611Microprocessor driven caliper, to measure length distances G05B2219/2612Data acquisition interface G05B2219/2613Household appliance in general G05B2219/2614HVAC, heating, ventillation, climate control G05B2219/2615Audio, video, tv, consumer electronics device G05B2219/2616Earth moving, work machine G05B2219/2617Eye, ophthalmic, surgery system G05B2219/2618Lubrication, greasing G05B2219/2619Wind turbines G05B2219/2621Conveyor, transfert line G05B2219/2622Press G05B2219/2623Combustion motor G05B2219/2624Injection molding G05B2219/2625Sprinkler, irrigation, watering G05B2219/2626Sewing G05B2219/2627Grinding machine G05B2219/2628Door, window G05B2219/2629Assembly line G05B2219/2631Blasting, explosion G05B2219/2632Hemodialysis G05B2219/2633Washing, laundry G05B2219/2634Loom, weaving G05B2219/2635Glass forming G05B2219/2636Reproduction, image copying machine G05B2219/2637Vehicle, car, auto, wheelchair G05B2219/2638Airconditioning G05B2219/2639Energy management, use maximum of cheap power, keep peak load low G05B2219/2641Fork lift, material handling vehicle G05B2219/2642Domotique, domestic, home control, automation, smart house G05B2219/2643Oven, cooking G05B2219/2644Sterilizer G05B2219/2645Vending, distribute drinks G05B2219/2646Printing G05B2219/2647Dentist G05B2219/2648Central heating G05B2219/2649Burner G05B2219/2651Camera, photo G05B2219/2652Medical scanner G05B2219/2653Roller blind, shutter, sunshade G05B2219/2654Fridge, refrigerator G05B2219/2655Cd player G05B2219/2656Instrumentation G05B2219/2657Blood, urine analyzer G05B2219/2658Heath pump G05B2219/2659Elevator G05B2219/2661Milking robot G05B2219/2662Photocopier G05B2219/2663Tractor G05B2219/2664Audio light, animation, stage, theatre light G05B2219/2665Detonator, fuze G05B2219/2666Toy G05B2219/2667Crane G05B2219/2668Fuel cells G05B2219/2669Handling batches G05B2219/2671Mail processing system G05B2219/30Nc systems G05B2219/31From computer integrated manufacturing till monitoring G05B2219/31001CIM, total factory control G05B2219/31002Computer controlled agv conveys workpieces between buffer and cell G05B2219/31003Supervise route, reserve route and allocate route to vehicle, avoid collision G05B2219/31004Move vehicle to battery charge or maintenance area G05B2219/31005Detect obstacles on path of vehicle G05B2219/31006Monitoring of vehicle G05B2219/31007Floor plan, map stored in on-board computer of vehicle G05B2219/31008Cooperation mobile robots, carrying common pallet, object or pushing together G05B2219/31009Connector between AGV and station G05B2219/31011Communication network identical to transport network G05B2219/31012Optimize number of vehicles G05B2219/31013Second AGV with wafers already underway before processing first finished G05B2219/31014Synchronization between AGV movement and workpiece treatment chambers G05B2219/31015Host, model group and workstation computer deliver each proper control data G05B2219/31016General NC system executes tasks not present in specialised machine tools G05B2219/31017Architecture, host controls several CNC, each acting as a server to a pmc G05B2219/31018Virtual factory, modules in network, can be selected and combined at will G05B2219/31019Each station along transferline is independent G05B2219/31021Between lan and machine, communication adapter which serves also sensors G05B2219/31022Planner and coordinator, decision and direct control level G05B2219/31023Master production scheduler and microprocessor and schedule analysis and shop control G05B2219/31024Superior controller and internal, external resources controller modules G05B2219/31025PAC production activity controller G05B2219/31026Diagnostic controller coupled to field and to redundant process controllers G05B2219/31027Computer assisted manual assembly CAA, display operation, tool, result G05B2219/31028Selecting workpieces from one or more containers by robot with vision G05B2219/31029Program for assembly, show exploded article G05B2219/31031Assembly, manipulator cell G05B2219/31032Two workstations alternatively, one assembles, other is prepared for next G05B2219/31033Record on site dimensions of pipe, tube configuration, to install pipe G05B2219/31034Component identifier and location indicator corresponding to component G05B2219/31035Disable assembly if one of component compartments lacks G05B2219/31036Load component into corresponding compartment, bin, storage before assembly G05B2219/31037Compartment, bin, storage vessel sensor to verify correct bin is loaded G05B2219/31038Watchdog, timer to alert if operator does not executes operation within time G05B2219/31039Count assembled parts, change program during assembly if number reached G05B2219/31041Machine balancing, distribute articles evenly over machines G05B2219/31042Enter pallet configuration, geometry, number of parts G05B2219/31043Bin, storage identifier and workstation identifier G05B2219/31044Assembly of modular products, variant configurability G05B2219/31045Show bin, compartment and number of parts to be pick up G05B2219/31046Aid for assembly, show display on screen next workpiece, task, position to be assembled, executed G05B2219/31047Display image of finished workpiece on screen, show how, where to mount next part G05B2219/31048Project on workpiece, image of finished workpiece, info or a spot G05B2219/31049Minimize assembly time, by grouping part types into pallet groups G05B2219/31051Hybrid system, combine expert system with traveling salesman problem TSP G05B2219/31052Find feasable assembly sequences G05B2219/31053Planning, generate assembly plans G05B2219/31054Planning, layout of assembly system G05B2219/31055Interpretation of assembly design data G05B2219/31056Selection of assembly processes, preferred assembly sequences G05B2219/31057Selection of assembly equipment, system G05B2219/31058Determination of assembly tooling, fixture G05B2219/31059Selection of inspection devices G05B2219/31061Selection of assembly process parameters G05B2219/31062Calculation of assembly times G05B2219/31063Integrate assembly and task planning G05B2219/31064Minimal precedence constraint for components, link between components G05B2219/31065Disassembly evaluation G05B2219/31066Virtual assembly disassembly planning G05B2219/31067Assembly partitioning, find sub assembly removable without disturbing plan G05B2219/31068Relative positioning of assembled parts with small geometric deviations G05B2219/31069Cell controller, setup machine of cell during operation of other machines G05B2219/31071Prevent order interference, no order to machine not setup for that order G05B2219/31072Prevent batch breakup, no mix up of output of different machines G05B2219/31073Decide when to create or reconfigure a cell G05B2219/31074Decide which machines are to be used in a cell G05B2219/31075Modular cell elements G05B2219/31076Controller for cell, for robot motion, for supervision G05B2219/31077Laser cutting table and handling and gripping and attachment robot and layup table G05B2219/31078Several machines and several buffers, storages, conveyors, robots G05B2219/31079Two workstations and two manipulators working together or independent G05B2219/31081Detect position robot, agv relative to machine to start communication G05B2219/31082NDDS network data delivery service, producers and consumers model G05B2219/31083In server store virtual nodes for controlled machines, with states for map G05B2219/31084Part of module exchanges high level messages, other part proprietary messages G05B2219/31085Application scripts in web server, not sent to client G05B2219/31086Communication of carriage, agv data, workpiece data at each station G05B2219/31087Transmission device between workcell and central control G05B2219/31088Network communication between supervisor and cell, machine group G05B2219/31089Direct communication between cooperating parts of a cell, not over server G05B2219/31091One client handled by several servers G05B2219/31092Network server for communication between plc's, using server G05B2219/31093Communication between sensors, actuators and gateway G05B2219/31094Data exchange between modules, cells, devices, processors G05B2219/31095Read write intelligent chip on workpiece, pallet, tool for data exchange G05B2219/31096Data carrier, communication by exchange of floppy disk G05B2219/31097Display travels with workpiece, package, order, special orders can be inserted G05B2219/31098Configuration editor for networking interconnection G05B2219/31099Configuration of transfer control between several subsystems G05B2219/31101Configuration file with format of relevant messages for different equipment G05B2219/31102Program network controller, connected devices G05B2219/31103Configure parameters of controlled devices G05B2219/31104Remote configuration of parameters of controlled devices G05B2219/31105Remote control of network controller G05B2219/31106Auto configuration, each module responsable for own configuration G05B2219/31107Start up of object manager module G05B2219/31108Can controller in full can, detects if message is for controller G05B2219/31109Can controller in basic can, microcontroller detects if message is for controller G05B2219/31111Can controller and microcontroller integrated G05B2219/31112Interface, SIOMS standard I-O for mechatronic systems, device drivers G05B2219/31113General, vendor indenpendant display and control interface for sensor actuator G05B2219/31114Sensor on off switch level can be set and displayed by detachable module G05B2219/31115Network controller G05B2219/31116A-D interface between asi and fieldbus G05B2219/31117Each node has several, three channels, for control, for data, for addressing G05B2219/31118Universal interface between asi and fieldbus, for any fielddevice G05B2219/31119Fielddevice comprises also controller and pneumatic actuator and sensor G05B2219/31121Fielddevice, field controller, interface connected to fieldbus G05B2219/31122Bridge between networks G05B2219/31123Multi mode network controller, monitor, control, configuration, maintenance G05B2219/31124Interface between communication network and process control, store, exchange data G05B2219/31125Signal, sensor adapted interfaces build into fielddevice G05B2219/31126Transmitter coupled to fieldbus and to sensor, a-d conversion G05B2219/31127Repeater between two networks G05B2219/31128No repeater, split into several analog segments and common digital, can, expansion G05B2219/31129Universal interface for different fieldbus protocols G05B2219/31131Field device with gateway functions for communication with pc and other field devices G05B2219/31132FDT interfacing profibus field device drivers DTM with engineering tool G05B2219/31133Contactless connector, identify module wirelessly, short distance like less than twenty cm G05B2219/31134PCD profinet component description, field device description module G05B2219/31135Fieldbus G05B2219/31136Name of bus, canbus, controller area network G05B2219/31137Sercos serial real time communications system between servo and cpu G05B2219/31138Profibus process fieldbus G05B2219/31139Lon local operating network, using neuron chip G05B2219/31141Eiba european installation bus association G05B2219/31142Devicenet, can based net G05B2219/31143Sds smart distributed system, can based G05B2219/31144Interbus-S G05B2219/31145Ethernet G05B2219/31146Bati bus, for home habitation building automation G05B2219/31147Simatic S5-bus G05B2219/31148Imbus G05B2219/31149P-net G05B2219/31151Lan local area network G05B2219/31152Separate lan for sensors, detectors G05B2219/31153Serial bus for plug in modules, each connection has own supply G05B2219/31154Actuator sensor bus, asi, intelligent actuator, motor, sensor G05B2219/31155Ringbus G05B2219/31156Network structure, internet G05B2219/31157Star network, hub G05B2219/31158Wan wide area network G05B2219/31159Intranet G05B2219/31161Java programcode or simular active agents, programs, applets G05B2219/31162Wireless lan G05B2219/31163Neutral bus with intelligent coupler for all kind of fieldbuses G05B2219/31164Bus for analog and digital communication G05B2219/31165Control handover in wireless automation networks G05B2219/31166Access data by name, object, stored in list, database G05B2219/31167Object, data object as network variable G05B2219/31168Use of node, sensor, actuator and control object G05B2219/31169Object manager contains client, control and communication and start and planning server G05B2219/31171Each data object has corresponding identification for object manager, associative G05B2219/31172All object managers use same algorithm to search server G05B2219/31173Start different object manager as function of priority list G05B2219/31174Load, use different protocols, formats, emulators for different systems G05B2219/31175Message comprises identification of sender, receiver, command and parameter G05B2219/31176Universal, same protocol to control all kind of drives, dc, ac, step motor G05B2219/31177Protocol, sdlc serial data link control G05B2219/31178Hdlc high level data link control G05B2219/31179Master sends message with address of slave to all slaves, slave answers, interrupt G05B2219/31181Controller and device have several formats and protocols, select common one G05B2219/31182Address by pulse sequence, control by pulse width, module filters out own control G05B2219/31183Token ring G05B2219/31184Fip fieldbus instrumentation protocol G05B2219/31185Mapi message application interface for windows G05B2219/31186TCP-IP internet protocol G05B2219/31187Csma-cd csma-cd-w carrier sense multiple access collision detection wireless G05B2219/31188Combine csma-cd and tdm time multiplexed for rapid status exchange G05B2219/31189Time multiplex G05B2219/31191Shorten header, message can be sent with less bytes, short form PDU G05B2219/31192Token passing protocol, priority token passing G05B2219/31193Midi communication standard G05B2219/31194Multimedia integration into fieldbus G05B2219/31195WAP wireless application protocol, wireless web application G05B2219/31196SOAP, describes available services and how to call them remotely G05B2219/31197Near field communication nfc G05B2219/31198VPN virtual private networks G05B2219/31199UDP-IP G05B2219/31201Frequency shift keying modulation, fsk G05B2219/31202Semiconductor equipment communication standard SECS G05B2219/31203Purpose, identification of messages, programs, variables G05B2219/31204Blind node, executes control, data acquisition without having operator interfaces G05B2219/31205Remote transmission of measured values from site, local to host G05B2219/31206Exchange of parameters, data, programs between two station, station and central or host or remote G05B2219/31207Master sends global files to autonomous controllers, feedback of process status G05B2219/31208Server node to watch, store message, variable, data between lon, network G05B2219/31209Master actuator sensor interface has priority over host, build into host G05B2219/31211Communicate diagnostic data from intelligent field device controller to central G05B2219/31212Intelligent local node can handle emergency without communication over net G05B2219/31213Synchronization of servers in network G05B2219/31214Discontinuous communication controlled by server G05B2219/31215Upon modification of data in one database, automatic update of mirror databases G05B2219/31216Handshake between machine and agv readiness to load, unload workpiece G05B2219/31217Merge, synchronize process data and network data for trend analysis G05B2219/31218Scheduling communication on bus G05B2219/31219Fixed deadline monotonic scheduling dm, set each message id to unique priority G05B2219/31221Non preemptive earliest deadline ed, message id contains deadline G05B2219/31222Mixed traffic scheduler, ed for high speed and dm for low speed messages G05B2219/31223Main controller with three levels of serial networks G05B2219/31224Supervisor, cell controllers in parallel bus, machine controllers in serial bus G05B2219/31225System structure, plc's and pc's communicate over lan G05B2219/31226Multitasking server connected to general network and to nc machines G05B2219/31227External network for proces data, internal network for transport, handling only G05B2219/31228Host, gateways and parallel backbone, multiprocessor computer node, fieldbus G05B2219/31229Supervisor, master, workstation controller, automation, machine control G05B2219/31231Lan and stations and fieldbus, each station controls own I-O G05B2219/31232Lan and station, each station has plc controlling own I-O over bus G05B2219/31233Map network and server in node and server controlled ethernet with machine nodes G05B2219/31234Host, router and backplane bus, communication with host or backplane G05B2219/31235St network, each module of first controls second similar network etc., tree G05B2219/31236Plc exclusive network connected to map G05B2219/31237Host and rs232, rs485 to network controller and rs232 to controlled devices G05B2219/31238First network connected by repeater to second, second connected by repeater to third G05B2219/31239Cache for server to fast support client G05B2219/31241Remote control by a proxy or echo server, internet - intranet G05B2219/31242Device priority levels on same bus, net, devices processes data of exactly lower priority device G05B2219/31243Add serial number to message from station to check missing messages in host G05B2219/31244Safety, reconnect network automatically if broken G05B2219/31245Redundant bus, interbus, with two masters G05B2219/31246Firewall G05B2219/31247Reconnect network if connection was broken G05B2219/31248Multiple data link layer masters, if one fails, other takes over G05B2219/31249Display name of communication line and number of errors detected and corrected G05B2219/31251Redundant access, wireless and hardware access to fielddevices G05B2219/31252Watchdog, client sends regulary message to server, server must answer G05B2219/31253Redundant object manager G05B2219/31254Request from client waits until corresponding server functions again G05B2219/31255Verify communication parameters, if wrong, refuse communication G05B2219/31256Object managers arranged in logical ring for monitoring purposes G05B2219/31257Redundant wireless links G05B2219/31258Compensate control in case of missing message G05B2219/31259Communication inhibited during certain process steps G05B2219/31261Coordination control G05B2219/31262Dcca dynamic coordinated concurrent activities G05B2219/31263Imbedded learning for planner, executor, monitor, controller and evaluator G05B2219/31264Control, autonomous self learn knowledge, rearrange task, reallocate resources G05B2219/31265Control process by combining history and real time data G05B2219/31266Convey, transport tool to workcenter, central tool storage G05B2219/31267Central tool storage, convey a whole tool drum, magazine to workcenter G05B2219/31268Central workpiece storage, convey workpiece, work pallet, holder to workcell G05B2219/31269Convey tool and workpiece to workcenter G05B2219/31271Priority workpiece pallet selected instead of routine workpiece pallet G05B2219/31272Avoid piling up, queue of workpieces, accomodate surges G05B2219/31273Buffer conveyor along main conveyor G05B2219/31274Convey products, move equipment according to production plan in memory G05B2219/31275Vehicle to convey workpieces is manually operable G05B2219/31276Transport a lot to stations, each with different types of manufacturing equipment G05B2219/31277Dispatching rules, shortest travel time or bidding based to reduce empty travel G05B2219/31278Store optimum number of workpiece, between max min, in bins, compartment, save travel time G05B2219/31279Prevent introduction of two pallets in same cell G05B2219/31281Calculate optimum path for conveying workpieces G05B2219/31282Data acquisition, BDE MDE G05B2219/31283Communication memory, storage, ram, eprom on workpiece or pallet G05B2219/31284Set begin and end of collection time for concerned machines, parameters G05B2219/31285Send required data to computer as function of specified condition G05B2219/31286Detect position of articles and equipment by receivers, identify objects by code G05B2219/31287Indicate output for data, screen or printer or database G05B2219/31288Archive collected data into history file G05B2219/31289Read card with operator and another card with process, product, work order info G05B2219/31291Store value detected signal and machine name and name of part of machine, mask G05B2219/31292Data in categories, each with a priority factor G05B2219/31293Enter size measurements, store in data base, analyze and identify in size data group G05B2219/31294Compare measurements from sensors to detect defective sensors G05B2219/31295Use integrated controller, processor during product, car assembly for ide, display, test G05B2219/31296Identification, pallet object data and program code for station G05B2219/31297Read only that ide information which is needed for specific operation G05B2219/31298Store on actual pallets also id of several other upstream, following pallets G05B2219/31299If workpiece rejected, write in id and erase operation code G05B2219/31301Restore lost id by using entry number of preceding, following pallet G05B2219/31302Verify id data and reread, rewrite or alarm on fault G05B2219/31303If workpiece transferred to other pallet, transfer also id G05B2219/31304Identification of workpiece and data for control, inspection, safety, calibration G05B2219/31305Robot arm identifies object during movement G05B2219/31306Read identification only if object is present G05B2219/31307Identification structure is partly a copy of operating structure G05B2219/31308Capture image asynchronously with processing of analysis, identification G05B2219/31309Identification workpiece and time limit for processing of workpiece G05B2219/31311Data are id, destination, number of pieces, alternative destination, process data G05B2219/31312Identify pallet, bag, box code G05B2219/31313Measure weight, dimension and contents of box, tray G05B2219/31314Store in workpiece detected defects G05B2219/31315Use of data by host, send work order to operator after pallet detection G05B2219/31316Output test result report after testing, inspection G05B2219/31317Outputs delivery ordersheet, relating to finished products, to packing cell G05B2219/31318Data analysis, using different formats like table, chart G05B2219/31319Use data groups as inventory control value, adapt inventory need to new data G05B2219/31321Print, output finished product documentation, manual using id of all workpieces assembled, processed G05B2219/31322Work still to be done on workpiece G05B2219/31323Database for CIM G05B2219/31324Distributed real time knowledge, database G05B2219/31325Machine selection support, use of database G05B2219/31326Database to manage communication networks G05B2219/31327Directory service for database G05B2219/31328Objects report their location to directory service G05B2219/31329Distributed, among several servers, directory service G05B2219/31331Select manufacturing information by entering product number G05B2219/31332Back order management with back order, part maker delivery, production databases G05B2219/31333Database to backup and restore factory controllers G05B2219/31334Database with devices, configuration, of plant G05B2219/31335Database of address of devices registers in different networks, mapping G05B2219/31336Store machines performance use it to control future machining G05B2219/31337Failure information database G05B2219/31338Design, flexible manufacturing cell design G05B2219/31339From parameters, build processes, select control elements and their connection G05B2219/31341Design of factory information system G05B2219/31342Design of process control system G05B2219/31343Design of factory, manufacturing system control G05B2219/31344Element, file server G05B2219/31345Map backbone bus G05B2219/31346Network manager G05B2219/31347Communication adaptors between network and each machine G05B2219/31348Gateway G05B2219/31349Server node as operator panel, with display for lon G05B2219/31351Expert system to select best suited machining centre G05B2219/31352Expert system integrates knowledges to control workshop G05B2219/31353Expert system to design cellular manufacturing systems G05B2219/31354Hybrid expert, knowledge based system combined with ann G05B2219/31355Fault, if one station defect, stop it, other stations take over G05B2219/31356Automatic fault detection and isolation G05B2219/31357Observer based fault detection, use model G05B2219/31358Markov model G05B2219/31359Object oriented model for fault, quality control G05B2219/31361Verify if right controllers are connected to carrier, conveyor controller G05B2219/31362Verify correct configuration of system G05B2219/31363Action, if one station defect, execute special program for other stations G05B2219/31364If one station defect, return other stations to original programmed modes G05B2219/31365Send message to most appropriate operator as function of kind of error G05B2219/31366Operate faulty tool in degraded mode G05B2219/31367MMS manufacturing message specification, rs511, iso9506 G05B2219/31368MAP manufacturing automation protocol G05B2219/31369Translation, conversion of protocol between two layers, networks G05B2219/31371VMD virtual manufacturing device for robot task control, cell G05B2219/31372Mes manufacturing execution system G05B2219/31373Vou virtual operative organisational unit, extension of vmd G05B2219/31374FAL fieldbus application layer, application service elements ase and application relations ar G05B2219/31375LAS link active scheduler, distribute bandwidth between processing nodes G05B2219/31376MFL material flow G05B2219/31377From stored machine groups and relation machine workpiece, send workpiece to idle G05B2219/31378Queue control G05B2219/31379Master monitors controllers, updates production progress, allocates resources G05B2219/31381Matrix cluster, machines in cell according to parts, row is part, column is machines G05B2219/31382Find shortest way, route G05B2219/31383Compare ratio of running work with optimum, decrease number of idle machines G05B2219/31384Produce construction sequence, make parts, store, assemble equipment, ship G05B2219/31385Determine rate of MFL out of each process within each workstation G05B2219/31386Determine size of batch of material for each process to meet mfl rate G05B2219/31387If resources, material, pieces under tolerance level, renew them until upper level G05B2219/31388Just in time JIT, kanban is box to control flow of workpiece G05B2219/31389Pull type, client order decides manufacturing G05B2219/31391Administration tasks and factory control tasks G05B2219/31392Lims laboratory information and management system G05B2219/31393Object oriented engineering data management G05B2219/31394Field management, low level, instruments and controllers acting in real time G05B2219/31395Process management, specification, process and production data, middle level G05B2219/31396Business management, production, document, asset, regulatory management, high level G05B2219/31397Instrument information management, subset of process management G05B2219/31398Simultaneous, concurrent engineering G05B2219/31399Station corrects nc program, sends back modified program to program generator G05B2219/31401Keep notebook for keeping track of process, can be executed to make product G05B2219/31402Keep log book, for activities of a station, equipment G05B2219/31403EDI electronic data exchange G05B2219/31404Computer assisted complaint management, customer complaint G05B2219/31405EDM electronic data management G05B2219/31406Data management, shop management, memory management G05B2219/31407Machining, work, process finish time estimation, calculation G05B2219/31408Cost calculation of use of certain machine types G05B2219/31409Calculation approach time G05B2219/31411Down time, loss time estimation, calculation G05B2219/31412Calculate machining time, update as function of load, speed G05B2219/31413Estimate capacity of plant G05B2219/31414Calculate amount of production energy, waste and toxic release G05B2219/31415Cost calculation in real time for a product manufactured G05B2219/31416Calculate effect of different actuators on optimal path sequence G05B2219/31417Calculate capacity by back propagating capacity, constraint from last to first module G05B2219/31418NC program management, support, storage, distribution, version, update G05B2219/31419Select file from a list, directory G05B2219/31421File with parameters for station and identification of station G05B2219/31422Upload, download programs, parameters from, to station to, from server G05B2219/31423After cap, send resulting programs to different nc machines G05B2219/31424Print label of finished part, with info, history, attach to part, docket G05B2219/31425Plan availability of operator for cell as function of time and operation calendar G05B2219/31426Real time database management for production control G05B2219/31427Production, CAPM computer aided production management G05B2219/31428Production management for lot production and for individual components of lot G05B2219/31429Predict end of job execution, schedule new job beforehand G05B2219/31431Identify and classify excess raw material reuse G05B2219/31432Keep track of conveyed workpiece, batch, tool, conditions of stations, cells G05B2219/31433Diagnostic unit per zone of manufacturing G05B2219/31434Zone supervisor, collects error signals from, and diagnoses different zone G05B2219/31435Paging support with display board, status monitoring and report compiling G05B2219/31436Host monitors plc, control processor without interrupting its program G05B2219/31437Monitoring, global and local alarms G05B2219/31438Priority, queue of alarms G05B2219/31439Alarms can be warning, alert or fault G05B2219/31441Simocode, overload protection, detection of trips, life time connected to fieldbus G05B2219/31442Detect if operation on object has been executed correctly in each station G05B2219/31443Keep track of nc program, recipe program G05B2219/31444Compare actual manufacturing sequence with simulated sequence, correct actual G05B2219/31445Detect changed working conditions, to correct machine load, balance G05B2219/31446Detect if workpiece, object present G05B2219/31447Process error event detection and continuous process image detection, storage G05B2219/31448Display at central computer, slave displays for each machine unit G05B2219/31449Monitor workflow, to optimize business, industrial processes G05B2219/31451Petrinet for monitoring process G05B2219/31452Send a warning message before that an event has to be monitored G05B2219/31453Repeat sending warnings to operator until certain event is monitored G05B2219/31454Keep track of vehicles G05B2219/31455Monitor process status G05B2219/31456Product progress, taking into account products on vehicle G05B2219/31457Factory remote control, monitoring through internet G05B2219/31458Test workpiece during transport G05B2219/31459Library with metrology plan for different type of workpieces G05B2219/31461Use risk analysis to identify process parts that should be specially monitored G05B2219/31462Add time stamp to alarm message G05B2219/31463Status of whole system calculated from status of its components G05B2219/31464Select between different models corresponding to diff process control configurations G05B2219/31465Determine which variables of the system to be monitored G05B2219/31466Display position of different workpieces, tools in system G05B2219/31467Display of operating conditions of machines, workcells, selected programs G05B2219/31468Display jig, pallet number, status and clamp jig number G05B2219/31469Graphical display of process as function of detected alarm signals G05B2219/31471Operator can select a graphical screen at his will as help diagnostic G05B2219/31472Graphical display of process G05B2219/31473Fisheye view, sharp detailed view of main subject, rest much smaller, navigate G05B2219/31474Icon display for quick access of detailed information G05B2219/31475Zoom or pan display for flexible access to information G05B2219/31476Display of several transactions, sub-displays for other transactions G05B2219/31477Display correlated data so as to represent the degree of correlation G05B2219/31478Display all processes together or select only one G05B2219/31479Operator select part of process he wants to see, video image is displayed G05B2219/31481Safety monitoring system, redundant display, print systems for process data G05B2219/31482Verify working state of printers, displays, switch over if defect G05B2219/31483Verify monitored data if valid or not by comparing with reference value G05B2219/31484Operator confirms data if verified data is correct, otherwise amends data G05B2219/31485Verify and update all related data in relational database G05B2219/32Operator till task planning G05B2219/32001Computer assisted machining, signals guide operator to manual machine object G05B2219/32002Operator interface, manual control at cell, if host fails or priority G05B2219/32003Manual control at central control to control workcell, select pallet G05B2219/32004Graphical, textual instructions, sheet for operator to resume process G05B2219/32005Graphical, text operator instructions synchronous with product distribution G05B2219/32006Operator addresses machines to give commands or retrieve data G05B2219/32007Operator is assisted by expert system for advice and delegation of tasks G05B2219/32008Operator changes schedule, workload in allowed range by graphical interface G05B2219/32009Optimal task allocation between operator and machine G05B2219/32011Operator adapts manufacturing as function of sensed values G05B2219/32012Operator must signify his continued attendance at the workstation G05B2219/32013Operator marks processes, scheduler detects marks, releases control to operator G05B2219/32014Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command G05B2219/32015Optimize, process management, optimize production line G05B2219/32016Minimize setup time of machines G05B2219/32017Adapt real process as function of changing simulation model, changing for better results G05B2219/32018Adapt process as function of results of quality measuring until maximum quality G05B2219/32019Dynamic reconfiguration to maintain optimal design, fabrication, assembly G05B2219/32021Energy management, balance and limit power to tools G05B2219/32022Ordering, remote ordering, enter article and operations needed, create jobfile G05B2219/32023Print label, instructions for operator and job code for machining parameters G05B2219/32024Remote ordering, electronic selection article and fitting to form of client G05B2219/32025Automatic marking of article G05B2219/32026Order code follows article through all operations G05B2219/32027Order, plan, execute, confirm end order, if unfeasible execute exception operation G05B2219/32028Electronic catalog, to select material, resources, make lists with prices G05B2219/32029Enter also delivery location, transport means, kind of truck G05B2219/32031Use item and structure information G05B2219/32032Salesman creates order, system answers back with price, estimated date G05B2219/32033Send article design, needed material, packaging and shipping info to manufacturer G05B2219/32034Electronic market, network broker G05B2219/32035Compose, configure article and order G05B2219/32036Enter data, values for custom made articles G05B2219/32037Order picking G05B2219/32038Client can develop programs, parts on remote server located by manufacturer G05B2219/32039Send also testing program G05B2219/32041Combine orders from different customers G05B2219/32042Halting, initiating or resuming production of a product on order G05B2219/32043Program, information flow G05B2219/32044Shift workpiece and agv, carriage data in memory on advance to next station G05B2219/32045Each machine knows sequence of pallets, each pallet knows sequence of operations G05B2219/32046On detection workpiece code load program for workpiece from central G05B2219/32047Workcell end instruction selects next workpiece with related program G05B2219/32048Wait state between two successive machining steps G05B2219/32049Store program data, manufacturing history on workpiece, shifts to next G05B2219/32051Central control, modify program slave computers as function of production demand from host G05B2219/32052Lookup table, identify job to be executed by master or slave G05B2219/32053Adjust work parameter as function of other cell G05B2219/32054Send request for object carry out to other cell G05B2219/32055Identify workpiece, read status centrally, machine, adapt status centrally G05B2219/32056Balance load of workstations by grouping tasks G05B2219/32057Control cell as function of correlation between stored and detected machine state G05B2219/32058Execute program as function of deviation from predicted state, result G05B2219/32059Send code, data for workpiece to each workstation to be used, update data G05B2219/32061Central controls modules grouped according to function G05B2219/32062Set machines to new lot work, send them operation schedule, nc and handling data G05B2219/32063Adapt speed of tool as function of deviation from target rate of workpieces G05B2219/32064Production change over G05B2219/32065Synchronise set points of processes G05B2219/32066Central stores operation code in id and in concerned station G05B2219/32067Change combinations of operation codes in station, id for flexibility G05B2219/32068Execution at station only permitted if operation code of station and id equal G05B2219/32069Use of multiple id to prepare program for station before pallet in station G05B2219/32071Adaptive fuzzy controller, tunes itself as function of machine parameter variation G05B2219/32072Distributed fuzzy controllers G05B2219/32073If inspection needed, stop machining, execute separate inspection program G05B2219/32074History of operation of each machine G05B2219/32075Predict workpiece measurements from measurements of previous workpieces G05B2219/32076Adjust feedback from previous processes as function of elapsed time G05B2219/32077Batch control system G05B2219/32078Calculate process end time, form batch of workpieces and transport to process G05B2219/32079Use of common resources G05B2219/32081Sub batch, machine, assemble only part of the whole batch G05B2219/32082Planing, material requiring planning MRP, request G05B2219/32083Alternative, variant operation planning, revision specification of product G05B2219/32084Planning of configuration of product, based on components G05B2219/32085Layout of factory, facility, cell, production system planning G05B2219/32086Integrate process planning and job shop scheduling G05B2219/32087Decentral planning, each plant involved takes part of global G05B2219/32088Master production planning, highest level G05B2219/32089Action and material and technology combined to manufacture product G05B2219/32091Algorithm, genetic algorithm, evolution strategy G05B2219/32092Heuristic algorithm, accept feasible solution and attempt to improve it G05B2219/32093Search, adaptive, after each iteration some search directions are forbidden G05B2219/32094Dedicated language for batch processing, enter number of workpieces G05B2219/32095Text, menu driven editor for batch programming, phase sequence, parameters G05B2219/32096Batch, recipe configuration for flexible batch control G05B2219/32097Recipe programming for flexible batch G05B2219/32098Batch programming using oop G05B2219/32099CAPP computer aided machining and process planning G05B2219/32101CASE based process planning, using older, known case G05B2219/32102Select machine type G05B2219/32103Select size of tool G05B2219/32104Data extraction from geometric models for process planning G05B2219/32105Calculate machining axis, best feasible orientation for machining G05B2219/32106Calculate machining volumes for turning operations G05B2219/32107Operative process planning G05B2219/32108From order, production time divide into special and normal operations G05B2219/32109Divide process into machining methods G05B2219/32111PPS production planning system G05B2219/32112PPS and MS Office integrated G05B2219/32113Machine load and characteristic curves G05B2219/32114Part type selection, for simultaneous processing G05B2219/32115Machine grouping, each machine in each group performs same operations G05B2219/32116Production ratio, proportion in which selected part types will be produced G05B2219/32117Resource allocation, of number of pallets, fixtures of each type to part type G05B2219/32118Loading, allocates operations and tools to selected part type G05B2219/32119Order handling and manufacturing module and offline monitoring G05B2219/32121Read identification of pallet, conveyor and enter data for manufacturing G05B2219/32122Documentation of programmable electronic system G05B2219/32123Use of ms windows for automation, connected to mms manufacturing message system G05B2219/32124Program hybrid system, part sequence, part continous G05B2219/32125Maple manufacturing application programming environment G05B2219/32126Hyperlink, access to program modules and to hardware modules in www, web server, browser G05B2219/32127Read identification of part and generate automatically manufacturing conditions G05B2219/32128Gui graphical user interface G05B2219/32129Select program for specified machine from library, file server G05B2219/32131Use job graph G05B2219/32132SFC shop floor control, to develop and build control system for factory G05B2219/32133Commands from program of other controller cause recompilation of local program G05B2219/32134Dynamic generation of web pages from program code G05B2219/32135APC advanced process control applications G05B2219/32136Web service oriented architecture for manufacturing and automation G05B2219/32137Configure, connect, combine different program modules G05B2219/32138Select hardware, devices at workstation, needed for, to be used at cell, node G05B2219/32139Select at workstation control parameters for cell, node G05B2219/32141Define type of I-O, analog, digital, pulse G05B2219/32142Define device, module description using xml format file G05B2219/32143Use css style sheets as control parameters G05B2219/32144Define device description using dd files G05B2219/32145Manual, enter identification, name workpiece and teach manufacturing data G05B2219/32146Display parts, manufacturing conditions to enter conditions for selected part G05B2219/32147Edit teached data to change operation parameters of workstations G05B2219/32148Enter correction data at a station, also transmitted to all downstream stations G05B2219/32149Display working condition data, real measured data and tolerance G05B2219/32151Prepare teach data by selecting data from two tables as function of type of work G05B2219/32152Inhibit further editing of entered parameters G05B2219/32153Exchange data between user, cad, caq, nc, capp G05B2219/32154Object, attribute for geometry, technology, function oop G05B2219/32155Editor and library for objects G05B2219/32156Each defined object has corresponding set of geometrical macros G05B2219/32157Create a new object by combining existing objects G05B2219/32158Object groups, for object replication, naming, messaging and retrieving G05B2219/32159Each hardware unit together with its software forms one object G05B2219/32161Object oriented control, programming G05B2219/32162Tasks or control icons are linked to form a job G05B2219/32163Indicate synchronisation tags on icons of tasks G05B2219/32164Petrinet and procedural language combined G05B2219/32165Petrinet G05B2219/32166Convert petrinet to sequence program for cell and to control program for machine G05B2219/32167Convert petrinet to ladder diagram G05B2219/32168Generation and analysis of synthesis rules for petrinet G05B2219/32169Stochastic pn, spn G05B2219/32171Transform, convert operator goals and information into petri nets G05B2219/32172Control petri net together with modeling petri net, cascaded G05B2219/32173Table, memory table with identification code for all parts to be used G05B2219/32174Memory table parts classification and working, manufacturing conditions G05B2219/32175Table with correlation between part codes and part classification G05B2219/32176Correspondance between manufacturing part list and design part list G05B2219/32177Computer assisted quality surveyance, caq G05B2219/32178Normal and correction transferline, transfer workpiece if fault G05B2219/32179Quality control, monitor production tool with multiple sensors G05B2219/32181Monitor production, assembly apparatus with multiple sensors G05B2219/32182If state of tool, product deviates from standard, adjust system, feedback G05B2219/32183Test cell G05B2219/32184Compare time, quality, state of operators with threshold value G05B2219/32185Calculate entropy, disorder G05B2219/32186Teaching inspection data, pictures and criteria and apply them for inspection G05B2219/32187Correlation between controlling parameters for influence on quality parameters G05B2219/32188Teaching relation between controlling parameters and quality parameters G05B2219/32189Compare between original solid model and measured manufactured object G05B2219/32191Real time statistical process monitoring G05B2219/32192After inspection create correction table with position, correction data G05B2219/32193Ann, neural base quality management G05B2219/32194Quality prediction G05B2219/32195Feedforward quality control G05B2219/32196Store audit, history of inspection, control and workpiece data into database G05B2219/32197Inspection at different locations, stages of manufacturing G05B2219/32198Feedforward inspection data for calibration, manufacturing next stage G05B2219/32199If number of errors grow, augment sampling rate for testing G05B2219/32201Build statistical model of past normal proces, compare with actual process G05B2219/32202Integration and cooperation between processes G05B2219/32203Effect of material constituents, components on product manufactured G05B2219/32204Performance assurance assure certain level of non-defective products G05B2219/32205Use model error adapted to type of workpiece G05B2219/32206Selection from a lot of workpieces to be inspected G05B2219/32207Action upon failure value, send warning, caution message to terminal G05B2219/32208Rearrange production line G05B2219/32209Stop production line G05B2219/32211Outputs new workorders to operators G05B2219/32212If parameter out of tolerance reject product G05B2219/32213If parameter out of tolerance during limited time, accept product on condition G05B2219/32214Display on screen what fault and which tool and what order to repair fault G05B2219/32215If detected shape not correct, simulate new machine, tool and adapt path G05B2219/32216If machining not optimized, simulate new parameters and correct machining G05B2219/32217Finish defect surfaces on workpiece G05B2219/32218Sort workpieces as function of quality data G05B2219/32219Slow down production after failure G05B2219/32221Correlation between defect and measured parameters to find origin of defect G05B2219/32222Fault, defect detection of origin of fault, defect of product G05B2219/32223Fixture failure diagnosis, measure assembly, derive influence of fixture on error G05B2219/32224Identify parameters with highest probability of failure G05B2219/32225Randomize workpiece treatment order within lot to improve lot-to-lot comparisons G05B2219/32226Computer assisted repair, maintenance of system components G05B2219/32227On error detected by zone supervisor, maintenance of particular zone G05B2219/32228Repair, rework of manufactured article G05B2219/32229Repair fault product by replacing fault parts G05B2219/32231Inspection and correction, repair station in one unit, correction data in memory G05B2219/32232Inspection and correction, repair station are separate, transmit correction data G05B2219/32233Scheduling repair G05B2219/32234Maintenance planning G05B2219/32235Sharing of data between process control and maintenance management computers G05B2219/32236Automatic order of parts needed for maintenance schedule G05B2219/32237Repair and rework of defect, out of tolerance parts, reschedule G05B2219/32238Scheduler triggers generation of nc program for actual selected machine G05B2219/32239Avoid deadlock, lockup G05B2219/32241Resource editor G05B2219/32242Reschedule without propagation of interruptions to other cells G05B2219/32243Rerouting parts G05B2219/32244By using graphical display of array and selecting elements, rearrange them G05B2219/32245Reentrant scheduling, workpiece can return to same machine G05B2219/32246Virtual reality based interface scheduler G05B2219/32247Real time scheduler G05B2219/32248Create schedule from elementary operations from database G05B2219/32249Repair, rework of defect, out of tolerance part in next station by reconfiguring it G05B2219/32251Normal and special order production lines for different types of workpiece G05B2219/32252Scheduling production, machining, job shop G05B2219/32253As a function of, change of machine operation G05B2219/32254Work sequence, alternative sequence G05B2219/32255Required time for work temperature control G05B2219/32256Due dates, pieces must be ready, priority of dates, deadline G05B2219/32257Tool replacement minimization G05B2219/32258Resource, machine assignment preferences, actual and anticipated load G05B2219/32259Flexibility, polyvalent machine, large buffers, permutation operations, alternative G05B2219/32261Rearrange production line as function of operator rating G05B2219/32262Work manhours, number of operators and work place G05B2219/32263Afo products, their components to be manufactured, lot selective G05B2219/32264Setup time G05B2219/32265Waiting, queue time, buffer G05B2219/32266Priority orders G05B2219/32267Dynamic throughput maximization G05B2219/32268Available parts, available materials G05B2219/32269Decision, of job release, select job to be launched next in shop G05B2219/32271Decision of job dispatching, select job to process next on each machine G05B2219/32272Decision of next visiting machine selection, where job is to go G05B2219/32273Decision of job pulling, select job to put in input buffer of next machine if conflicts G05B2219/32274Event is triggered when first unit of first lot enters or last unit leaves processing G05B2219/32275Job, recipe cascading: no delay, next job is started immediatly when first is finished G05B2219/32276For tool feeding schedule G05B2219/32277Agv schedule integrated into cell schedule G05B2219/32278Schedule of overhead material handlers, robot gantry G05B2219/32279Operator scheduling for load, unload, walk and wait in a cell with plural machines G05B2219/32281Single machine scheduling, one machine, several jobs G05B2219/32282For a quick and slow production line G05B2219/32283Machine scheduling, several machines, several jobs G05B2219/32284Job shop, two, more operations may not occupy same machine simultaneously G05B2219/32285Multi manipulator assembly cell G05B2219/32286Monitoring items connected to certain different entities, activities G05B2219/32287Medical, chemical, biological laboratory G05B2219/32288Create daily or weekly production matrix G05B2219/32289Determine number of components, start of their production, allocate processor G05B2219/32291Task sequence optimization G05B2219/32292Large, medium and fine schedule, with feedback from fine to large G05B2219/32293Minimize work in progress, system at maximum productivity G05B2219/32294Maximize throughput of cell G05B2219/32295Production start time from order and production specification, satisfaction degree G05B2219/32296If error search in a repair library, trained by operator, to correct schedule G05B2219/32297Adaptive scheduling, feedback of actual proces progress to adapt schedule G05B2219/32298Designate at least two group of articles, first with priority, reschedule second G05B2219/32299Divide job shop into number of workcenters G05B2219/32301Simulate production, process stages, determine optimum scheduling rules G05B2219/32302Each pallet has working plan, information and machine selection data G05B2219/32303Convert program to fit rescheduled machine G05B2219/32304Minimize flow time, tact, shortest processing, machining time G05B2219/32305Fastest interrupt time, change jobs dynamically to fastest machine G05B2219/32306Rules to make scheduling decisions G05B2219/32307Last buffer first serve, lifo G05B2219/32308Shortest, narrowest non full queue G05B2219/32309Shortest remaining capacity G05B2219/32311Shortest queue next G05B2219/32312Largest imminent operation time G05B2219/32313Shortest remaining processing time G05B2219/32314Largest remaining processing time G05B2219/32315Machine with least work G05B2219/32316First buffer first serve, fifo G05B2219/32317Smallest ratio for imminent processing time divided by total processing time G05B2219/32318Smallest value of product of imminent processing time with total processing time G05B2219/32319Shortest imminent operation time, part of machining time G05B2219/32321Largest processing, machining time G05B2219/32322Machines with least frequency of errors G05B2219/32323Determine lot priority as function of sum of queue and processing time G05B2219/32324Quality data determines optimum machine sequence selection, queuing rules G05B2219/32325Object oriented scheduling, use machine, part, tool object and coordinator G05B2219/32326Local scheduler, each machine own scheduler, independent from defective machines G05B2219/32327Structure, fuzzy logic expert system scheduler G05B2219/32328Dynamic scheduling, resource allocation, multi agent negotiation G05B2219/32329Real time learning scheduler, uses ANN, fuzzy G05B2219/32331Network of coordinating planning systems for each cell, factory G05B2219/32332Expert scheduler G05B2219/32333Use of genetic algorithm G05B2219/32334Use of reinforcement learning, agent acts, receives reward G05B2219/32335Use of ann, neural network G05B2219/32336Normal, special order lines share some common machines, part of production line G05B2219/32337Simulation, statechart SC G05B2219/32338Use new conditions for model, check, calculate if model meets objectives G05B2219/32339Object oriented modeling, design, analysis, implementation, simulation language G05B2219/32341Grafcet model, graph based simulation G05B2219/32342Real time simulation G05B2219/32343Derive control behaviour, decisions from simulation, behaviour modelling G05B2219/32344Modular verification of real time systems G05B2219/32345Of interconnection of cells, subsystems, distributed simulation G05B2219/32346Using acd, activity cycle diagram G05B2219/32347Knowledge based simulation engine, use answers from user, database G05B2219/32348Process reengineering, rethink manufacturing process, continuous improve G05B2219/32349Simulate effect of stoppages of production facilities, operate as function of simulation G05B2219/32351Visual, graphical animation of process G05B2219/32352Modular modeling, decompose large system in smaller systems to simulate G05B2219/32353Use elementary control task, finite state machine and loop, inhibit, synchronisation connections G05B2219/32354Divide, analyse process into subprocesses, until elementary unit operations G05B2219/32355Simulate control process using virtual bus G05B2219/32356For diagnostics G05B2219/32357Simulation of material handling, flexible conveyor system fcs G05B2219/32358Strain, stress of manual work, operator strain G05B2219/32359Modeling, simulating assembly operations G05B2219/32361Master production scheduling G05B2219/32362Bulk manufacturing, handling dry or fluid products G05B2219/32363Batch job routing in operation overlapping G05B2219/32364Simulate batch processing G05B2219/32365For resource planning G05B2219/32366Line performance evaluation G05B2219/32367Parallel experimentation machines G05B2219/32368Quality control G05B2219/32369Cape-mode computer aided plant enterprise modeling environment for plant life cycle modelisation & management G05B2219/32371Predict failure time by analysing history fault logs of same machines in databases G05B2219/32372Petrinet, coloured, inhibitor arc, timed, object token Petrinet G05B2219/32373Timed petrinet, timed event graph G05B2219/32374Display of petrinet, graph editing G05B2219/32375Petrinet synthesis tool G05B2219/32376Coloured petrinet G05B2219/32377Cbpn controlled batches petrinet, model influence control part on physical part G05B2219/32378Fuzzy timed petrinet G05B2219/32379Object oriented petrinets G05B2219/32381Continuous petrinet, contrary of timed petrinet G05B2219/32382Hybrid petrinet, comprises continuous and timed petrinet G05B2219/32383Controlled speed continuous petrinet, considers delays in execution and transport time G05B2219/32384Fuzzy petrinet fpn G05B2219/32385What is simulated, manufacturing process and compare results with real process G05B2219/32386Arm accurate robot motion time model, needed in scheduling G05B2219/32387Effects of highspeed hardware operations on throughput, use scheduler G05B2219/32388Autonomous flexible system, cells and agv autonomous G05B2219/32389Reception, assembly, testing, management workorder, schedule, history, file, packing G05B2219/32391Machining center, pallet stocker, setup station, conveyor, control unit G05B2219/32392Warehouse and loading, unloading station and shop and machining centers and in out buffer G05B2219/32393Host and central distribution control between storage and cells G05B2219/32394Fractal manufacturing system with autonomous agents: observer, analyser, organiser, resolver, reporter G05B2219/32395Manufacturing structure is flow shop, mass production G05B2219/32396Job shop, batch production system G05B2219/32397Machining cells G05B2219/32398Operator controls setting, changing of setting, of different machines G05B2219/32399Select lan by switching bus connected to several lan G05B2219/32401Select displays by switching bus connected to several displays G05B2219/32402Select one lan to be connected to one display by central control G05B2219/32403Supervisory control, monitor and control system, by operator or automatic G05B2219/32404Scada supervisory control and data acquisition G05B2219/32405Hybrid supervisor control, des supervisor and diagnostic and alternate strategy route G05B2219/32406Distributed scada G05B2219/32407Real time processing of data G05B2219/32408Case based diagnosis to assist decision maker, operator G05B2219/32409Adaptive agent for diagnostic, helps operator to describe new cases G05B2219/32411Derive control data from displayed element, logic for it and feedback data G05B2219/32412One engineering, workstation can supervise several processes G05B2219/32413Pc generates control strategy, download in plc to monitor and react to events G05B2219/32414Workstation has two displays, for process control and for general applications G05B2219/32415Select tools in next workcell during transport workpiece G05B2219/32416Tool information for program to use and needed timing, adapt timing G05B2219/32417Minimize number of tools, only a specific machine can process certain operations G05B2219/32418Machine workload balance, same tools for pool of machines for same operations G05B2219/32419All tools available, each part can fully be processed on a single machine G05B2219/32421Tool management incorporated in kernel of nc control G05B2219/32422Tool management and database management G05B2219/32423Task planning G05B2219/32424Task flow editing G05B2219/33Director till display G05B2219/33001Director is the nc controller, computer G05B2219/33002Artificial intelligence AI, expert, knowledge, rule based system KBS G05B2219/33003Algorithm, hashing algorithm G05B2219/33004Manual control of manipulator, machine G05B2219/33005Manually but assisted by using sensors G05B2219/33006Ama allocation manual automatic work between machine, manipulator and man G05B2219/33007Automatically control, manually limited, operator can override control G05B2219/33008Operate manually only in defined, limited zone area G05B2219/33009ART adaptive resonance theory, place input patterns in clusters during learning G05B2219/33011Link between hidden and input layer is sigmoid, and between output is linear G05B2219/33012Kohonen network, single layer with neurodes, associated with codebook vector G05B2219/33013Higher order multilayer artificial neural network ANN, input terms has square, cubic terms of input, output G05B2219/33014BAM bidirectional associative memory artificial neural network G05B2219/33015Time delay artificial neural network G05B2219/33016Pi sigma network, summing in hidden layers, product in output layer G05B2219/33017Local linear nested network, coarse at root, split up and build tree G05B2219/33018Adaline network, n inputs with n weights, sum, one output G05B2219/33019Lapart, two art with lateral priming connection between output and vigilance nodes G05B2219/33021Connect plural macrocircuits, neural network modules in a larger network G05B2219/33022One network for learned signal values, one network for unknown signal values G05B2219/33023Ann with single, only one output G05B2219/33024RAM artificial neural network , several lookup tables addressed by input section, output summed G05B2219/33025Recurrent artificial neural network G05B2219/33026Wavelet artificial neural network , wavelet orthogonal decomposition for artificial neural network approximation G05B2219/33027Artificial neural network controller G05B2219/33028Function, rbf radial basis function network, gaussian network G05B2219/33029ANNS artificial neural network with sigmoid function G05B2219/33031Spline membership function G05B2219/33032Learn by changing input weights as function of position error G05B2219/33033Identification neural controller copies weight to system neural controller G05B2219/33034Online learning, training G05B2219/33035Slow learning combined with fast learning artificial neural network, two time scale ann G05B2219/33036Error back propagation G05B2219/33037Learn parameters of network offline, not while controlling system G05B2219/33038Real time online learning, training, dynamic network G05B2219/33039Learn for different measurement types, create for each a neural net G05B2219/33041Structure optimization and learning of artificial neural network by genetic algorithm G05B2219/33042Non linear filtering, recursive least squares G05B2219/33043Extended kalman filter G05B2219/33044Supervised learning with second artificial neural network G05B2219/33045Selforganizing network G05B2219/33046Forward propagation error G05B2219/33047Dynamic node creation, increase internal nodes if error too large G05B2219/33048By using kd tree data structure and delaunay linear interpolation, triangulation G05B2219/33049Cooperative coaching, each controller has own minimum, switch to lowest G05B2219/33051BBC behavior based control, stand alone module, cognitive, independent agent G05B2219/33052Subsumption architecture, behavioral modules in layers, override older ones G05B2219/33053Modular hardware, software, easy modification, expansion, generic, oop G05B2219/33054Control agent, an active logical entity that can control logical objects G05B2219/33055Holon, agent executes task and cooperates with other, distributed control G05B2219/33056Reinforcement learning, agent acts, receives reward, emotion, action selective G05B2219/33057If no module available to execute task, adapt module and execute task G05B2219/33058Low level element designed for reliability, not for speed, only small task G05B2219/33059High level competence, system action module sam, configuration and task modules G05B2219/33061Behaviour fusion, each layer can influence other by suppression or amplification G05B2219/33062Self repair G05B2219/33063Generic coordination, master agent to data manager agent to tasks to active agent G05B2219/33064Manufacturing planning and control agent and domain blackboards G05B2219/33065Ontogenetic learning, agent learns and adapt its own behaviour G05B2219/33066Phylogenetic learning, group agents learn and adapts their behaviour G05B2219/33067HCP help based cooperation protocol, when to ask or give help from or to agent G05B2219/33068CCP coordination cooperation protocol, make optimal decisions with other agents G05B2219/33069Immune algorithm, agent distinguishes self and foreign, lymphocyte, antibody agent G05B2219/33071Self sufficient, agent responsible for own energy, tools G05B2219/33072Two layer agent for execution of tasks and for communication, coordination G05B2219/33073Ion control agent has communication, database, suggestion, decision, action, detect G05B2219/33074Calculation loop, first one slow changing value, then several quick varying values G05B2219/33075Calculate only necessary, critical values, to speed up calculation G05B2219/33076Optimize time by parallel execution of independent blocks by two processors G05B2219/33077Calculation iterative, recursive G05B2219/33078Error table, interpolate between two stored values to correct error G05B2219/33079Table with functional, weighting coefficients, function G05B2219/33081Parallel computing, pipeline G05B2219/33082Data parallelism, one administrative process and many worker process G05B2219/33083Clock for microprocessor synchronized with pulses from encoder G05B2219/33084Clock for microprocessor synchronized with multiplexer G05B2219/33085Real time calendar clock G05B2219/33086Interrupt frequency as function of rating of servomotor or desired control frequency G05B2219/33087Two clock, clock for software counter and calender clock, synchronized G05B2219/33088Clock G05B2219/33089Two clock, one for sequence control, one for motion control, pulses G05B2219/33091Two clock, one for controller and one for calibration G05B2219/33092Using several selectable and settable dividers G05B2219/33093Real time clock interface between serial I-O and processor G05B2219/33094Send clock from pc board, via extension bus to PLL circuit on nc boards, to servo G05B2219/33095External clock delivers interrupts for real time execution of programs G05B2219/33096Use clock to control main spindle rotational speed G05B2219/33097Variable ticks, align clocks, to synchronise cycles with other machine, robot G05B2219/33098Several nc machines, dnc, cnc G05B2219/33099Cnc, computer numerical control, swc, softwired control G05B2219/33101Dnc, direct numerical control G05B2219/33102Dnc and cnc combined G05B2219/33103Object manager handles objects having own procedures, messages oop G05B2219/33104Tasks, functions are distributed over different cpu G05B2219/33105Identification of type of connected module, motor, panel G05B2219/33106Configure I-O by using logical and physical address G05B2219/33107Designate each actuator by a name and corresponding operations G05B2219/33108Exchange of type of controller is easy, before operation, adapt control to type G05B2219/33109Select out of plurality of alternative control parameters G05B2219/33111Graphic configuration control, connect pictures, objects to each other G05B2219/33112Configuration software for network G05B2219/33113Initialise each drive during start, load data to drive and image to controller G05B2219/33114Configure motion controller to drive any kind of motor type connected G05B2219/33115Group functions G05B2219/33116Configuration of motion control G05B2219/33117Define function by user programmable basic operations G05B2219/33118Identify bus, interface select automatic adaption for bus, interface G05B2219/33119Servo parameters in memory, configuration of control parameters G05B2219/33121Host loads program from attached module to control that module G05B2219/33122Adapt nc control to type of machine, read machine and measuring parameters G05B2219/33123Identify kind of transducer, encoder used G05B2219/33124Configuration of different kind of tool magazines, tool changers and buffers G05B2219/33125System configuration, reconfiguration, customization, automatic G05B2219/33126Identification of address connected module, processor G05B2219/33127Display each control parameter by name and its value G05B2219/33128Different spindles, axis controlled by configured paths, channel G05B2219/33129Group spindles, axis into motion groups, nc channel structure G05B2219/33131Synthesize programmable axis, to simulate a non existing, virtual axis G05B2219/33132Configured function disabled if concerned axis not referenced G05B2219/33133For each action define function for compensation, enter parameters G05B2219/33134Enter parameters for relationship between axis G05B2219/33135Data compression before sending data to allow control of more axis, spindles G05B2219/33136Com: communication, inter processor communication, either local or network G05B2219/33137Time left during polling used for other communication, priority for polling G05B2219/33138Control program and communication are totally separated G05B2219/33139Design of industrial communication system with expert system G05B2219/33141Communication system software module independent from medium, protocol, address G05B2219/33142Address switches on each controller, peripheral are set by operator G05B2219/33143Position of module in ring, loop determines address of module G05B2219/33144Module clock, synchronised by controller message, to send message in time slice G05B2219/33145Count clock pulses to determine address of node, module G05B2219/33146Each node occupies in address space a length equal to number of bits to be exchanged G05B2219/33147Address peripheral, controller G05B2219/33148CLS client server architecture, client consumes, server provides services G05B2219/33149Publisher subscriber, publisher, master broadcasts data to slaves, subscriber G05B2219/33151Distributed client server G05B2219/33152Server has organisation, tree data to access user data, client sends also both G05B2219/33153AR application relationship, cooperation through logical links G05B2219/33154Data exchange between processors of different axis of same or different cnc G05B2219/33155Communication between motor current controller and position controller G05B2219/33156Communication between two processors over shared, dualport ram G05B2219/33157Between processor and sensor, encoder G05B2219/33158Remote procedure call to each other G05B2219/33159Communication between acyclic and cyclic, loop programs G05B2219/33161Data exchange between controller and processors G05B2219/33162Two bus, high speed and low speed bus, linked or not G05B2219/33163Multichannel master bus G05B2219/33164Bus timing adjustment by buffer with controller G05B2219/33165Gpsc gpsl general purpose serial channel, link G05B2219/33166Rs485 bus to control several modules, motors G05B2219/33167Bus arbitration, switch computer to different memory G05B2219/33168Two bus, master bus and local servo bus G05B2219/33169Name of bus, vme-bus G05B2219/33171Stdbus G05B2219/33172Multibus G05B2219/33173Bitbus G05B2219/33174Sds smart distributed system, honeywell G05B2219/33175Isa bus G05B2219/33176Rs485, mpi multipoint, multidrop interface G05B2219/33177Interface, scsi, parallel G05B2219/33178Centronics G05B2219/33179Pcmcia G05B2219/33181Isdn G05B2219/33182Uart, serial datatransmission, modem G05B2219/33183IEEE-488, hp interface, instrumentation G05B2219/33184Rs232c to rs485 converter G05B2219/33185Rs232c switch box, break out box, to connect different devices G05B2219/33186Circuit for signal adaption, voltage level shift, filter noise G05B2219/33187Serial transmission rs232c, rs422, rs485 communication link G05B2219/33188Twisted pair G05B2219/33189Optical, glass fiber G05B2219/33191Data exchange combined with inductively coupled power supply G05B2219/33192Radio link, wireless G05B2219/33193Inductive transmission of measured values G05B2219/33194Data and power supplied over optical fiber G05B2219/33195Wave guide, also used as rails for movable station G05B2219/33196Data and power each on a different line to all peripheral, bus G05B2219/33197Current loop 4-20-mA milliampere G05B2219/33198Laser, light link, infrared G05B2219/33199Transponder G05B2219/33201Twisted pair combined with optical fiber for critical emc zones G05B2219/33202Single serial line, virtual second line is earth G05B2219/33203Wireless transmission of power and data, inductively, rotary transformer G05B2219/33204Optocoupler, galvanic separation, isolation G05B2219/33205Coax or optical fiber or twisted pair G05B2219/33206Ultrasonic G05B2219/33207Physical means, radio, infra red, ultrasonic, inductive link G05B2219/33208Superposition of control signals on supply lines G05B2219/33209Protocol, mailbox, email, mail system G05B2219/33211Polling G05B2219/33212Processor for communication with, evaluation of signals form detector to pc G05B2219/33213Communication cpu to synchronize axis between different machines G05B2219/33214Bus between different axis controllers and cpu G05B2219/33215Synchronization pulses on bus for axis controllers G05B2219/33216Operational, real time for system, and service for configuration is non real time G05B2219/33217Continuity communication controlled by client G05B2219/33218Motor encoders, resolvers on common bus with drives, servo controllers G05B2219/33219Drives, servo units, main control on internal net, lan, ethernet, tcp-ip, wireless G05B2219/33221Drives, servo units, sensors, motors, on local network, ethernet, tcp-ip, wireless G05B2219/33222High speed serial link combined with medium speed serial link G05B2219/33223Serial ring, loop pam programmable axis manager G05B2219/33224Several serial channels, each provided with d-a to terminals of servomotor G05B2219/33225Interface nc machine to data server G05B2219/33226Daisy chain G05B2219/33227Safety, echo back to verify correctness message G05B2219/33228Detection of line failure, breakage of transmission, failure of receiver G05B2219/33229Differential amplifier, xor to cancel noise, balanced rs422 G05B2219/33231Decoupling, to avoid noise, crosstalk between wires of bus G05B2219/33232Detect, respond to lost message G05B2219/33233If servo data corrupt, use previous value, no repeat G05B2219/33234Detect bad data transfer G05B2219/33235Redundant communication channels, processors and signal processing hardware G05B2219/33236Add check data to message to check faulty communication G05B2219/33237Detect short circuit of bus G05B2219/33238Switch from differential to single line communication if short between two wires G05B2219/33239Switch off, stop, halt transmission on detection of fault G05B2219/33241Compare results from two masters on two busses, if not equal shut down machines G05B2219/33242Watchdog for datacommunication, on error switch off supply to bus modules G05B2219/33243Detect quality of received data, message G05B2219/33244Packet information exchange G05B2219/33245Autosend, send information from cad station automatically to peripheral G05B2219/33246Timing of transmission data to peripheral G05B2219/33247Synchronize transfer, take over, change of parameters and reference values G05B2219/33248Time window for each controller or controlled function G05B2219/33249Compress, pack data before transmission G05B2219/33251Schedule periodic and aperiodic traffic, real time , time critical G05B2219/33252Real time synchronous transmission, model G05B2219/33253Correction data transmission errors, protection against noise, twisted pair G05B2219/33254Serial position feedback, serial to parallel conversion and reverse G05B2219/33255Transfer of data parallel G05B2219/33256Resolver to digital conversion G05B2219/33257Conversion of designed 3-D tolerance, allowance to real coordinates of machine G05B2219/33258Common coordinate conversion for multiple heads, spindles G05B2219/33259Conversion of measuring robot coordinates to workpiece coordinates G05B2219/33261Conversion of detected pulses to voltage, frequency to voltage convertor G05B2219/33262Current to voltage conversion G05B2219/33263Conversion, transformation of coordinates, cartesian or polar G05B2219/33264Conversion of angle between links to linear displacement of actuator G05B2219/33265Conversion of voltage, resistance to pulses G05B2219/33266Pulse to frequency conversion, frequency to pulse G05B2219/33267Pneumatic, air to hydraulic conversion G05B2219/33268D-A, A-D G05B2219/33269Convert cartesian to machine coordinates G05B2219/33271Convert workpiece to machine coordinates G05B2219/33272Conversion, transformation of data before and after interpolator G05B2219/33273DCS distributed, decentralised controlsystem, multiprocessor G05B2219/33274Integrated communication and control, transmission delay, sampling rate effect G05B2219/33275Distributed, decision made by negotiation among executive components, execute it G05B2219/33276Decentralized, each component makes own decision, executes only own decision G05B2219/33277Distributed system with host as leader, host with multiple of agents G05B2219/33278Cooperation between autonomous modules by receipts, messages, no synchronisation G05B2219/33279Expansion by using secondary access to each module, extension module G05B2219/33281Archictecture, nodes for communication and measuring on serial bus G05B2219/33282Node with communication, transducer, common core, application specific modules G05B2219/33283Customized nodes for desired functionality G05B2219/33284Remote diagnostic G05B2219/33285Diagnostic G05B2219/33286Test, simulation analysator G05B2219/33287Program panel to program, enter data for diagnostic G05B2219/33288Switch, select between normal and diagnostic control program G05B2219/33289During diagnostic of servocontroller, motor is isolated G05B2219/33291Logic analyser function of cnc G05B2219/33292Storage oscilloscope function of cnc to diagnose servo drive, axis oscilloscope G05B2219/33293For each actuated axis, set a bit in a word in memory, state of axis in word G05B2219/33294Nc in case of propagation error, search previous module, origin of error G05B2219/33295Fuzzy expert system for diagnostic, monitoring G05B2219/33296ANN for diagnostic, monitoring G05B2219/33297Diagnostic, test, debug G05B2219/33298Remote videoconferencing G05B2219/33299Real time , online diagnostic, integrated in normal control system G05B2219/33301Simulation during machining G05B2219/33302Different sets of monitoring parameters for each operation mode G05B2219/33303Expert system for diagnostic, monitoring use of tree and probability G05B2219/33304Display of diagnostic G05B2219/33305Display of relevant errors together with time mark G05B2219/33306Configuration file to set how data will be displayed G05B2219/33307On error, failure, fault automatically search and dial maintenance person G05B2219/33308If error message not clear, search help by index of message vocabulary G05B2219/33309Error recovery, automated error recovery G05B2219/33311System code for error recovery G05B2219/33312Operator selects action, system stores state, zero based error state G05B2219/33313Frames, database with environment and action, relate error to correction action G05B2219/33314Failure reason analysis, simple strategy or multiple outcome analysis G05B2219/33315Failure detection and reconfiguration G05B2219/33316On the fly software replacement on error G05B2219/33317Alternative strategy driver revises control behaviour G05B2219/33318Knowledge acquisition G05B2219/33319Interference justification network G05B2219/33321Observation learning G05B2219/33322Failure driven learning G05B2219/33323Self diagnostic of boards, own test program G05B2219/33324What to diagnose, whole system, test, simulate G05B2219/33325Diagnostic of only machining, operation G05B2219/33326Analyzer, diagnostic for servovalve G05B2219/33327Self diagnostic of control system, servo system G05B2219/33328Diagnostic for bus system of computer G05B2219/33329Measuring system, encoder G05B2219/33331Test, diagnostic of field device for correct device, correct parameters G05B2219/33332Each processor can execute all programs G05B2219/33333Network multiprocessing G05B2219/33334Load balancing, distribution between processors G05B2219/33335Microprocessor for max 3-D control otherwise host takes over for more axis G05B2219/33336first dsp calculates commands for each motor, second dsp regulates position G05B2219/33337For each axis a processor , microprocessor G05B2219/33338DNC distributed, decentralised nc, concurrent, multiprocessing G05B2219/33339Controller with lowest operation rate is selected as master G05B2219/33341Peer to peer, change master if overloaded G05B2219/33342Master slave, supervisor, front end and slave processor, hierarchical structure G05B2219/33343Each slave stores communication program to be used by master, exchangeability G05B2219/33344Each slave has several processors operating in parallel G05B2219/33345Several master modules, connection modules and slave modules G05B2219/33346Only memory of master module stores all position programs of slaves G05B2219/33347Master sends servo address, speed, kind of interpolation to slave G05B2219/33348Processor adapts signals to connected display G05B2219/34Director, elements to supervisory G05B2219/34001PLL phase locked loop G05B2219/34002Analog multiplexer G05B2219/34003Tri state driver G05B2219/34004Shift register G05B2219/34005Motion control chip, contains digital filter as control compensator G05B2219/34006Fifo G05B2219/34007Neuromine, input pulse train, can be inhibited or excited, output TTL, neuron G05B2219/34008Asic application specific integrated circuit, single chip microcontroller G05B2219/34009Coprocessor G05B2219/34011MMU G05B2219/34012Smart, intelligent I-O coprocessor, programmable sensor interface G05B2219/34013Servocontroller G05B2219/34014Sample hold circuit G05B2219/34015Axis controller G05B2219/34016Pulse processor G05B2219/34017Vector processor G05B2219/34018Forth controller G05B2219/34019Array of processors, parallel computing G05B2219/34021Dssp digital sensor signal processor G05B2219/34022Dcasp digital controlled analog signal processor G05B2219/34023Risc processor G05B2219/34024Fpga fieldprogrammable gate arrays G05B2219/34025Polynomial analysis G05B2219/34026Pga programmable gate array G05B2219/34027Dual servo controller, for two motors G05B2219/34028Hold relay G05B2219/34029Pam programmable axis controller, to control large number of axis G05B2219/34031Synchronous detector G05B2219/34032Asic and microcontroller cooperate G05B2219/34033Control processor and signal processor cooperate G05B2219/34034Multiplier, prm, brm G05B2219/34035Time relay G05B2219/34036Saturable reactor G05B2219/34037Brm followed by postprocessor to smooth curve G05B2219/34038Web, http, ftp, internet, intranet server G05B2219/34039Access central database through internet G05B2219/34041Dda G05B2219/34042Filter G05B2219/34043Delay line G05B2219/34044Mathematical coprocessor - processor G05B2219/34045Timer G05B2219/34046Analog multiplier G05B2219/34047Dsp digital signal processor G05B2219/34048Fourier transformation, analysis, fft G05B2219/34049Adder G05B2219/34051Bcd G05B2219/34052Software counter G05B2219/34053Counters, tellers G05B2219/34054Half serial half parallel G05B2219/34055Correction 3-excesscode G05B2219/34056Nine complement G05B2219/34057Complement G05B2219/34058Up-down G05B2219/34059Preset counter G05B2219/34061One counter per axis to unload cpu G05B2219/34062Comparator G05B2219/34063Bcd G05B2219/34064N+1 comparator G05B2219/34065Fuzzy logic, controller G05B2219/34066Fuzzy neural, neuro fuzzy network G05B2219/34067Multilayer fuzzy controller, execution and supervisor layer G05B2219/34068Fuzzy neural petri controller G05B2219/34069Shared memory G05B2219/34071Content addressable memory G05B2219/34072Non volatile memory, core memory G05B2219/34073Backup battery G05B2219/34074Associative memory G05B2219/34075Cognitive memory G05B2219/34076Shared, common or dual port memory, ram G05B2219/34077Fuzzy, rules are function of material, tool used G05B2219/34078Membership functions as parameters for shape pattern G05B2219/34079Extract only rules needed to obtain result G05B2219/34081Fuzzy art map neural network, one art for input map, lookup table, other for output G05B2219/34082Learning, online reinforcement learning G05B2219/34083Interpolation general G05B2219/34084Software interpolator using microprocessor G05B2219/34085Software interpolator G05B2219/34086At fixed periods pulses from table drive plural axis in unison G05B2219/34087Enter at fixed periods distances in counter for each axis, pulse distribution G05B2219/34088Chamfer, corner shape calculation G05B2219/34089Parametric, polynomial representation of path per axis as function of time G05B2219/34091Interpolate backwards G05B2219/34092Polar interpolation G05B2219/34093Real time toolpath generation, no need for large memory to store values G05B2219/34094Library with different kind of interpolation curves G05B2219/34095Look ahead segment calculation G05B2219/34096Approximate, replace curve, surface with circle, linear segments, least error G05B2219/34097Calculate movement from part program offline, calculate axis references online G05B2219/34098Slope fitting, fairing contour, curve fitting, transition G05B2219/34099Extrapolation G05B2219/34101Data compression, look ahead segment calculation, max segment lenght G05B2219/34102OCI on line interpolation G05B2219/34103Taking planar slices from a 3-D shape G05B2219/34104Postprocessor coarse fine G05B2219/34105Area pocket machining, space filling curve, to cover whole surface G05B2219/34106Using spiral collapsed boundary, contour parallel machining G05B2219/34107Zigzag workpiece parallel sweeps, direction parallel machining G05B2219/34108Using zigzag isoparametric parallel sweeps G05B2219/34109Using spiral scaled boundary G05B2219/34111Using hilbert curves, fractals, only visible points of patches taken G05B2219/34112TSP traveling sales problem, SOM self organizing map for tool path G05B2219/34113Determine centerline, medial axis and branches in shape G05B2219/34114Construct concentric polygons G05B2219/34115Area, pocket machining for area with partially open boundary G05B2219/34116Machine workpiece along, parallel to smallest side, dimension G05B2219/34117Machine workpiece along, parallel to largest dimension G05B2219/34118Using a pseudo-random or random tool path G05B2219/34119Function generator, filter after interpolator to control position error G05B2219/34121Edge generator G05B2219/34122Function, profile generator G05B2219/34123Sine cosine generator G05B2219/34124Cordic processing G05B2219/34125Sum squares G05B2219/34126Overloop of counted axis pulses to servo G05B2219/34127Brm followed by postprocessor to smooth curve G05B2219/34128General surface replaced by sphere, cylinder, toroid , calculate quickly G05B2219/34129Approximation for calculation G05B2219/34131Split in approximation and accurate calculation G05B2219/34132Choosing largest, major coordinate axis G05B2219/34133Choosing slowest axis G05B2219/34134Choose optimal coordinate system G05B2219/34135Spline G05B2219/34136Ellipse, hyperbola G05B2219/34137Helicoidal G05B2219/34138Cubic interpolation G05B2219/34139Parabolic interpolation G05B2219/34141B-spline, NURBS non uniform rational b-spline G05B2219/34142Polynomial G05B2219/34143Approximate corner by polynomial G05B2219/34144Involute, evolute G05B2219/34145Bezier interpolation, spline G05B2219/34146Helical, spiral interpolation G05B2219/34147Epitrochoid G05B2219/34148Coons interpolation, patch G05B2219/34149Circular interpolation G05B2219/34151Analog G05B2219/34152Circular interpolation in space, on arbitrary planes G05B2219/34153Linear interpolation G05B2219/34154Analog G05B2219/34155Third degree G05B2219/34156Slope control, delta x, y proportional to x, y G05B2219/34157Synchronize interpolation of different axis boards, simultaneous start G05B2219/34158Tangents form curve G05B2219/34159Delta theta G05B2219/34161Superposition curves, combine xy slides with other xy or polar slides G05B2219/34162Linear in one axis, circular in other axis G05B2219/34163Rotate a segment G05B2219/34164Superposition manual control pulses on motion control pulses G05B2219/341654-D via 2-D+2-D G05B2219/34166Select between rectangular and polar controller, interpolator G05B2219/34167Coarse fine, macro micro interpolation, preprocessor G05B2219/34168External interpolation G05B2219/34169Coarse interpolator, path calculator delivers position, speed, acceleration blocks G05B2219/34171Generate polynomial fitting in tolerance zone around polygon G05B2219/34172Of the two or three axis, only one or two are controlled as function of tangent to other axis, plane G05B2219/34173Switch between involute, circular and linear interpolation G05B2219/34174Rotate segment over a certain angle G05B2219/34175Overlap, between two blocks, continuous, smooth speed change, movement G05B2219/34176Block segments, find next point on next segment by cross point circle and segment G05B2219/34177Calculate for different inclined segments stitch points evenly distributed G05B2219/34178Simulated pulse for better resolution G05B2219/34179Variable interpolation speed or resolution G05B2219/34181Adapt resolution as function of machining load, in corner, to keep constant surface speed G05B2219/34182Variable resolution G05B2219/34183Window path, contour of rectangle G05B2219/34184Straight cut G05B2219/34185Following line+circle G05B2219/34186Degree line G05B2219/34187Any angle, slope G05B2219/34188Safety, stop, slowdown interpolator if speed, position, torque error too large G05B2219/34189On each axis, for each block, a software limit switch, for safe slow down G05B2219/34191Pneumatic G05B2219/34192Memory management G05B2219/34193Memory refresh G05B2219/34194Bank switching, ping-pong memory for communication between processors G05B2219/34195Part program in consecutive memory blocks, each with spare space for corrections G05B2219/34196Memory management, dma direct memory access G05B2219/34197Search blank memory space to load program, storage, memory allocation G05B2219/34198Electric and fluidic modules integrated on one substrate G05B2219/34199Module with low maintenance connected to removable module with high maintenance G05B2219/34201Each module uses functions of a real time kernel G05B2219/34202Reusable software, generic resource model library G05B2219/34203Module has a general, high level and a specific, proprietary part G05B2219/34204Independent units, stackthrough in cabinet, no backplane G05B2219/34205Modular construction, plug-in module, lsi module G05B2219/34206Motion controller independent from nc, lmc local motor controller G05B2219/34207Array vlsi processor G05B2219/34208Motion controller G05B2219/34209Microprocessor only for display G05B2219/34211Microprocessor only for hand control G05B2219/34212Microprocessor only for mdi, control panel G05B2219/34213Same microprocessor for data input and for servocontrol G05B2219/34214I-apx-432 processor G05B2219/34215Microprocessor G05B2219/34216Programmable motion controller G05B2219/34217Microprocessor with build in pwm G05B2219/34218Transputer G05B2219/34219Special interface, peripheral to motor G05B2219/34221Computer delivers control pulses from table directly to motors G05B2219/34222Computer sends displacement and selected device to output register G05B2219/34223Combined input output module, single module G05B2219/34224Select appropriate interface, according to kind of tool or other detection G05B2219/34225Interface board for measuring system, for resolver, encoder or interferometer G05B2219/34226Select address of motor, control serial switches in power supply ring G05B2219/34227Alterable connector board between controller and machine G05B2219/34228Counter takes over measuring and pwm task from microprocessor G05B2219/34229SIU serial interface unit takes over communication task from microprocessor G05B2219/34231Interface controls either dc, ac or step motors G05B2219/34232Test with microcomputer self G05B2219/34233Multiplexed subsystem stores state of controlling microprocessor on switch off G05B2219/34234Each subsystem has own interrupt which is switched on during multiplex G05B2219/34235Control order of multiplexed axis G05B2219/34236Multiplex for servos, actuators G05B2219/34237Multiplexed d-a a-d G05B2219/34238Hydraulic multiplexer G05B2219/34239Multiplex for whole system G05B2219/34241For reading data only G05B2219/34242For measurement only G05B2219/34243Single feedback sensor, transducer for plurality, one at a time, driven tools G05B2219/34244Multiplex for control only G05B2219/34245Address several motors, each with its own identification G05B2219/34246OOC object oriented control G05B2219/34247Machining objects are hierarchically organised G05B2219/34248Machining object comprises a slide, a palet, workpieces, machining, a contour G05B2219/34249Sub divide machining object in machining groups, geometry, start point, special G05B2219/34251Cnc works with different operating systems, windows, os-2, vms in parallel G05B2219/34252OSY operating system G05B2219/34253Unix G05B2219/34254Operating system controls selection and execution of program modules G05B2219/34255Msdos G05B2219/34256Api application programming interface G05B2219/34257OS-2 G05B2219/34258Real time system, qnx, works together with non real time system, windows nt G05B2219/34259Common language run time CLR, MS-NET, DOTNET, java run time environment G05B2219/34261Windows, microsoft windows G05B2219/34262DDE direct data exchange, DLL dynamic library linking G05B2219/34263OLE object linking and embedding, OPC ole for process control G05B2219/34264Odbc open database connectivity G05B2219/34265Windows nt, windows-2000 G05B2219/34266Windows-95 G05B2219/34267Windows nt and cooperating real time extension G05B2219/34268Cnc and pic controlled alternately by same processor, using timer G05B2219/34269Programmable computer controller, plc implemented with pc G05B2219/34271Nc integrated into pic, plc, combination of commands G05B2219/34272Communication pc and nc, pic over file system of pc, direct access pc to nc, pic G05B2219/34273Pc and plc and nc integrated, pcnc concept G05B2219/34274Connect pc card to industrial bus, with additional timing and adapting logic G05B2219/34275Windows file server to control pc hosted boards under ms windows G05B2219/34276Pc has priority over cnc controller G05B2219/34277Pc bypasses robot controller processor, access directly encoders, amplifiers G05B2219/34278Motion control board, card, in pc G05B2219/34279Pc, personal computer as controller G05B2219/34281Osaca open system architecture for control in automation, umc universal machine control G05B2219/34282Using special api's allowing user access to control machine, motion, servo G05B2219/34283Using windows nt for general control and real time unix for motion, plc control G05B2219/34284Using an operator console and a motion chassis connected by network G05B2219/34285Open system architecture, in general G05B2219/34286Intelligent positioning I-O G05B2219/34287Plc and motion controller combined G05B2219/34288Plc as main controller for cnc G05B2219/34289Plc as motion controller combined and plc for work type dependant data, parameter G05B2219/34291Programmable interface, pic, plc G05B2219/34292Filtering noise I-O G05B2219/34293Image table G05B2219/34294Diagnostic, locate failures G05B2219/34295System, logic analyser, simulation G05B2219/34296Level conversion G05B2219/34297Analog input, comparator delivers interrupt G05B2219/34298Custom window between pic, plc and nc, programmable adapter G05B2219/34299Memory with I-O and pointer, external I-O with map, edit map, pointer to adapt I-O G05B2219/34301Nc system has direct access to I-O of pic, plc G05B2219/34302Plc controls movement via nc, no direct interface to servo G05B2219/34303PNC is plc, pic and nc cooperation G05B2219/34304Pc as input, edit device for plc G05B2219/34305Connect, disconnect host computer by sleep command from local pc G05B2219/34306Power down, energy saving G05B2219/34307On nc power on or off, synchronize power on or off of displays with own supply G05B2219/34308Power supply sets relay switch, allows push button or automatic switch on off nc G05B2219/34309Dual power supply, for digital circuit and for analog signals G05B2219/34311Energy saving by recuperating braking, deceleration energy G05B2219/34312Power supply for servo delivered by, derived from 4-20-mA current loop G05B2219/34313Power supply for communication delivered by, derived from 4-20-mA current loop G05B2219/34314Slow down, limit speed for energy saving G05B2219/34315Power supply turning on or shutting off G05B2219/34316Install nc system, check voltages, power supply with incorporated a-d G05B2219/34317Execute same program on different machines by differently addressing axis G05B2219/34318Verify if workpiece is already machined, by its weight G05B2219/34319Sequence as function of nc controlled axis position, axis zone G05B2219/34321Database for control of a single machine G05B2219/34322Intitialize execution program at reference position on workpiece G05B2219/34323Commanding different axis in sequential order as function of direction of movement G05B2219/34324Switch some axis over to manual control, while other stay automatic G05B2219/34325Speed up, optimize execution by combining instructions belonging together G05B2219/34326Program controls two operations simultaneously in opposite directions G05B2219/34327Modify, adapt system response to signals from process G05B2219/34328Cueing commands table G05B2219/34329Generate extended plc program during machining, execution of nc program G05B2219/34331First processor filters instructions for indexing only, all other instructions for second controller G05B2219/34332Program execution as function of direction, forward or backward G05B2219/34333Multi threading G05B2219/34334Scalability G05B2219/34335First look ahead for acyclic execution, followed by cyclic execution G05B2219/34336Avoid deadlock, lock-up G05B2219/34337Manual to automatic, tracer G05B2219/34338Execute control tasks, programs as well as user, application programs G05B2219/34339Single step execution of program G05B2219/34341Choose between electronic cam or time-dependent as function of required machining accuracy G05B2219/34342Matching closest patterns stored in database with actual components G05B2219/34343Generation of electronic cam data from nc program G05B2219/34344Standby commands, let proces wait while program controls other process G05B2219/34345Database for sequential control of several machines by messages G05B2219/34346User program fetches part of system program when flags are set and detected G05B2219/34347Execute auxiliary function, tool change, while concurrent machining G05B2219/34348Coordination of operations, different machines, robots execute different tasks G05B2219/34349Proper allocation of control components to the required task G05B2219/34351Knowledge acquisition of environment G05B2219/34352Explore discrete event properties, reliability, parallelism, availability G05B2219/34353Independent positioning motor controlled by microprocessor only if event, limit, pulse passed G05B2219/34354DES discrete event system, deds discrete event dynamic system G05B2219/34355List of failure events, list of actions, events, trigger actions G05B2219/34356Compensation variable interrupt execution delay, interrupt jitter G05B2219/34357Interrupt driven message passing network G05B2219/34358Interrupt changed to uninterruptable interrupt G05B2219/34359Real time based interrupt to control axis, other function G05B2219/34361Mask for interrupts, inhibit during more important tasks G05B2219/34362Sampling interrupt is product of integer times scheduler interrupt G05B2219/34363Encoder generates interrupt to synchronize closed loop G05B2219/34364Delay interpolation interrupt as function of machining rates and feeds of machine groups G05B2219/34365After interrupt of operation, do other task and go on - resume operation G05B2219/34366Interpolation interrupt so as to avoid fractions of command pulses G05B2219/34367Interrupts, different tasks foreground, midground, background G05B2219/34368Priority G05B2219/34369Cause of interrupt is sensor and actuator failure G05B2219/34371Abrupt change in system dynamics G05B2219/34372Inability to process, execute assigned task within allocated time interval G05B2219/34373Actuator overloading G05B2219/34374False alarm states G05B2219/34375Generate interrupt after a certain number of position, counter pulses G05B2219/34376Management nc programs, files G05B2219/34377Selection out of several databases according to workpiece or conditions G05B2219/34378Erase plural programs in a single operation G05B2219/34379Job management G05B2219/34381Multitasking G05B2219/34382Preemptive multitasking, cpu decides upon priority scheme, which task to start G05B2219/34383Dynamic preemptive, special event register manages time slices for applications G05B2219/34384Execute next block after predetermined time G05B2219/34385Execute next block if largest axis distance is reached G05B2219/34386Advance program without M function completion signal G05B2219/34387Delay command as function of speed G05B2219/34388Detect correct moment, position, advanced, delayed, then next command G05B2219/34389After rough plunge grinding, initiate backoff grinding as function of delay wheel position G05B2219/34391Synchronize axis movement and tool action, delay action, simulation inertia G05B2219/34392Stop program on detection of undefined variable, symbol, enter definition, continue G05B2219/34393Stop program if needed workpiece, tool or data lacks, misses G05B2219/34394Execute a certain number of program blocks and stop G05B2219/34395Synchronize between panel and control G05B2219/34396Control different groups of functions, commands simultaneously, synchronized G05B2219/34397Synchronize manipulators and machine by using a reference clock for all G05B2219/34398Channel stops and waits for marker until other channel puts that marker G05B2219/34399Switch between synchronous and asynchronous mode of controllers G05B2219/34401Synchronize position controller drive with interpolator G05B2219/34402Synchronize programs for machines, processes, tasks, if one stops other also G05B2219/34403RTI real time, kernel, processing G05B2219/34404Allocate storage, memory in each processor for a copy of needed data G05B2219/34405Switch register banks, each storing process states, for quick real time execution G05B2219/34406Effect of computer, communication delay in real time control G05B2219/34407Calculate elapsed time, store in counter, start task when time elapsed G05B2219/34408Design real time control system G05B2219/34409RNOS real time networked operating system G05B2219/34411Handling time critical and time non critical program sequences G05B2219/34412Mark some sequences of time non critical sequences as locked, non interruptable G05B2219/34413Add time stamp to command message G05B2219/34414Maximize utilisation workstation G05B2219/34415Execute urgent jobs quickly G05B2219/34416Examine, analyse sensor data for co-exclusion sets, memorize, correlate actions G05B2219/34417Multiprocessor scheduling G05B2219/34418Scheduler for sequential control, task planning, control sequence G05B2219/34419Structure of control system G05B2219/34421Termination for each device, enables easy insertion, connection or disconnection G05B2219/34422SBC single board computer G05B2219/34423Optical isolation, galvanic isolation G05B2219/34424Data flow architecture G05B2219/34425Same microprocessor for programming and for machine control G05B2219/34426Same hardware, servo controller for different control modes G05B2219/34427Diagnostic, monitoring incorporated in controller G05B2219/34428LSI G05B2219/34429Servo controller near main cpu but remote from servomotor, integrated in cnc G05B2219/34431Main uninterruptable servo loop processor and interruptable servo event processor G05B2219/34432Speed and current control integrated into nc control system G05B2219/34433Multitask processor controls real time processor via communication memory G05B2219/34434Separate power controller for drive, servodrive, one per axis, connected to cnc G05B2219/34435Position encoder and motor connection in one interface between motor and microprocessor G05B2219/34436Interface circuit build into connector, dongle G05B2219/34437Parallel processing of functions, each layer has own sample rate G05B2219/34438Panel connected to nc by means of switch matrixes G05B2219/34439One cable between controller and amplifier, two between amplifier and motor G05B2219/34441Common communication interface for panel and remote I-O G05B2219/34442Control unit serves also to match drive motor to power supply G05B2219/34443Sensors and actuator integrated into tool G05B2219/34444Web control system, with intelligent control components each with web server G05B2219/34445Several power modules for same actuator, motor G05B2219/34446No change of operation mode when slave axis is out of synchronisation G05B2219/34447A microprocessor for programming and a microprocessor for control execution of program G05B2219/34448Integrated servo control circuit fixed to housing, remote from cpu G05B2219/34449Fault tolerant control, task from one microprocessor can be done by other G05B2219/34451False alarm states evalutation, treshold to verify correctness alarm G05B2219/34452Synchronize control with pulse, if loss, excess, error, then stop G05B2219/34453Stop spreading, propagation failure through system, inhibit drivers defect boards G05B2219/34454Check functioning controller, cpu or program G05B2219/34455Different parameters are evaluated to indicate different faults G05B2219/34456Authorize control of machine, robot if control panel has been connected G05B2219/34457Emit alarm signal G05B2219/34458Inhibit start or related control switches if path boundary is outside limits G05B2219/34459Plausibility check on connection of module, control unit to machine G05B2219/34461Inhibit access to area if dangerous, cover taken off G05B2219/34462Interlock, stop motor if microprocessor starts interrupt, because no watchdog pulse from microprocessor G05B2219/34463Alarm canceled automatically when program corrected G05B2219/34464Adaptive treshold, level for alarm, eliminate false alarm G05B2219/34465Safety, control of correct operation, abnormal states G05B2219/34466Bad circuits, watchdog, alarm, indication G05B2219/34467Try again program G05B2219/34468Check memory by storing beforehand complement of expected result G05B2219/34469Normally messages over network, if failure, messages from operator over I-O G05B2219/34471Program memory is inhibited, not accessible as long as power fails G05B2219/34472Configure alterable memory as read only, to avoid erasing G05B2219/34473Inhibit control until control lever is first set to neutral position G05B2219/34474Sense voltage drop of system, shut down servo G05B2219/34475Detect abnormality of control system without inverted model, using input command G05B2219/34476Local control predicts next command data from past stored data if host control fails G05B2219/34477Fault prediction, analyzing signal trends G05B2219/34478Urgent safety signals treated with hardware others with software G05B2219/34479Flush enclosure of circuit with air, keep clean air over pressure G05B2219/34481EFC explosion free control, intrinsically safe G05B2219/34482Redundancy, processors watch each other for correctness G05B2219/34483Monitor absolute position independently by two processors, if out of range G05B2219/34484Use dual channels G05B2219/34485Same functioncode, program is fully used in normal and abnormal case G05B2219/34486Monitor axis movement, speed, independently by two processors, if out of range G05B2219/34487Redundant diagnostic controllers watch redundant process controllers G05B2219/34488One computer, controller replaces other, backup computer G05B2219/34489Watchdog with adaptive timeout as function of speed of motor G05B2219/34491Count certain number of faults before delivering alarm or stop G05B2219/34492Time out, decide only after a lapse, period of time G05B2219/34493Supervision, display diagnostic, use or select between different stored screen G05B2219/34494Display machining time and real time clock to control machining time G05B2219/35Nc in input of data, input till input file format G05B2219/35001Data input, data handling, programming, monitoring of nc G05B2219/35002Parametric machine control, direct control from cad data, no nc data G05B2219/35003Kad kam knowledge aided design, knowledge aided manufacturing G05B2219/35004Mechanical design and electronic design integrated G05B2219/35005Sheet metal cad G05B2219/35006Object oriented design G05B2219/35007Cad makes template of tool as function of spindle, machine tool and set on spindle G05B2219/35008Www cad, world wide design and manufacturing G05B2219/35009Dynamic simulation G05B2219/35011Use of spreadsheet G05B2219/35012Cad cam G05B2219/35013Define workpiece, dimension from characteristics, strength, performance G05B2219/35014From design, calculate additional parameters, for strength G05B2219/35015Calculate production compensation, heat shrinkage, overetching G05B2219/35016Analyse model, decide on number of sections to take G05B2219/35017Finite elements analysis, finite elements method FEM G05B2219/35018Determining bending die radius from part data, estimated radius and calculation G05B2219/35019From product constraints select optimum process out of plurality of DTM means G05B2219/35021Identify object characteristics, elasticity, density, hardness and select material G05B2219/35022Calculate gear dimensions, tooth surfaces for optimum contact G05B2219/35023Constraint based modeling, keep relationships between elements G05B2219/35024Incremental constraint solving, constraints are handled in sequence G05B2219/35025Design and manufacture jig G05B2219/35026Design of machine tool, of cnc machine G05B2219/35027Design for assembly DFA, ease of object assembly G05B2219/35028Adapt design as function of manufacturing merits, features, for manufacturing, DFM G05B2219/35029Design of modular control system G05B2219/35031Redesign, use former design G05B2219/35032Check correctness, violation of design, rule check G05B2219/35033Reliability by design, error free object G05B2219/35034Adapt design to customer feedback G05B2219/35035Design gear, tooth surfaces G05B2219/35036Correct model by comparing 3-D measured data of modified workpiece with original model G05B2219/35037Use medial axis transformation to decompose a domain, limits combinations G05B2219/35038Combine, superpose model, foot data with style data G05B2219/35039Model for analysis of workpiece displacement due to clamping, fixture G05B2219/35041Genetic algorithm for selforganizing designs G05B2219/35042Add finishing allowances to a cutter path G05B2219/35043Tool, fixture design G05B2219/35044Tool, design of tool, mold, die tooling G05B2219/35045Design tool for minimal tool change G05B2219/35046Design tool to minimize manufacturing, machining time G05B2219/35047Design tools in pairs, to be used together G05B2219/35048Recognition of punch shapes provided in die component catalogue G05B2219/35049BCL binary cutter location, rs494 standard CL format G05B2219/35051Data exchange between cad systems, cad and cam G05B2219/35052High level language conversion program, DXF format to nc format G05B2219/35053IGES initial graphics exchange specification G05B2219/35054STEP or PDES, standard for exchange of product data, form or surface data G05B2219/35055Data modeling language G05B2219/35056Manual entry of source, destination, data, format to be used for transfer G05B2219/35057Create also operation data concerning operating device G05B2219/35058Block cyclus time, time to prepare a block of data to be sent to machine G05B2219/35059Convert pcb design data to control data for surface mounting machine G05B2219/35061From cad make drawing with text for dimensions, scan it and read dimensions G05B2219/35062Derive mating, complementary, mirror part from computer model data G05B2219/35063Geometrical transformation of image G05B2219/35064Transform sketch by replacing free curves with mathematical curves, two display G05B2219/35065Undo part of design G05B2219/35066Modify design, modify shape, stretch, scale, add, delete G05B2219/35067Parametric function, group of lines, curves, change one, all change G05B2219/35068Command files, subroutines for drawing G05B2219/35069Derive missing surface from mirror part of computer model G05B2219/35071Drawing function, rotate designed figure, rotation G05B2219/35072Scale, zoom a designed figure G05B2219/35073Copy, duplicate a designed figure G05B2219/35074Display object, recognition of geometric forms G05B2219/35075Display picture of scanned object together with picture of cad object, combine G05B2219/35076Display from bottom or top side, adjust drawing lines, visible or not G05B2219/35077Display part and patterns to be machined on part, make selection G05B2219/35078Do not load non necessary or obstructive parts of drawing, remove from screen G05B2219/35079Features, functions like special relationdship, assembly locations G05B2219/35081Product design and process machining planning concurrently, machining as function of design G05B2219/35082Product, feature based modeling, geometric and engineering info G05B2219/35083Parametric design, parameters for geometric design and for process planning G05B2219/35084Geometric feature extraction, concave and convex regions, object recognition G05B2219/35085Incremental feature recognition, extraction, changes are added as new features G05B2219/35086Machining feature extraction , geometry and machining parameters G05B2219/35087Hole extraction for sheet metal G05B2219/35088Using graph grammars to describe parts G05B2219/35089Feature definition language G05B2219/35091Feature conversion, from design to process features or else G05B2219/35092MBM modular boundary model, FFC face to face composition model G05B2219/35093Feature is stad single tool approach direction, or mtad multiple tool approach G05B2219/35094Object oriented feature finder G05B2219/35095Features library G05B2219/35096Kind of feature, rotational parts with machining features and relation G05B2219/35097Generation of cutter path, offset curve G05B2219/35098Automatic coarse, rough and finish cutting path generation G05B2219/35099Generation of cutter path for only a designated part of surface G05B2219/35101CC cutter contact path G05B2219/35102Isoparametric, contact points at intersection of parameter lines on surface G05B2219/35103Cl cartesian method, apt style, cutter tangent, parallel to drive planes G05B2219/35104Steepest directed tree approach intelligent cutter path planning G05B2219/35105Polyhedral machining, cutter moved between centroids of adjacent surface triangles G05B2219/35106Contour map, cutter moved along contour lines, terraces of part surface G05B2219/35107Generate planar section toolpath G05B2219/35108Generate offset tool moving path in restrained curved plane G05B2219/35109Clean up region, volume left uncut by too large tool pass after finishing G05B2219/35111Automatically search for clean up regions, generate clean up tool pass G05B2219/35112Define object with spline, convert to raster, mosaic of points to make object G05B2219/35113Generation of compound, composite surface G05B2219/35114Generation of connection between two or more surfaces G05B2219/35115Project 3-D surface on 2-D plane, define grid in plane G05B2219/35116RFS rotation free surfaces, needs c x y z axis, non axis symmetrical surfaces G05B2219/35117Define surface by elements, meshes G05B2219/35118Generate intersection of offset surfaces G05B2219/35119Combine different forms, shapes G05B2219/35121Generate connection between two paths G05B2219/35122Generate random paths along a raster path G05B2219/35123Calculate volume of object G05B2219/35124Calculate center of gravity of object G05B2219/35125Surface with changing cone angle, different upper and lower surface shape G05B2219/35126Bezier or Ferguson surface G05B2219/35127Visibility maps, tool sees all points of interest on workpiece G05B2219/35128Propeller blade G05B2219/35129Generate composite surface by a single polynomial calculation G05B2219/35131Generate polynomial surface G05B2219/35132Generate path as function of precision and surface finish of each portion G05B2219/35133B-spline surface fitting G05B2219/351343-D cad-cam G05B2219/35135Predict surface machining precision G05B2219/35136Determine offset using closed ball expansion, 2-D square, 3-D cubic approximation G05B2219/35137Create part generic, derive from known part or combination of parts G05B2219/35138Superpose part of 3-D model on a straight, curved wall G05B2219/35139Define surface by cyclides, circular sections with variable radius G05B2219/35141Specify side of zone, line, circle for allowed region G05B2219/35142Generate tile patterns, mosaic G05B2219/35143Reconstruct free form surfaces G05B2219/35144Egosphere: spherical shell 2-5-D around robot, objects are projected on it G05B2219/35145Voxel map, 3-D grid map G05B2219/35146Enter data, calculate 3-D curve or surface, sculptured surface, okisurf G05B2219/35147Generation of nice looking composite surface G05B2219/35148Geometric modeling for swept volume of moving solids G05B2219/35149Generate model with haptic interface, virtual sculpting G05B2219/35151Modeling geometric, generation or forming of curved surface G05B2219/35152Part coding, description from 3-D cad database G05B2219/35153Group and retrieve similar designs from cad data G05B2219/35154Convert 2-D workpiece in rectilinear polygon, simplified skeleton G05B2219/35155From parts catalog, database, define part relationships, product definitions, specifications G05B2219/35156Group technology, identify and group simular parts, tools and machines G05B2219/35157Machinability, producibility, reject nc program if tool motion not possible G05B2219/35158Calculation of contact point of tool on surface, curve G05B2219/35159With nominal blank and model in memory define tool path and machine workpiece G05B2219/35161Determine orientation of workpiece G05B2219/35162Determine workpiece placement, nesting in blank, optimize, minimize loss material G05B2219/35163Generation of inverse offset surface, tool center on surface, tip shows offset G05B2219/35164Reverse engineering, camera and probe to inspect workpiece and machine are the same ones G05B2219/35165Automatic cutter selection G05B2219/35166Virtual boundary method to plan coarse and then fine machining G05B2219/35167Automatic toolpath generation and tool selection G05B2219/35168Automatic selection of machining conditions, optimum cutting conditions G05B2219/35169Automatic generation of set up data as function of form to be machined, kind of operation G05B2219/35171Automatic selection of machining conditions as function of controlled machine G05B2219/35172Lookup tables for technology, machining parameters G05B2219/35173Automatic selection of machine type G05B2219/35174Decide if blank has to be measured beforehand G05B2219/35175Select machining parameters with fuzzy logic G05B2219/35176Constraint, machining constraint, process type like only milling possible G05B2219/35177Power constraint for horizontal and vertical cutting forces G05B2219/35178Machining parameter constraint, feed, speed, dimension of part G05B2219/35179Tolerance constraints as function of process capability and manufacturing costs G05B2219/35181Machining condition constraints, coolant, chip removal, previous forming G05B2219/35182Scallop hull generation and its offset, interference free offset G05B2219/35183Maximizing side step, constant CUSP, scallop height, smaller CL datafile for minimizing machining time G05B2219/35184Variable step over, from toolpath to toolpath G05B2219/35185Select optimum tool radius G05B2219/35186Variable step forward on same toolpath G05B2219/35187Surface ridges, cusps, scallops, distance of tool traverses as function of curvature G05B2219/35188Project workpiece and sheet on screen, position layout to be cut, store contour G05B2219/35189Manufacturing function, derive gripper position on workpiece from cad data G05B2219/35191Project workpiece and gripper, control relative movement, store result G05B2219/35192From design derive sequence of bending so that bending is possible G05B2219/35193Manufacturability G05B2219/35194From workpiece data derive tool data G05B2219/35195Design mosaic, cut tiles, paint tiles and pack mosaic G05B2219/35196From workpiece data derive assembly tool data G05B2219/35197Assemblability G05B2219/35198Combine component electronic catalog, cdrom with cad data to generate nc program G05B2219/35199Processability G05B2219/35201Use cad data to test function of designed part, design for test DFT G05B2219/35202Macroplanning, setup fixture cafp, library machine tables, sequence G05B2219/35203Parametric modelling, variant programming, process planning G05B2219/35204Planning, generic process planning G05B2219/35205Planning of toolstages, comprising selection tools, position and motion G05B2219/35206Microplanning, specific machining operations and parameters G05B2219/35207Design agent selects planning agent, which selects fabrication agent G05B2219/35208Object oriented planning G05B2219/35209Modifying, adding machining features to elementary cad-parts as function of their assembling G05B2219/35211Using a search tree G05B2219/35212Estimating a cost associated with each operation, amount of time, target cost G05B2219/35213Minimize number of setups G05B2219/35214Setup planning , number of them, machines needed, part orientation, order G05B2219/35215Generate optimal nc program variant as function of cost, time, surface, energy G05B2219/35216Program, generate nc program, code from cad data G05B2219/35217Cagd computer aided geometric design, sbgd scanning based geometric design G05B2219/35218From cad data derive fixture configuration and assembly program G05B2219/35219From cad data derive cutting, stacking, sorting program G05B2219/35221Generate cutter path as function of speed, acceleration condition selected by operator G05B2219/35222From cad derive data points for endball mill, grinder, then radius compensation G05B2219/35223Tolerance, consider tolerance in design, design for assembly G05B2219/35224Kinematic tolerance analysis, variation in kinematic function as function of tolerance G05B2219/35225Tolerance in setup planning G05B2219/35226Analysis of tolerance propagation G05B2219/35227Use FMEA failure modes and effects analysis in tolerance assignment design G05B2219/35228Automated tolerance chain generation G05B2219/35229Code G05B2219/35231Biquinary code, 2-of-7 symbols G05B2219/35232Bcd G05B2219/35233Octal G05B2219/35234First column has 1-2-4, second column has 8-16-32 G05B2219/35235Decimal to binary G05B2219/35236Excess-code G05B2219/35237Under four is 0xxx, over four is 1xxx G05B2219/35238Gray-code G05B2219/35239Ternary code G05B2219/35241End, stop code of program G05B2219/35242To enable manual operation on detection of inserted code G05B2219/35243Inserted code calls parallel execution of another program, synchronize G05B2219/35244Select in corner different program according to inner, outer machining G05B2219/35245Expansion of control words, code of standard language to increase functionality G05B2219/35246Data handling for auxilliary functions as function of setting of switch, block delete G05B2219/35247Mode selection between two machining modes, laser beam and laser shutter control G05B2219/35248Pallet exchange code to get mating nc program G05B2219/35249In corner change cutting command to piercing command, to keep angle point intact G05B2219/35251Several M codes sent to several machines simultaneously G05B2219/35252Function, machine codes G, M G05B2219/35253To stop program until a cycle start key is pressed G05B2219/35254GPF, G preparatory functions, G111 indicate switch to polar, absolute to reference G05B2219/35255G112 switch to polar, relative to last polar coordinate G05B2219/35256Assign a macro to a key G05B2219/35257Macro, assign a name to macro G05B2219/35258A named macro can be called from a program, a key, a menu G05B2219/35259Divide program in machining division blocks, and name them G05B2219/35261Use of mathematical expression, functional equation G05B2219/35262Macro instruction, canned cycles, subroutines, subprogram G05B2219/35263Using variables, parameters in program, macro, parametrized instruction G05B2219/35264Reread same data G05B2219/35265Check time differences of command signals G05B2219/35266On error display code, message for recovery from fault G05B2219/35267Compare ram data to rom data, verify correctness, validity data, tolerance G05B2219/35268Detection of presence of rom cassette or similar, if coupled to internal memory G05B2219/35269Checking data, parity, diagnostic G05B2219/35271Checking electronics G05B2219/35272Watchdog, count or integrate number of data errors before alarm G05B2219/35273Sensor to detect functioning of signal conditioning elements G05B2219/35274Parity G05B2219/35275Excess in error G05B2219/35276Two identical tapes G05B2219/35277Double reader G05B2219/35278Checksum CRC G05B2219/35279Ignoring invalid program G05B2219/35281Detect overlap of program, if new data is entered before old is handled, stop G05B2219/35282Verify if loaded program into memory or stored into tape, cassette is correct G05B2219/35283Plausibility check for function, program, inhibit dangerous, unallowed program G05B2219/35284Programmed speed automatically limited to min and max transmission range speed G05B2219/35285Plausibility check for data, within permissible range G05B2219/35286Run tape without machining, tape proving, dry run, test run G05B2219/35287Verify, check program by drawing, display part, testpiece G05B2219/35288Verification of instructions on tape, direct or by comparing with reference G05B2219/35289Display machining state and corresponding control program G05B2219/35291Record history, log, journal, audit of machine operation G05B2219/35292By making, plotting a drawing G05B2219/35293Execute program and check block of data, on interrupt display block G05B2219/35294Display concentric circles G05B2219/35295Stop test run, correct instruction or block, restart test run G05B2219/35296Inhibit operation if part shape not compatible with raw material shape G05B2219/35297Convert program to voice output to check program G05B2219/35298Print screen display G05B2219/35299Verify if generalised data block has all words required G05B2219/35301On error, push button to reverse execution mode of block, stop, correct G05B2219/35302Set and store command code together with display colour, detected on execution G05B2219/35303Dry run, compare simulated output with desired finished profile, alarm, inhibit G05B2219/35304Real time analysis, check of program, just before machining G05B2219/35305Before machining, verify if all different machining start points are correct G05B2219/35306Interference of all tools of turret, or part of tool base with chuck, workpiece G05B2219/35307Print out of program on paper, on screen G05B2219/35308Update simulator with actual machine, control parameters before start simulation G05B2219/35309Actual execution times acquired during machining used in simulation G05B2219/35311Remote simulation of machining program G05B2219/35312Display working state, process G05B2219/35313Display, validate tool path for boundary, surface interference G05B2219/35314Display workpiece and machine, chuck, jig, clamp, tool G05B2219/35315Projection, two, three section views G05B2219/35316Interference checking between tool , machine, part, chuck, machining range G05B2219/35317Display tool shape, to select tool for program, or for interference G05B2219/353183-D display of workpiece, workspace, tool track G05B2219/35319Show alternatively static and dynamic locus, during static update of dynamic G05B2219/35321Display only tool locus, dynamic G05B2219/35322Display dynamic tool locus from entered start point to present position G05B2219/35323Point to two points on tool locus, calculate and display value G05B2219/35324Two, more pictures separated on screen, display G05B2219/35325Display of locus with possible correction of machining G05B2219/35326Scale image automatically to display whole tool locus or indicated area G05B2219/35327Display tool locus together with correlated machining parameter, load motor G05B2219/35328Shift view as function of shift of tool with respect to workpiece G05B2219/35329Display entire image within an enlarged image G05B2219/35331Display only machined part G05B2219/35332Use solid and wire frame plotting to display tool locus, workpiece G05B2219/35333Display raw material, blank, tool locus, workpiece, alarm if error G05B2219/35334Display entire part and zoom of detail G05B2219/35335Update display image only if tool advanced over a defined distance G05B2219/35336Display locus and corresponding actual block G05B2219/35337Program has instruction to display specific information G05B2219/35338Display virtual tool, locus, part to check possibility of execution next block G05B2219/35339A mark for present position of tool, a mark for end point of block, colour G05B2219/35341Display finishing, finishing margin, work, tool and chuck shape, different colours G05B2219/35342Set colour change for a block, display locus for that block in different colour G05B2219/35343Display path and coating thickness and painting time G05B2219/35344Display part, programmed locus and not yet machined, uncompleted portions of part G05B2219/35345Display entry of high level program together with corresponding nc program G05B2219/35346VMMC: virtual machining measuring cell simulate machining process with modeled errors, error prediction G05B2219/35347Replace tool by light emitter, operator checks light path on workpiece G05B2219/35348Different colour, texture as function of distance, direction between tool and workpiece G05B2219/35349Display part, programmed locus and tool path, traject, dynamic locus G05B2219/35351While machining probe model, sense drawing by same program, stop if deviation G05B2219/35352By making a testpiece G05B2219/35353While machining compare real path with simulated, command path, contour display G05B2219/35354Polar coordinates, turntable G05B2219/35355Generate at jump a fictive instruction equal to sum of previous instructions G05B2219/35356Data handling G05B2219/35357Setup data, includes scale, range, type, selected together with part program G05B2219/35358If a pattern contains another pattern, separate date to avoid overlap G05B2219/35359Discriminate between setup data and machining data G05B2219/35361Discriminate between data for servocontrol directly and nc processing data G05B2219/35362Group similar operations, to select correction, compensation values G05B2219/35363Generate data on component arrangement G05B2219/35364Merge normal nc program with manual entered monitoring, diagnostic criteria G05B2219/35365Configure buffer dynamically, store two 3-D blocks or one 6-D block G05B2219/35366Fill buffer dynamically, track read out and write in addresses, fifo G05B2219/35367Only read buffer, advance tape while machining with data from read buffer G05B2219/35368Read and work buffer, machine while read in, no switching between buffers G05B2219/35369Read and work buffer, machine while read in, buffers switched alternative G05B2219/35371Data from read instead of work buffer, load data directly to work buffer G05B2219/35372Store variable block, word length into memory G05B2219/35373Data storage, buffer G05B2219/35374First memory for independent axis, second memory for synchronized axis G05B2219/35375Store command data into latch, buffer synchronized to clock G05B2219/35376Input program, analyze, store to buffer ready to control nc, no further data handling G05B2219/35377Check for end of block G05B2219/35378Detect if reference data is not changing anymore to decide a still stand, stop G05B2219/35379Conversion, normalize G05B2219/35381Convert in real time input peripheral data to processor data, ouput data format G05B2219/35382Distribution G05B2219/35383Input serial or parallel G05B2219/35384Serial data handling G05B2219/35385Decode several blocks at the same time, as a single block, simultaneous, parallel G05B2219/35386Look ahead processing of plural block data from buffer G05B2219/35387Transfer measured data first to fastest controller, processor then to slower G05B2219/35388Processors in parallel, second, third handle rest old block while first starts new block G05B2219/35389Different block length to select between panel and remote I-O G05B2219/35391Sort, order entered data hierarchical G05B2219/35392Set switches, load, cancel data for different axis, spindles simultaneous G05B2219/35393Coordinate selection switch G05B2219/35394A separate processor for block, span G05B2219/35395Memory, ram table with waveform, no need to be loaded by nc program, quicker G05B2219/35396Table of contour for cyclic machining, only data for one cycle, derive other G05B2219/35397Cross bar switch G05B2219/35398Machining, change parameters as function of machining type G05B2219/35399Split part program in elementary machining steps, executable by a single tool G05B2219/35401Tool edge, tool shape, dead corner because of tool shape G05B2219/35402Calculate allowable machining capability from cutting conditions G05B2219/35403Calculate midline of tapelike contour, as reference line for stitching G05B2219/35404Divide scanned pattern in several closed area, store as intermediate data G05B2219/35405Prepare seam data for each pattern size as function of scale and intermediate data G05B2219/35406Decompose axis movement, group components, interpolate separately, superpose pulses G05B2219/35407Position data, calculate data to project characters along curve G05B2219/35408Calculate new position data from actual data to compensate for contour error G05B2219/35409DPC direct programming at the console G05B2219/35411Clamp detachable teaching box magnetically on housing G05B2219/35412Special interface for manual input to pc G05B2219/35413Manual device is automatically recognised and its interface selected G05B2219/35414Remote instruction to operate machine tool G05B2219/354153-D three dimension, space input, spaceball G05B2219/354163-D joystick G05B2219/35417Handle, joystick connected to n+1 wires for n degrees of freedom G05B2219/35418Bird, free flying hand controller, receives signals from transmittors in space G05B2219/35419Four and more-DOF hand controller, joystick, manipulandum G05B2219/354213-D matrix to input a 3-D surface, position displaced elements read by computer G05B2219/35422Unit freely movable in space, detect its position, orientation by triangulation G05B2219/354236-DOF force reflective hand controller frhc G05B2219/3542416-DOF glove attached to 6-DOF hand controller, superposition G05B2219/3542518-DOF glove with fifteen load detectors on each finger, eighty one in total G05B2219/35426Prepare, enter next program during execution of actual program, machining G05B2219/35427User controls machine with eye motion, activates icons on display G05B2219/35428Block selection, search G05B2219/35429Enter code number directly for function, no use of function keys G05B2219/35431Interactive G05B2219/35432Format guide to guide user during input of data G05B2219/35433During execution, display asks for parameters, operator answers, machine again G05B2219/35434Enter part geometry and manually control path free, directly, real time, cutting G05B2219/35435Display, if needed, tolerance memo data at place where real data must be input G05B2219/35436Means, manual input, input reference, hand wheel G05B2219/35437Decimal G05B2219/35438Joystick G05B2219/35439Keys or buttons G05B2219/35441Production design metaphore, tool, operation like input system G05B2219/35442Hand wheel turns resolver to control movement slide G05B2219/35443Portable drill, screw driver to set position of axis instead of handwheel G05B2219/35444Gesture interface, controlled machine observes operator, executes commands G05B2219/35445Joystick for coarse and handwheel for fine movement G05B2219/35446Earprotection, earphone G05B2219/35447Potentiometer G05B2219/35448Datasuit, arm sleeve, actor, operator wears datasuit and generates motion G05B2219/35449Joystick and buttons for menu and function selection, scrolling, +sign and -sign G05B2219/35451Mouse with additional wheel, switches for position control G05B2219/35452Two axis foot pedal G05B2219/35453Voice announcement, oral, speech input G05B2219/35454Switch between joystick and pedal control G05B2219/35455Foot pedal G05B2219/35456Disk segments connected to different inputs of microprocessor, represent different positions G05B2219/35457Joystick for coarse, rotary encoder for fine movement G05B2219/35458Control command embedded in video, audio stream, signal G05B2219/35459Knob, handle, handwheel delivers pulses, electronic handwheel, digipot G05B2219/35461Digitizing, menu tablet, pencil G05B2219/35462Mouse G05B2219/35463Trackball G05B2219/35464Glove , movement of fingers G05B2219/35465Hand wheel G05B2219/35466Select with mouse button coarse or fine movement control G05B2219/35467Select between control modes, jog, freeform, grid, corner, locate, contour, slot G05B2219/35468Select between teaching, regulate position and direct control of position G05B2219/35469Select with button specified picture, interrupt addresses selection table G05B2219/35471Select between run and step command mode, step forward, reverse G05B2219/35472Mode selection G05B2219/35473Input limit values of speed, position, acceleration or force G05B2219/35474Enter fuzzy command, instruction, like move closer G05B2219/35475Set tolerance values G05B2219/35476Switch from auto to manual if operator moves feedback detector, to set parameter G05B2219/35477Accelerate input data, exponent as function of pressure, time, turning speed G05B2219/35478Set flexibility of axis in working coordinates, to move real axis manually easily G05B2219/35479Set values, speed of machine as function of force, pressure, duration on key G05B2219/35481Display, panel G05B2219/35482Eyephone, head-mounted 2-D or 3-D display, also voice and other control G05B2219/35483Synoptic display for work shape during machining G05B2219/35484Use two image memories, update second memory while display first memory G05B2219/35485Library of images, pictures, select and modify each, compose them G05B2219/35486Use of two cursors on screen G05B2219/35487Display and voice output incorporated in safety helmet of operator G05B2219/35488Graphical user interface, labview G05B2219/35489Discriminate, different colour, highlight between two states G05B2219/35491Workpiece date display, position, height G05B2219/35492Display needed workpiece, tool or data to continue execution of program G05B2219/35493Display workpiece and tool data together G05B2219/35494Online documentation, manual, procedures, operator, user guidance, assistance G05B2219/35495Messages to operator in multimedia, voice and image and text G05B2219/35496Display cursor in changing colour to indicate that object can be selected G05B2219/35497Use colour tone, hue to indicate amount of processed quantity G05B2219/35498Synoptic display of available, selectable control modules with their functions G05B2219/35499Model of process, machine and parameters G05B2219/35501Colour display G05B2219/35502Display picture, image of place of error G05B2219/35503Eye tracking associated with head mounted display to detect eye position G05B2219/35504Multilingual communication, messages in different languages G05B2219/35505Display two windows, one with nc-data, other with general application data G05B2219/35506Camera images overlayed with graphics, model G05B2219/35507Spider, radar, parallel axes, multivariate plot G05B2219/35508Operator chooses among different GUI formats G05B2219/35509Double large character on screen G05B2219/35511Cursor on screen G05B2219/35512Display entered, measured values with bargraph G05B2219/35513Setting tool condition, tool set in tool exchanger, present or not G05B2219/35514Display tool data G05B2219/35515Workpiece set condition, workpiece present or not G05B2219/35516Three linear movements in a single plane for three actuators G05B2219/35517Use same data, program for workpieces with different length, but same profile G05B2219/35518Superposition data, three memories for 2-D projection and z profile and surface structure G05B2219/35519Machining data and tool data G05B2219/35521Machining and parts on workpiece arrangment data, machine each, then cut out G05B2219/35522Database for standard machining data and for personal machining data G05B2219/35523Data one bit better than measurement, rest accumulated in memory G05B2219/35524Approach data and machining data G05B2219/35525Use same data for different operations, coarse and fine, cutting and grinding G05B2219/35526Number of workpieces to be machined, cut G05B2219/35527Range of number of workpieces to be machined, cut G05B2219/35528Create machining conditions database by analyzing actual machining nc program G05B2219/35529Monitoring current machining, store information in database as a new working case G05B2219/35531Operator inputs manually evaluation of current machining G05B2219/35532Comment, work directive, message to operator and control signals together G05B2219/35533Use, input 2-D data, sectional profile to machine 3-D surface G05B2219/35534Conversion input data G05B2219/35535Decimal to binary G05B2219/35536Digital to analog G05B2219/35537Bcd to phase G05B2219/35538Bcd to decimal G05B2219/35539Gray to frequency G05B2219/35541Bcd to 5-2-1-1-code G05B2219/35542Bcd to binary G05B2219/35543Cartesian to polar and vice versa G05B2219/35544Convert male to female form, die to stamp form G05B2219/35545Serial to parallel conversion G05B2219/35546Convert input data to execution data G05B2219/355471-to-8-bit conversion G05B2219/355481-to-16-bit conversion G05B2219/35549Convert buffer content to executable data in case of short execution time G05B2219/35551Convert and select between EIA and ISO code G05B2219/35552ISO and EIA code detected by difference of parity bit G05B2219/35553Convert ISO or EIA code to internal or standard code G05B2219/35554Mirror, other conversions G05B2219/35555Turn figure over 90-degrees or 180-degrees, convert data for new state G05B2219/35556Conversion inch to metric G05B2219/35557Workpiece related data to axis related data G05B2219/35558Convert speed value into two signals sin, cos representing position G05B2219/35559Convert 15-bit image into 20-bit image G05B2219/35561Analog to digital G05B2219/35562Radius to diameter G05B2219/35563Use of conversion tables G05B2219/35564High speed data processor between host and nc for direct conversion of data G05B2219/35565Communications adapter converts program to machine or controls directly machine G05B2219/35566Use of only delta x values, no absolute values G05B2219/35567Each block contains connection, index to other blocks, to form patterns G05B2219/35568Array structure corresponding to display format G05B2219/35569Single block format indicates change of speed at start and end G05B2219/35571Table with constant speed and corresponding distance for each segment G05B2219/35572Data contains header and type of data G05B2219/35573Header has code to select proper load program G05B2219/35574Header with information for display position G05B2219/35575Part program contains movement and condition statements G05B2219/35576Data divided in blocks to be covered by small movement, to origin by large movement G05B2219/35577Delta x, delta v and delta t G05B2219/35578Gerber, hp format to drive plotter or similar xy device G05B2219/35579Store motion parameters as function of encoder position G05B2219/35581Position data for module and position data within module G05B2219/35582Control format in browser, use of xtml and xslt G05B2219/35583Difference between signals and sign of difference are the controlling signals G05B2219/35584Link geometry, workpiece data with machining data, select region G05B2219/35585Motion command profile G05B2219/35586Position, time and slope, tangent of curve G05B2219/35587Store curves with packed code, indicating bezier curve parameters G05B2219/35588Pack, compress data efficiently in memory G05B2219/36Nc in input of data, input key till input tape G05B2219/36001File format, initital graphics exchange specification, iges standard G05B2219/36002Dimensional measurement interface specification dmis standard G05B2219/36003Start key, switch to start performing program G05B2219/36004Program mask depends on physical position of panel G05B2219/36005Same knob, different functions, turn for position, push and turn for speed G05B2219/36006A key delivers a series of key codes G05B2219/36007Special keys, automatic switch over x or y to numerical values G05B2219/36008Illuminated, lighting up keys, build in led, display, show sequence data entry G05B2219/36009Keys with variable control code, multifunction keys G05B2219/36011Page key, go to next or previous page G05B2219/36012Percentage keys, input percentage values G05B2219/36013Up-down keys for calling sequentially functions, parameters G05B2219/36014Overlay to indicate function of key G05B2219/36015Display areas, fields on screen correspond to position of keys on panel, matrix G05B2219/36016Unified language for machines and translation to each G05B2219/36017Graphic assisted robot programming, display projection of surface G05B2219/36018Language for dimensional measuring, inspection G05B2219/36019Using interpreted descriptive commands giving G-codes G05B2219/36021Switch high level and assembly, machinine language as function of capacity memory and speed G05B2219/36022Switch between machining language for execution and high level for editing G05B2219/36023Attribute programming G05B2219/36024State language G05B2219/36025Link, connect icons together to form program G05B2219/36026Combine general high level language and specialised plc language G05B2219/36027Decompiler, translate machine code to hll, reverse processing, easy modification G05B2219/36028C++ G05B2219/36029Basic G05B2219/36031Programming in assembler, machine or high level language G05B2219/36032Script, interpreted language G05B2219/36033High level graphics language, gks G05B2219/36034APT G05B2219/36035Special language, task programming, oop object oriented programming G05B2219/36036Motion, graphical motion control language gmcl G05B2219/36037Application programming interface associates component code with driver function G05B2219/36038Ladder program for plc, using functions and motion data G05B2219/36039Learning task dynamics, process G05B2219/36041Edit program step by step G05B2219/36042Point to defect, faulty instruction or locus, call up corresponding command block G05B2219/36043Correction or modification of program G05B2219/36044Program modified after breakage, crash, jamming G05B2219/36045Skip of program blocks, jump over certain blocks G05B2219/36046Adapt, modify program as function of configuration of machine G05B2219/36047Edit program, change or not header, starting code, output new program with header G05B2219/36048Verify, probe workpiece, if position deviation edit, modify program G05B2219/36049Relational geometry, change one element, rest of part is adjusted according G05B2219/36051Store history of modified file, back-up, update, using different file extensions G05B2219/36052Tape tuning with expert system, correction of tape as function of measured parameters G05B2219/36053Adapt, modify program in real time as function of workpiece configuration G05B2219/36054Modify offset for whole sections collectively, different offsets for sections G05B2219/36055Separate, temporary memory or special storage region for corrections only G05B2219/36056Modify program, machining order in real time , during operation, dynamically G05B2219/36057Select center of pattern for placement of new scaled pattern G05B2219/36058Modify workpiece part program without changing approach program G05B2219/36059Modify approach program as function of changed part program G05B2219/36061Storage, memory area to store history data for previous corrections, editable G05B2219/36062Verify if editing, modifying program is suitable for connected controller G05B2219/36063During machining, compare simulated with detected profile, correct, modify program G05B2219/36064Modify data by using the four rules of arithmetic such as +sign, -sign, xsign, :sign G05B2219/36065Modify data by entering a compensation rate value G05B2219/36066Collectively modify data instead of each in particular G05B2219/36067Altering working order of program blocks G05B2219/36068Change program at allowed point of time or program step G05B2219/36069Display, on machining error, display error message and correct program G05B2219/36071Simulate on screen, if operation value out of limits, edit program G05B2219/36072Select pattern, input modification of tolerance G05B2219/36073Display original and modified part in different colour, highlight, shading, filling G05B2219/36074Display part, select, mark element and edit corresponding block G05B2219/36075Set certain command codes, discriminate codes and display in different colour G05B2219/36076Select icon and display corresponding instructions G05B2219/36077Display and select, modify shape, pattern on screen G05B2219/36078Insert, read in new command instruction to modify fixed program G05B2219/36079Replace faulty instructions and execute only that portion of the program G05B2219/36081Merge, mix original program with teached program G05B2219/36082Delete a block by overwriting block with delete control character G05B2219/36083Insert a block by using insert control character pointing to address in memory G05B2219/36084Amend, modify program by inserting wait and wait dismiss command G05B2219/36085Replace faulty instructions from rom, tape by instructions from ram, error setting G05B2219/36086Select, modify machining, cutting conditions G05B2219/36087Edit, modify program for position errors, moving path, use conversion matrix G05B2219/36088Machining parameters, overide G05B2219/36089Machining parameters, modification during operation G05B2219/36091Modification, override as function of conditions, distance G05B2219/36092Override limit contour G05B2219/36093Lookup table with override for each pattern, tool path G05B2219/36094Inhibit or permit override by separate manual switch G05B2219/36095Inhibit or permit override by program instruction G05B2219/36096Override program by selecting another font, size for letters G05B2219/36097Override program to scale workpiece G05B2219/36098Overide program to execute a certain number of same blocks, repeat pattern G05B2219/36099Stop machine and correct position manually G05B2219/36101During machining keep overide log, history, journal, kind of record playback G05B2219/36102Display overide log and nc instructions, select nc block to modify permenant G05B2219/36103Adapt, update machining parameters automatically as function of state of processing G05B2219/36104IC card G05B2219/36105Cd rom G05B2219/36106Cassette G05B2219/36107Bubble memory G05B2219/36108Eprom, earom, eerom G05B2219/36109Flash memory G05B2219/36111Local memory instead of tape, or combined G05B2219/36112Floppy disk, diskette G05B2219/36113Rom G05B2219/36114Eprom, prom G05B2219/36115Card G05B2219/36116Harddisk G05B2219/36117Magnetic tape cassette G05B2219/36118Adapt interactive dialog, help to experience, short cut menu G05B2219/36119Mouse with buttons to assist operator with selection of menu instead of pointing G05B2219/36121Tree oriented menu, go to root, scroll up down, select mode G05B2219/36122Operator menu with submenu for each item G05B2219/36123Store statistical history of selected menus, recall for quick data entry G05B2219/36124Screen with certain display menu called by pointer, number G05B2219/36125Select out of library, beforehand only functions needed for part program G05B2219/36126Programmable, configurable function keys, execute a programmed sequence G05B2219/36127Menu, help menu for operator, messages G05B2219/36128Function menu, switches, keys replaced by menu G05B2219/36129Menu keys, function of keys soft defined G05B2219/36131Cyclic selection of functions or values by pushing a single key G05B2219/36132Selection of menu with lightpen on screen, display G05B2219/36133MMI, HMI: man machine interface, communication G05B2219/36134Osf-motif standard G05B2219/36135Link between sequence, motion or process and diagnostic control G05B2219/36136User configurable graphics selected as function of kind of machining, display builder G05B2219/36137Configuration of display device, operator panel G05B2219/36138Configuration of operator panel, using os-2 modular programs, masks G05B2219/36139Edit templates for screen display, and use of keyboard G05B2219/36141Configuration with visual basic extension G05B2219/36142Using window display, selection of function calls in a window G05B2219/36143Use of icon to represent a function, part of program G05B2219/36144Display of not allowed function in a different way, light G05B2219/36145In case of alarm a window is maximised automatically G05B2219/36146Group windows into coherent sets to facilate a task G05B2219/36147Limit number of windows displayed simultaneously G05B2219/36148Main process, alarm window takes priority, always on top, safe view G05B2219/36149Window, X window G05B2219/36151Display is a TV G05B2219/36152Panel G05B2219/36153Two, several consoles, displays, panels, two different input, joystick G05B2219/36154Two displays, for part shape and for corresponding instructions, block G05B2219/36155Plc switches functions of panel when changing kind of machining G05B2219/36156Keyboard as a drawer G05B2219/36157Pendant control box for handwheel control, mounted on controlled axis G05B2219/36158Panel for disabled, scanned sequentially G05B2219/36159Detachable or portable programming unit, display, pc, pda G05B2219/36161Common program panel for nc, pic, switch display diagnostic or part G05B2219/36162Pendant control box G05B2219/36163Local as well as remote control panel G05B2219/36164Common CRT for two input devices G05B2219/36165Common program panel for host and cnc, at cnc place, for data from host, cnc G05B2219/36166Several panels can be selected by rotation, limited space needed G05B2219/36167Use camera of handheld device, pda, pendant, head mounted display G05B2219/36168Touchscreen G05B2219/36169Remote, host controlled, operated manual data input, keyboard G05B2219/36171Edit velocity, motion profile, graphic plot of speed as function of time, position G05B2219/36172Select block, item, highlight, colour this block with respect to rest G05B2219/36173Combine record play back, hand wheel with normal cnc programming, software G05B2219/36174Program divided into modules G05B2219/36175Capture image of part, create automatically geometry, sequence of machining G05B2219/36176Edit servo control parameters G05B2219/36177Select block and display graphic representation associated with block type G05B2219/36178Derive finishing allowance, tolerance from shape and work information G05B2219/36179Combine nc programming with cad and order system G05B2219/36181Input part data, dimensions, without graphical representation of part G05B2219/36182First block contour then parameter input G05B2219/36183Offline teaching is sound assisted G05B2219/36184Record actions of human expert, teach by showing G05B2219/36185Application, for cylindrical groove shape G05B2219/36186Programming languages for lathe, mill or general use mixed G05B2219/36187End shape data input for end surface configuration G05B2219/36188Deep drilling cycle G05B2219/36189Wheel dressing program G05B2219/36191Prepare rough, coarse machining program G05B2219/36192End facing G05B2219/36193Semi finish and finish machining G05B2219/36194Taper angle machining G05B2219/36195Assembly, mount of electronic parts onto board G05B2219/36196Grinding cycle G05B2219/36197Non circular workpiece, radius and angle input G05B2219/36198Gear, thread cutting G05B2219/36199Laser cutting G05B2219/36201Hole machining G05B2219/36202Freeform surfaces G05B2219/36203Bending of workpiece, also for long slender workpiece G05B2219/36204Lathe, turning G05B2219/36205For aspheric non symetrical mirrors G05B2219/36206Embroidery G05B2219/36207Involute curve, compressor G05B2219/36208Roll grinding G05B2219/36209Specify hole shape pattern for boring and store in hole file G05B2219/36211Using different cutter sizes, largest as possible for minimizing machining time G05B2219/36212Using generic virtual pocket, having virtual boundary, arbitrarily shaped G05B2219/36213Grouping of decomposed volumes with similar features G05B2219/36214Pocket machining, area clearance, contained cutting, axis milling G05B2219/36215Insert automatically program sequence, for corner execution, avoid machining error G05B2219/36216Replace entered position data with previous if difference less than tolerance G05B2219/36217Commands trigger programming functions G05B2219/36218Reuse stored data as programming data after confirmation G05B2219/36219Calculate machining information, like time, surface to be machined from program G05B2219/36221Entry of chamfer, beveling, rounding of corner shape G05B2219/36222Indicate entered element on top, next element below, after input, update top G05B2219/36223Enter machining conditions, determine automatically machining data G05B2219/36224Enter machining and positioning elements, derive order of execution in real time G05B2219/36225Select and insert program from library, select case, variant G05B2219/36226Global selection of grid or circle of points by number, distance, angle G05B2219/36227Assist operator to calculate unknown points, contours G05B2219/36228Combine two programs to obtain new shifted positions and new processing data G05B2219/36229Generate missed line when last end point is different from next start point G05B2219/36231Translate, convert machine independent to machine dependent program G05B2219/36232Before machining, convert, adapt program to specific possibilities of machine G05B2219/36233Convert program so that it can be executed in reverse order G05B2219/36234Convert program for a 2-axis machine into program for 4-axis machine G05B2219/36235Convert grinding machine oriented language to nc machine oriented G05B2219/36236Convert character, ascii, text code to internal code and vice versa G05B2219/36237Prepare nc program for selected, distinct nc machines G05B2219/36238Derive marking from punching program, secondary from principal program G05B2219/36239Determine automatic, manual machining of workpiece as function of specific possibilities of machine tool G05B2219/36241Convert, translate milling to laser machining program G05B2219/36242Convert program for different machines with different M-code, G-code, header G05B2219/36243Convert source, high level code to machine, object code G05B2219/36244Means, use of tables, correlating functions to instructions G05B2219/36245Use of tables to store order of execution of functions G05B2219/36246Comments, messages displayed with program instructions, explain process G05B2219/36247Remarks, comments as hierarchical structure, indented, corresponds to instructions G05B2219/36248Generate automatically machining, stitching points from scanned contour G05B2219/36249Generate automatically a balance program for workpiece, dynamic balance G05B2219/36251Superpose scanned or finished object image on workpiece model for best fitting G05B2219/36252Generate machining program based on a simulation to optimize a machine parameter G05B2219/36253Generate machining program from previous test run G05B2219/36254Generate machining program from history of similar tools G05B2219/36255Machining condition, parameter is workpiece conicity, inclination between surfaces G05B2219/36256Define upper lower limit of reciprocating machining, chopping G05B2219/36257Indicate region and kind of machining on shape of part G05B2219/36258Machining planning, indicate kind of operation G05B2219/36259Indicate primary and secondary operations on shape, deliver nc data for each G05B2219/36261Program with subroutines for machining process G05B2219/36262Input workpiece mounting position, setup G05B2219/36263Select cutting direction G05B2219/36264Program movement from first to second machining area G05B2219/36265Set machining start point from tool, machining data avoiding interference G05B2219/36266Tool path editor, for offset, multi-passes G05B2219/36267Process planning editor G05B2219/36268From blank and finished entered shape, derive machining features G05B2219/36269Separate machining data as function of dependance or independance of material G05B2219/36271Enter, edit workpiece data G05B2219/36272Enter start position, program number for each workpiece G05B2219/36273Use general and tool data to select available tool and machining operation G05B2219/36274Automatic calculation cutting conditions, but operator can enter them also G05B2219/36275Select automatically transmission ratio as function of programmed speed G05B2219/36276Program virtual, logical tools, select tool from tables G05B2219/36277Flexible fixturing, clamp workpiece, mark clamp regions and store them G05B2219/36278Topological classification of forming, machining process G05B2219/36279Machining parameter is strategy for making corners G05B2219/36281Machining parameter is technology: surface roughness, corner, contour tolerance G05B2219/36282Divide complex sculptured surface into smaller, easier to machine areas G05B2219/36283Select, enter machining, cutting conditions, material file, tool file G05B2219/36284Use of database for machining parameters, material, cutting method, tools G05B2219/36285Display symbol pattern for kind of machining performed G05B2219/36286Show shape of workpiece, point to coordinates to enter machining parameters G05B2219/36287Selection of speed as function of tool diameter G05B2219/36288Select machining method, parameters as function of dimensions of workpiece G05B2219/36289Cutting, machining conditions by optimisation of time, cost, accuracy G05B2219/36291Cutting, machining conditions by empirical equation, like tool life G05B2219/36292Method to drill, machine based on ratio bore depth, diameter, select tools G05B2219/36293Set feed and speed for specified tool, workpiece as function of ratio cutting force, speed G05B2219/36294Stored coefficients, standard cutting conditions, calculate for entered material G05B2219/36295Select optimum process for manufacturing articles with longer life G05B2219/36296Order, select, determine, change machining sequence, order G05B2219/36297Machining plan, indicate order of machining as function of presence of operator G05B2219/36298Enter, change order of different programs to be executed G05B2219/36299Generate sequences of operations starting from finished product, end with raw G05B2219/36301Optimisation of sequence of operations G05B2219/36302Determine several machining processes and order as function of available tools G05B2219/36303Determine several machining processes and order as function of number of mountable tools G05B2219/36304Divide into several machining processes, divide each also in several sub processes G05B2219/36305Table, correlation tool type and machining category, process G05B2219/36306Table correlation different turrets, slides and possible simultaneous operations G05B2219/36307Table with workpiece features and corresponding machining parameters, methods G05B2219/36308Table for cutting conditions G05B2219/36309Program has different modules, each with own load program G05B2219/36311Machining mode selection, pocket, grooving, raster, area, profile G05B2219/36312Enter shape with cursor, joystick directions up, down, left , right, slash G05B2219/36313If elements cannot be combined, show error G05B2219/36314Superpose and combine shapes G05B2219/36315Library for shapes of tool holders, fixtures, chucks G05B2219/36316Define profile from elements, show only selectable elements G05B2219/36317Input symbol for element, search in library and display G05B2219/36318Enter start, begin and stop, end point G05B2219/36319Simplify display, calculation of shapes by deleting holes, grooves G05B2219/36321Program only shape, add approach path and machining conditions automatically G05B2219/36322Program shape interactively and tool change position manually by teaching G05B2219/36323Shape is alphabetical character G05B2219/36324Scan drawing, sketch of part, enter on screen coordinates, lines, circles G05B2219/36325Enter shape with mouse, tablet, enter on screen coordinates, lines, circles G05B2219/36326Define blank, part, area G05B2219/36327Define shape of part G05B2219/36328Display closed shape G05B2219/36329Display path on cylinder by developing cylinder into a plane G05B2219/36331Display block with cursor or highlight actual contour element G05B2219/36332Display different faces of work in different colour G05B2219/36333Selection from standard forms, shapes, partprograms, enter value for variable G05B2219/36334Select a shape, select a point or line and enter data G05B2219/36335Select and show already defined lines, circles to define from them new element G05B2219/36336Select a shape and use it to create a similar shape G05B2219/36337Select similar shape and derive motion defining sentences from original shape G05B2219/36338Create program for parallel, simultaneous operated slides, timing G05B2219/36339Time necessary for one slide equals time for second slide G05B2219/36341Prepare program to control multiple slides at the same time G05B2219/36342Tool path processing, sequence to cut paths G05B2219/36343Select machining method as function of selected tool G05B2219/36344Display different tools in different colours G05B2219/36345Prepare program for minimal idle strokes with multitool turret G05B2219/36346Display feed quantity and cutting speed as function of material to help user G05B2219/36347Select tool if tool life duration is sufficient for operation G05B2219/36348Enter, edit tool, cutter data G05B2219/36349Compensation part program with form of tool, in memory G05B2219/36351Display tool shapes to select tool and enter tool dimensions G05B2219/36352Select tool as function of part shape, number of grooves and groove width G05B2219/36353Display different offset surfaces in different colours to select right tool G05B2219/36354Select from table with machining type and corresponding tools G05B2219/36355Select tool with fuzzy logic G05B2219/36356Select tool as function of collision avoidance G05B2219/36357Tool line up, select right order of tool, optimal tool order loading, tool file G05B2219/36358Use of cd rom with catalog of tools G05B2219/36359As function of tool location G05B2219/36361Tool change time, program for optimal tool change time G05B2219/36362Tool change time as function of location in tool magazine, index G05B2219/36363Tool change time as function of cutter trajectory, spindle and slide times G05B2219/36364Tool change time as function of tool switch time, to replace tool with another G05B2219/36365Program so that minimal tool changes are needed G05B2219/36366Data, read in, distribution G05B2219/36367A tape reader for each axis G05B2219/36368Tape reader G05B2219/36369Measuring object, spectacle glass, to derive position data G05B2219/36371Barcode reader G05B2219/36372Light, magnetic pen G05B2219/36373Common tape reader for two controllers G05B2219/36374Dual, multiple tape reader G05B2219/36375Combination of two devices, floppy disk and tape reader G05B2219/36376Read out of memory synchronized with machine driven axis G05B2219/36377Read of several jobs G05B2219/36378Either from tape or other source, using same electronics G05B2219/36379Read in G05B2219/36381Timing, synchronization, start of reader G05B2219/36382Speed of read in of data as function of available power for driving servo, safety G05B2219/36383Manual input combined with input from computer or tape G05B2219/36384Load machining program and workpiece delivery program together G05B2219/36385Transfer, load data from rom, bubble memory into ram G05B2219/36386Bootstrap loader G05B2219/36387Interface between reader and nc G05B2219/36388Simulate reader to input data direct to nc, behind tape reader BTR G05B2219/36389Switch between input from internal manual thumbwheel and external input G05B2219/36391Keep subsystem stopped while load of program G05B2219/36392Rewrite date if power loss, check flag area, marked at start, end of writing G05B2219/36393Variable read in speed, from max to zero, controls execution speed of program G05B2219/36394Read in data from connected pc instead of nc control panel G05B2219/36395Load local computer program from host, data transfer ram to rom , BTR G05B2219/36396Load also function code needed to execute part program, compact controller G05B2219/36397Read reference data only after certain delay, to be sure data will not change G05B2219/36398Read of handwritten text G05B2219/36399On excess error or on release joystick stop movement, dead man, shut off motors G05B2219/36401Record play back, teach position and record it then play back G05B2219/36402Use rope, wire, cable, chain to record position and for playback G05B2219/36403Incremental detector of position deviation attached to tool for correction G05B2219/36404Adapt teached position as function of deviation 3-D, 2-D position workpiece G05B2219/36405Adjust path by detecting path, line with a photosensor G05B2219/36406Use a spring or gas pressure to keep tool on desired path G05B2219/36407Follow path with probe, store deviations for correction during normal operation G05B2219/36408During machining, store begin and end of region not finished during first pass G05B2219/36409Geometric adaptation by sensing force on surface of workpiece, object G05B2219/36411By coarse model of robot to modify commands, learned by feedforward controller G05B2219/36412Fine, autonomous movement of end effector by using camera G05B2219/36413Adapt playback as function of hardness material, time comparison to reach start point G05B2219/36414Compare image detected path with stored reference, difference corrects position G05B2219/36415Adjust path and attitude tool by detecting path, line with a photosensor, laser G05B2219/36416Adapt teached position as function of deviation 3-D, 2-D position of end effector, tool G05B2219/36417Programmed coarse position, fine position by alignment, follow line, path adaptive G05B2219/36418Modify trajectory by operator gesture, gesture force sensed by end effector G05B2219/36419Compare modified, corrected path with stored reference, difference too large alarm G05B2219/36421Assist in correction of position to form a circle or line G05B2219/36422During teaching shut off, disable motor to move arm easy G05B2219/36423During teaching release brake or decouple clutch from motor G05B2219/36424Balance mechanically arm to be moved G05B2219/36425Move manually, touch surface, record position G05B2219/36426Pilot lamp on end effector to guide operator G05B2219/36427Jog feed to a command position, if close enough robot takes over positioning G05B2219/36428During teaching set torque instruction for motor to zero G05B2219/36429Power assisted positioning G05B2219/36431Tv camera in place of tool, on display operator marks points, crosshair G05B2219/36432By putting some constraints on some DOF, move within limited volumes, areas, planes, limits motion in x, y or z planes, virtual reality constraints G05B2219/36433Position assisted teaching G05B2219/36434During teaching direct control signal to power servo for quick response G05B2219/36435Electromyographical, myoelectric control signal G05B2219/36436Arm follows movement of handheld device, camera detects, analyses motion G05B2219/36437Follow coarse programmed surface, detect contact feeler or no force, record point G05B2219/36438Manually selection of points on surface to select area to scan automatically G05B2219/36439Guide arm in path by slaving arm to projected path, beam riding G05B2219/36441Follow contour, line with sensor and record points G05B2219/36442Automatically teaching, teach by showing G05B2219/36443Auto follow coarse contour, operator can correct contour before recording G05B2219/36444Contour, teach contour of sawblade G05B2219/36445Mode selection between large displacement and precision work G05B2219/36446Keep tool stationary, move workpiece G05B2219/36447Project light on path to be followed, keep also distance constant G05B2219/36448Teaching, consider workpoint on workpiece temporarily as tip of end effector G05B2219/36449During teaching use standard subroutines, assemble them to macro sequences G05B2219/36451Handheld toollike probe, work instructor, lightweigted, connected to recorder G05B2219/36452Touch points with handheld probe, camera detects position and orientation probe G05B2219/36453Handheld tool like probe G05B2219/36454Master slave, director agent, operator replication G05B2219/36455Sensor, tactile feedback, operator feels forces of tool on workpiece G05B2219/36456Learning tool holding dynamics G05B2219/36457During teaching, force set point is automatically adapted to circumstances G05B2219/36458Teach only some points, for playback interpolation between points G05B2219/36459offline program for plural robots, send data to corresponding robots G05B2219/36461Teach for each next similar fixture, piece only some reference points G05B2219/36462Minimize teach time, compress data, many points in curve, few in line G05B2219/36463Manual switch to drive motor to wanted position, store, memorize position G05B2219/36464Position, teach, store extreme, full open, closed positions G05B2219/36465Teach and store also intermediate, between full open and closed positions, areas G05B2219/36466Teach motion profile in both directions, between full closed and open position G05B2219/36467Teach and store time needed from open to closed and closed to open position G05B2219/36468Teach and store intermediate stop position in moving route to avoid collision G05B2219/36469Separate axis movement with higher acceleration replaces simultaneous movement G05B2219/36471Recording speed different from playback speed G05B2219/36472During teaching low servo power, during playback high servo power G05B2219/36473Prohibit teaching if force, speed, acceleration of end effector is out of safe range G05B2219/36474Prohibit normal manipulator control during teaching G05B2219/36475When operator near robot, local pendant is enabled otherwise select local remote G05B2219/36476Record points if sufficient difference with previous position exists G05B2219/36477Timing record position according to pulses coding wheel G05B2219/36478Record on predetermined time, read in position, measured data G05B2219/36479Record position on trigger of touch probe G05B2219/36481Record at predetermined distances, read in position, measured data G05B2219/36482Recording of position and of command instructions G05B2219/36483Recording mechanical properties, tonal quality by force detection G05B2219/36484Each teached point has a correlated amount of shift data, independently modified G05B2219/36485Memorize open and closed state, motion parameters at each start up G05B2219/36486Memorize workpiece deviations as function of angle, compensate, extra feed G05B2219/36487Record position, motion and sound G05B2219/36488Record motion and emotion, mimics G05B2219/36489Position and force G05B2219/36491Contour of workpiece where other workpiece is to be installed G05B2219/36492Record position and orientation, posture of probe, tool G05B2219/36493Position of stillstand if no reverse and acceleration only, data compression G05B2219/36494Record position and inclination of tool, wrist G05B2219/36495Recording position and other parameters, current, tool diameter, voltage G05B2219/36496Memorize open, closed state of hand and corresponding motion parameters such as open, close and move, no move G05B2219/36497Select program, main and secondary program G05B2219/36498Main and secondary program for repeating same operations G05B2219/36499Part program, workpiece, geometry and environment , machining dependant, combine G05B2219/36501For each contour a tape, a program G05B2219/36502Ram for variable servo data, rom for fixed servo routine G05B2219/36503Adapt program to real coordinates, software orientation G05B2219/36504Adapt program to real coordinates, shape, dimension of tool, offset path G05B2219/36505Compare stored conditions to actual, adapt program G05B2219/36506Store in Rom and Ram G05B2219/36507Select program or execute command, control instructions as function of axis position G05B2219/36508Each pallet, workpiece, tool holder, selects corresponding tape reader, program G05B2219/36509Select as function of shape, dimension of workpiece G05B2219/36511Select by a detector G05B2219/36512Select by a selector, dip switch G05B2219/36513Select out of a plurality of programs, patterns G05B2219/36514Select by force, height or other detection G05B2219/36515As function of material or pattern direction, nerves of wood for optimal cutting G05B2219/36516Select acceleration deceleration profile as function of kind of machine G05B2219/36517Selecting nc program points to mated manipulator, robot program G05B2219/36518Selection of calibration program as function of parameter to be calibrated G05B2219/36519After sporadic change of program, return to program in use before G05B2219/36521Select by combination of detected force, acceleration, speed, work rate G05B2219/36522Select program using a management, workpiece number G05B2219/36523Select with code on workpiece, fixture, clamp, object G05B2219/36524Selection of Rom and ram G05B2219/36525On bad data block, reverse motion, correct and execute block G05B2219/36526Regenerate, hold reference previous block for bad actual value, block G05B2219/36527Separate input for machine data from operator and for program from programmer G05B2219/36528Interlock, inhibit nc control while tranferring data from host G05B2219/36529Warn, alert, notify operator to confirm a preset override value, command G05B2219/36531Inhibit, ignore or postpone new command if previous is still in execution G05B2219/36532Detect overflow of buffer G05B2219/36533Writing critical contour data as a whole, inhibit read out during writing G05B2219/36534Manual input overrides automatic control G05B2219/36535Check if instruction is executable, if not message to operator G05B2219/36536Inhibit, forbid, prevent execution of program if no tool or worpiece data G05B2219/36537On error acoustic signal G05B2219/36538Different tunes, melodies, voice patterns for different error indication G05B2219/36539Different colours for program and machine error, failure display G05B2219/36541Operation command stored in register, on completion also in other register G05B2219/36542Cryptography, encrypt, access, authorize with key, code, password G05B2219/36543Input a standard value automatically on power up or after power loss G05B2219/36544Inhibiting manual control while under automatic, other control vice versa G05B2219/36545Safety, save data at power loss G05B2219/36546Memory protection, protected fields G05B2219/36547Use binary code to avoid program tampering G05B2219/36548Save data if trigger signal received G05B2219/36549Regenerate faulty program block from previous and next block G05B2219/36551Inhibiting control after detecting data error G05B2219/36552Inhibiting simultaneous input from local and remote keyboard G05B2219/36553Track, channel on tape for each direction of movement G05B2219/36554Copy modified, corrected program to another tape, keep original intact G05B2219/36555Two tapes, programs one for position data, one for commands G05B2219/36556Compare, check orignal tape with converted, copy tape G05B2219/36557Copy entered program in memory to tape G05B2219/36558Forward and backward reading of tape, reverse execution program G05B2219/36559Copy one tape to another, transfer program from tape to tape, back-up G05B2219/36561Tape, band G05B2219/36562One tape, copy feeler controls several machines G05B2219/36563Two tapes G05B2219/36564Position of hole in tape corresponds with position of hole on workpiece G05B2219/36565Cartesian and polar data mixed G05B2219/36566Mix polar data with cartesian data G05B2219/36567On tape also commands for equipment attached to machine G05B2219/36568Control data is sequence of position, axis indication, time delay for speed G05B2219/36569Enter, punch only different, changed data, same not repeated in next block G05B2219/36571Coarse and fine dimensions G05B2219/36572Macro data or coarse dimension on tape G05B2219/36573X, y, z and tooloffset values or direction values G05B2219/36574Absolute x or delta x values G05B2219/36575On tape reference and command signals G05B2219/36576Relative phase of signals is variable G05B2219/36577Signals have a position dependant frequency G05B2219/36578Tracks for x, two for delta x, one for sign, three for y G05B2219/36579Only true dimension is recorded, no tool offset G05B2219/36581X, Y, Vx, Vy G05B2219/36582Special order G05B2219/36583Each punched hole is one pulse, increment G05B2219/36584X, Y, Z and tool offset or corrections G05B2219/36585Speed and acceleration, rate of change of speed G05B2219/36586Word address format G05B2219/36587Binary format G05B2219/36588Endless loop G05B2219/36589Making control tape G05B2219/36591Tape moves synchronized with machine driven axis G05B2219/36592Each track controls an axis G05B2219/37Measurements G05B2219/37001Measuring problems G05B2219/37002Absence, detect absence, presence or correct position of workpiece G05B2219/37003Detect if no workpiece in holder G05B2219/37004Detect absence of tool G05B2219/37005Absence of tool accessories, material, like nails, staples, glue G05B2219/37006Measuring bars G05B2219/37007Join bars or cilinders binary G05B2219/37008Calibration of measuring system, probe, sensor G05B2219/37009Calibration of vision system, camera, adapt light level G05B2219/37011Set absolute marks on disk as exact position or address to position memory G05B2219/37012Adjust angular position of transducer G05B2219/37013Faulty number of total scale increments corrected evenly over scale G05B2219/37014Use of calibration bar, bar with cams G05B2219/37015Adaptive online camera, vision calibration G05B2219/37016Calibrate dc offset, measure offset and maintain fixed level G05B2219/37017Calibration of vision system, set correct attidude of sensor to workpiece G05B2219/37018Make measuring scale machine tool G05B2219/37019Position detection integrated in actuator, lvdt integrated linear actuator G05B2219/37021Robot controls position of touch probe G05B2219/37022Detector, measuring device incorporated within workpiece holder G05B2219/37023Step motor used as measuring device and as drive motor G05B2219/37024Measure single value, parameter with two detectors G05B2219/37025Retract, swing out of the way, measuring device during normal machining for protection G05B2219/37026Adjust sensor radially G05B2219/37027Sensor integrated with tool or machine G05B2219/37028Detail, extended range, discrimination, switch from one range to other G05B2219/37029Power supply position detector in common with drive motor G05B2219/37031Lvdt for x and y in a plane, center lines intersect at locating point G05B2219/37032Generate vibrations, ultrasound G05B2219/37033Energy saving by powering feedback device, potentiometer only during measuring G05B2219/37034Actuator coil is also used as measuring coil G05B2219/37035Sensor in air gap of drive, detect directly speed or position G05B2219/37036Position normally, stop, measure position tool with second independent sensor G05B2219/37037Remeasure workpiece regularly for deformation G05B2219/37038Protection cover over measuring device, probe, feeler opened when measuring G05B2219/37039Digitize position with flexible feeler, correction of position as function of flexion G05B2219/37041Digitize, electric wires form grid on surface G05B2219/37042Photographic, picture on film, photogrammetry G05B2219/37043Touch probe, store position of touch point on surface G05B2219/37044Ultrasound transmittors on surface, touch probe detects ultrasound, triangulation G05B2219/37045Probe detects electromagnetic fields from grid, antenna like digitizing tablet G05B2219/37046Use simultaneous several pairs of stereo cameras, synchronized G05B2219/37047After digitizing, edit graphically data G05B2219/37048Split beam, stripe projection on object, lines detected with cameras G05B2219/37049First a rasterscan, then align workpiece as function of height average, scan again G05B2219/37051First coarse measurement, around each point a fine measurement of surface G05B2219/37052Sense surface, mean value used as reference surface G05B2219/37053Optical triangulation G05B2219/37054Digitize every grid point of a raster G05B2219/37055Project stripes having a regular sine wave G05B2219/37056Mark point to be digitized graphically on screen G05B2219/37057Several feelers, probes touch model in rasterpoints G05B2219/37058Digitize not only position but also colour G05B2219/37059Probe connected to three pair of wires of which the length is measured G05B2219/37061Use matrix of optical sensors to detect form, edges of object G05B2219/37062Regulated scanning, the head deflection is controlled by a regulation circuit G05B2219/37063Controlled scanning, the head is moved along a given path G05B2219/37064After digitizing, reconstruct surface by interpolating the initial mesh points G05B2219/37065Map of stiffness, compliance of object G05B2219/37066Image from object together with references on background G05B2219/37067Calibrate work surface, reference markings on object, work surface G05B2219/37068Setting reference coordinate frame G05B2219/37069Calibrate probe, imitated tool, repeated measurements for different orientations G05B2219/37071Measurement program is created, executed on object data , no real object, no CMM is present G05B2219/37072Surface covered with grid of electric wires, of coloured tape on object G05B2219/37073Workpiece surface covered with shielding coating, against disturbing fields G05B2219/37074Projection device, monitor, track tool, workpiece form, process on display G05B2219/37075Print out of document measured results or record on tape G05B2219/37076Display load on tool, motor graphically on screen G05B2219/37077Relative movement G05B2219/37078Display machining, processing parameters with curves, pictograms G05B2219/37079Display probing result on drawing taken from cad data G05B2219/37081Display machining parameters G05B2219/37082Indicate, point region on path, locus, display path and machining parameters G05B2219/37083Switch display from normal mode to inspection mode, to monitor conditions G05B2219/37084Display tool parameters G05B2219/37085Display in real time of state variables of control system G05B2219/37086Display real, measured machining load G05B2219/37087Cutting forces G05B2219/37088Indicate service condition, status G05B2219/37089Speed error G05B2219/37091Motion and force G05B2219/37092Display position actual and or target G05B2219/37093Display speed G05B2219/37094Hall sensor G05B2219/37095Digital handheld device with data interface G05B2219/37096Invar scale, low temperature coefficient G05B2219/37097Marker on workpiece to detect reference position G05B2219/37098X y scale plate instead of two ruler scale, two dimensional scale G05B2219/37099One detector for coarse and fine target location, variable resolution G05B2219/37101Vector gauge, telescopic ballbar G05B2219/37102Single detector for whole range, both x and y axis G05B2219/37103Limit, proximity switch G05B2219/37104Absolute encoder G05B2219/37105Soft limit, store limits in counters, use content of counters as limit G05B2219/37106Inductive, differential transformer, pins G05B2219/37107Acupin G05B2219/37108Rasters, grid on xy-plane G05B2219/37109Photoelectric scanned raster, rule and photocell, microscope G05B2219/37111Rule and photocell, microscope G05B2219/37112Several scales with one device G05B2219/37113Psd position sensitive detector, light spot on surface gives x, y position G05B2219/37114Precision screw G05B2219/37115Photogrammetric position detection G05B2219/37116Shape sensor leads tool, in front of tool G05B2219/37117Optical sensor, delivers analog signal as function of displacement G05B2219/37118Inductive, coil moves over conical, tapered core G05B2219/37119Atomic force probe G05B2219/37121Linear transducer G05B2219/37122Signal analyser G05B2219/37123Extensible ball bar with potentiometer, lvdt G05B2219/37124Magnetic sensor G05B2219/37125Photosensor, as contactless analog position sensor, signal as function of position G05B2219/37126Wire, tape around cylinder measures displacement, string encoder G05B2219/37127Spm scanning probe microscopy, stm scanning tunneling microscopy G05B2219/37128Tool itself emits vibrations to be detected to build an image of surface G05B2219/37129Mark, engrave workpiece at specific surface point for measurement, calibration G05B2219/37131Moire pattern, diffraction grating, fringe G05B2219/37132Polyhedral prism G05B2219/37133Linear, rotary variable differential transformer, lvdt, rvdt G05B2219/37134Gyroscope G05B2219/37135Two counters receiving pulses from two encoders, one for speed, one for position G05B2219/37136Control resolution of encoder G05B2219/37137Encoder combined with barcode label, reader G05B2219/37138Encoder and gear and absolute coder, give together absolute position of rotation G05B2219/37139Sampling output of encoder at precisely defined intervals G05B2219/37141Programmable divider for counter as buffer for microprocessor, read on interrupt G05B2219/37142Center position between two pulses, in the middle of a bit G05B2219/37143Divide feedback pulses to make feedback independent from resolution encoder G05B2219/37144Delay marker to synchronize motions G05B2219/37145Multiturn fine counter counts total pulses, index counter counts turns G05B2219/37146Second counter reset to zero on marker, to detect counting errors G05B2219/37147Sampling rate low during power loss G05B2219/37148Switch between rise, fall of pulses of one phase and of both phases, coarse fine G05B2219/37149Multiplexer to send encoder and rotor pole position to same output lines G05B2219/37151Handling encoder signal, compensation for light variation, stray light G05B2219/37152Combination 00-01-10-11, previous, actual pulses, or two series of pulses, and rom G05B2219/37153Encoder delivers only one channel of pulses, using only one detector G05B2219/37154Encoder and absolute position counter G05B2219/37155Encoder and delta position counter G05B2219/37156Pulse derived from belt driving drum G05B2219/37157Pulses derived from brake disk having north and south poles G05B2219/37158Pulse derived from perforated belt along track G05B2219/37159Source of pulse, pulse derived from gear, plate teeth G05B2219/37161Motor rotor has a normal magnetised ring and a second ring, magnetic decoder G05B2219/37162Marker, reflector mounted on chuck, workpiece holder G05B2219/37163Marker derived from phase of motor G05B2219/37164Pulse derived from encoder built into ball bearing G05B2219/37165Derive pulse from commution position, build into brushless motor G05B2219/37166Rotating magnets shunt motor over resistance, cause current variations G05B2219/37167Count number of periods of voltage supply G05B2219/37168Inductive sensor senses fluctuations, spikes in motor current G05B2219/37169Derive incremental pulse from motor current deviation G05B2219/37171Commutation brushes, sensors deliver increment G05B2219/37172Encoder with hall effect and reed relays, and decoder gives absolute position G05B2219/37173Encapsulate electronics of encoder in resin, electronics and encoder integrated G05B2219/37174Encoder with infrared G05B2219/37175Normal encoder, disk for pulses, incremental G05B2219/37176Disk emits phase shifted pulses, special convertor G05B2219/37177Linear encoder G05B2219/37178Magnetic marks on screw G05B2219/37179Coarse encoder combined with fine grid ccd detector G05B2219/37181Encoder delivers sinusoidal signals G05B2219/37182Slit plate encoder G05B2219/37183Marker or index or coded information as well as position pulses G05B2219/37184Hall generator cooperates with magnetic ring, gives signal with dc offset G05B2219/37185Magnetic ring and sensor G05B2219/37186Camera reads large number of marks, derive frequency of dark-light G05B2219/37187Disk with magnetic, inductive sensors G05B2219/37188Encoder pulses reset high resolution clock, get position from counting clock pulses G05B2219/37189Camera with image processing emulates encoder output G05B2219/37191General problems for standing waves, torque, surface inspection G05B2219/37192Problems G05B2219/37193Multicoordinate measuring system, machine, cmm G05B2219/37194Probe work, calculate shape independent of position, orientation, best fit G05B2219/37195Measuring dimension independent from accuracy of nc, machine tool G05B2219/37196Measuring station, flexible, integrated cmm G05B2219/37197From measured data derive form, roundness, orientation, parallel, straightness G05B2219/37198Machine as measuring station, use tool or probe, in process incycle G05B2219/37199Hole location G05B2219/37201Measuring several points at the same time G05B2219/37202Footprint, probe piece on machine, then on cmm to avoid errors of machine G05B2219/37203Compensate probed values as function of reference plane of fixture, clamp G05B2219/37204Move synchronously associated sensor elements independently at both sides G05B2219/37205Compare measured, vision data with computer model, cad data G05B2219/37206Inspection of surface G05B2219/37207Verify, probe, workpiece G05B2219/37208Vision, visual inspection of workpiece G05B2219/37209Estimate life of gear, drive G05B2219/37211Measure temperature, compensate cmm program for temperature G05B2219/37212Visual inspection of workpiece and tool G05B2219/37213Inhibit measuring if one of the joints is near endstop G05B2219/37214Detect failed machine component, machine performance degradation G05B2219/37215Inspect application of solder paste, glue to workpiece G05B2219/37216Inpect component placement G05B2219/37217Inspect solder joint, machined part, workpiece, welding result G05B2219/37218Compensate for offset due to probe diameter, detect exact contact point G05B2219/37219Predict next probed point from previous probed points G05B2219/37221Probe fixture to know datum points G05B2219/37222Probe workpiece for correct setup G05B2219/37223Identify minimum number of appropriate measuring points G05B2219/37224Inspect wafer G05B2219/37225Tool holder, measure forces in chuck, tool holder G05B2219/37226Monitor condition of spindle, tool holder, transmit to nc controller G05B2219/37227Probing tool for its geometry G05B2219/37228Tool inspection, condition, dull tool G05B2219/37229Test quality tool by measuring time needed for machining G05B2219/37231Tool used as touch probe, sensor G05B2219/37232Wear, breakage detection derived from tailstock, headstock or rest G05B2219/37233Breakage, wear of rotating tool with multident saw, mill, drill G05B2219/37234Monitor tool before, after and during machining G05B2219/37235Detect bad tool by relative movement of tool with respect to tool holder G05B2219/37236Tool serves, acts also as measuring device G05B2219/37237Tool collision, interference G05B2219/37238Missing tool G05B2219/37239Plastic deformation of tool G05B2219/37241Displacement of tool, miss inserted G05B2219/37242Tool signature, compare pattern with detected signal G05B2219/37243Tool breakage by comparing tool image, length before and after machining G05B2219/37244Detect tool breakage already in tool magazine G05B2219/37245Breakage tool, failure G05B2219/37246Compare estimated torques of different axis with reference for breakage G05B2219/37247By electrical contact, disappears when breakage G05B2219/37248By monitoring changes in capacitive circuit G05B2219/37249Correction coefficient of life time as function of kind of machining G05B2219/37251Selfcorrecting, counter for tool life adapts correction G05B2219/37252Life of tool, service life, decay, wear estimation G05B2219/37253Fail estimation as function of lapsed time of use G05B2219/37254Estimate wear of subsystem of machine with measures from other subsystems G05B2219/37255Using fuzzy logic techniques G05B2219/37256Wear, tool wear G05B2219/37257Crater wear of tool G05B2219/37258Calculate wear from workpiece and tool material, machining operations G05B2219/37259Resolver for coarse, photo cell for fine position on grid crossing G05B2219/37261Encoder and potentiometer to detect fault measurement G05B2219/37262Mixing pins and fine positioning G05B2219/37263Absolute and incremental encoder, detector combined G05B2219/37264Cam for absolute positions, encoder for incremental position G05B2219/37265Rotary potentiometer and incremental counter for each maximum G05B2219/37266Infrared G05B2219/37267Thermocouple G05B2219/37268Tool workpiece junction, thermoelectric interface G05B2219/37269Ultrasonic, ultrasound, sonar G05B2219/37271Using standing waves G05B2219/37272Capacitive G05B2219/37273Wheatstone bridge G05B2219/37274Strain gauge G05B2219/37275Laser , interferometer G05B2219/37276Position changes frequency G05B2219/37277Inductive proximity sensor G05B2219/37278Optical waveguide, fiberoptic sensor G05B2219/37279Fiber optic proximity sensor G05B2219/37281Laser range finder G05B2219/37282Current transformator G05B2219/37283Photoelectric sensor G05B2219/37284Capacitive 3-D proximity sensor G05B2219/37285Load, current taken by motor G05B2219/37286Photoelectric sensor with reflection, emits and receives modulated light G05B2219/37287Fiber optic interferometer G05B2219/37288Tracking lasers follow object, reflection gives 3-D position G05B2219/37289Inductive G05B2219/37291Electro acoustic G05B2219/37292Eddy current G05B2219/37293Magnetostrictive effect on ferrous rod, ultrasonic wave, time delay measured G05B2219/37294Coarse digitized position combined with fine digitized analog position signal G05B2219/37295Measure workpiece while machining other workpiece G05B2219/37296Electronic graduation, scale expansion, interpolation G05B2219/37297Two measurements, on driving motor and on slide or on both sides of motor G05B2219/37298Two measurements, position of slide and position of tool G05B2219/37299Measure same parameter from three different space directions G05B2219/37301Two measurements, speed with tachometer and speed with encoder G05B2219/37302Measure tool length, workpiece configuration without stopping movement G05B2219/37303Two measurements, speed of motor and speed of load G05B2219/37304Combined position measurement, encoder and separate laser, two different sensors G05B2219/37305Drive step motor with pulses, at stop with dc current to avoid emi when measuring G05B2219/37306Two sensors and two scales for same measurement of relative movement between x y G05B2219/37307Detector in line, in plane of tool to avoid parallax G05B2219/37308Measure workpiece relieved from stress, redrawn, disengaged tool G05B2219/37309Selecting a desired sensor structure G05B2219/37311Derive speed from current, use of lookup table G05B2219/37312Derive speed from motor current G05B2219/37313Derive speed from position G05B2219/37314Derive position from speed G05B2219/37315High speed and low speed signals are derived in a different way G05B2219/37316Derive speed from two phased position signals, with high range and resolution G05B2219/37317Derive position from current, voltage, back electromotive force bemf G05B2219/37318Derive speed from back electromotive force, bemf G05B2219/37319Derive acceleration, force, torque from current G05B2219/37321Derive acceleration from net driving force G05B2219/37322Derive position from frequency power supply G05B2219/37323Derive acceleration from position or speed G05B2219/37324Derive position, speed from acceleration G05B2219/37325Multisensor integration, fusion, redundant G05B2219/37326Automatic configuration of multisensor, adaptive, active sensing G05B2219/37327Select lookup table corresponding to sensor G05B2219/37328Decentralised data fusion G05B2219/37329Far away and near by sensor groups G05B2219/37331Sensor fusion using extended kalman filter G05B2219/37332Detect power of noise source using sound and visual sensors G05B2219/37333Position of control valve and position of controlled actuator G05B2219/37334Diameter of tool with teeth G05B2219/37335Diameter tool G05B2219/37336Cutting, machining time G05B2219/37337Noise, acoustic emission, sound G05B2219/37338Magnetic or electric property of tool to control feed G05B2219/37339Eccentricity, cylindricity, circularity G05B2219/37341Sectional distortion of machining face of workpiece G05B2219/37342Overload of motor, tool G05B2219/37343Load, vectorial components of load G05B2219/37344Torque, thrust, twist, machining force measurement G05B2219/37345Dimension of workpiece, diameter G05B2219/37346Cutting, chip quality G05B2219/37347Speed, velocity G05B2219/37348Power, wattmeter voltage times current G05B2219/37349Unbalance of tool or tool holder G05B2219/37351Detect vibration, ultrasound G05B2219/37352Frequence G05B2219/37353Amplitude G05B2219/37354Powerfactor, phase between voltage and current G05B2219/37355Cutting, milling, machining force G05B2219/37356Torsion, twist G05B2219/37357Force, pressure, weight or deflection G05B2219/37358Depth of cut G05B2219/37359Contour, to sense corners, edges of surface G05B2219/37361acoustic feedback, for speed, if speed very low hearing is better than seeing G05B2219/37362Hardness G05B2219/37363Texture G05B2219/37364Thermal conductivity G05B2219/37365Surface shape, gradient G05B2219/37366Colour, surface colour G05B2219/37367Grinding rate G05B2219/37368Displacement perpendicular to probe movement G05B2219/37369Measure tool lenght and diameter together with single sensor G05B2219/37371Flow G05B2219/37372Position and speed G05B2219/37373Friction G05B2219/37374Deflection G05B2219/37375Climate, temperature and humidity G05B2219/37376Inclination, gradient of machine base G05B2219/37377Roundness of workpiece G05B2219/37378Balance of workpiece from vibration sensor and angle sensor G05B2219/37379Profile, diameter along workpiece G05B2219/37381Force in steady rest G05B2219/37382Voltage over or short circuit between tool and workpiece G05B2219/37383Tool length G05B2219/37384Change of actuator current G05B2219/37385Peripheral speed G05B2219/37386Lateral movement of tool G05B2219/37387Nanometer position G05B2219/37388Acceleration or deceleration, inertial measurement G05B2219/37389Magnetic flux G05B2219/37391Null, initial load, no load torque detection or other parameter at no load G05B2219/37392Motion G05B2219/37393acoustic feedback varies as function of positional error G05B2219/37394Measuring diameter of workpieces with longitudinal grooves G05B2219/37395Detection sparks during machining G05B2219/37396Tactile feedback, operator feels reaction, force reflection G05B2219/37397Measuring gap between tool and workpiece G05B2219/37398Thickness G05B2219/37399Pressure G05B2219/37401Differential pressure G05B2219/37402Flatness, roughness of surface G05B2219/37403Bending, springback angle G05B2219/37404Orientation of workpiece or tool, surface sensor G05B2219/37405Contact detection between workpiece and tool, probe, feeler G05B2219/37406Detect position of detector contact point relative to reference on tool slide G05B2219/37407Detect position of detector contact point relative to reference on tool G05B2219/37408Combination of contact and contactless detection to avoid tool contact with workpiece G05B2219/37409Measure different pressure of fluid flow on contacting surface G05B2219/37411Measure contact from force and velocity detection G05B2219/37412acoustical detection of contact G05B2219/37413By conductivity, short circuit between tool, probe and metallic surface G05B2219/37414By microswitch G05B2219/37415By cutting light beam G05B2219/37416By measuring phase shift between voltage and current of feedmotor G05B2219/37417By linear varying electrical signal G05B2219/37418By capacitive means G05B2219/37419Measuring rotation of non driven axis after being touched by driven axis G05B2219/37421Measure braking, slower rotation of driven axis, tool upon contact G05B2219/37422Distance and attitude detector G05B2219/37423Distance, gap between tool and surface sensor G05B2219/37424Calculate distance from known inner diameter of coil, bobbin and detected image G05B2219/37425Distance, range G05B2219/37426Detected with infrared sensor G05B2219/37427Detected with thermocouple G05B2219/37428Temperature of tool G05B2219/37429Temperature of motor G05B2219/37431Temperature G05B2219/37432Detected by accelerometer, piezo electric G05B2219/37433Detected by acoustic emission, microphone G05B2219/37434Measuring vibration of machine or workpiece or tool G05B2219/37435Vibration of machine G05B2219/37436Prediction of displacement, relative or absolute, motion G05B2219/37437Prediction of cutting force with flexible ball end milling model G05B2219/37438Prediction of machining error with flexible ball end milling model G05B2219/37439Computer assisted inspection, cad interactive with manual commands G05B2219/37441Use nc machining program, cad data for measuring, inspection G05B2219/37442Cad and cap for cmm G05B2219/37443Program cmm, coordinate measuring machine, use cad data G05B2219/37444Program cmm by using a stylus to detect points on a real workpiece G05B2219/37445Load teaching program from file server, enter teaching data at pendant G05B2219/37446Select measuring program together with control parameters G05B2219/37447Path planning using ann, for measurement task pattern, optimal path, dummy points G05B2219/37448Inspection process planner G05B2219/37449Inspection path planner G05B2219/37451Plan sensor placement for optimal inspection G05B2219/37452Generate nc program from metrology program, defining cmm probe path G05B2219/37453Simulate measuring program, graphical interactive generation of program G05B2219/37454Interactive, enter also tolerance G05B2219/37455After entering one measuring cycle, display in separate window instruction list G05B2219/37456Program proposes measuring points G05B2219/37457On machine, on workpiece G05B2219/37458Reference on machine, on workpiece and on tool G05B2219/37459Reference on workpiece, moving workpiece moves reference point G05B2219/37461Two rotary potentiometers, only one used, switch over to other on ambiguity G05B2219/37462Resistor, potentiometers G05B2219/37463Tapped resistors, not continuous G05B2219/37464Potentiometer with dual wiper G05B2219/37465Magnetic resistor G05B2219/37466Dual potentiometers with sin and cos output G05B2219/37467Continuous rotary potentiometer, no end G05B2219/37468Magnetic resistor sensors used as incremental encoder G05B2219/37469Two, more slides use resolver with common secondary, different primary frequency G05B2219/37471Resolver, synchro G05B2219/37472Synchro G05B2219/37473Resolver G05B2219/37474Resolver with several phases G05B2219/37475Resolver emits two redundant signals for safety G05B2219/37476Single resolver for speed, rotor and absolute position, IMAS G05B2219/37477Inductosyn G05B2219/37478Excitation of resolver by pulses instead of continuous wave, to save energy G05B2219/37479Excitation as function of speed of rotor, to get always stable detection waves G05B2219/37481Sampling rate for output of resolver as function of pulse rate of excitation G05B2219/37482Control amplitude of excitation of resolver G05B2219/37483Synchronize resolver reference frequency with clock of position control G05B2219/37484Differential resolver G05B2219/37485Phaseshift to reference counted G05B2219/37486Resolver emits pulses at zerocrossings, counter G05B2219/37487Counter combined with angle to digital convertor G05B2219/37488Angle to digital conversion G05B2219/37489Emit binary code at quadrant 00+01+10+11, count pulse for 11-to-000 and 00-to-11 G05B2219/37491Compensate non linearity of transducer by lookup table G05B2219/37492Store measured value in memory, to be used afterwards G05B2219/37493Use of different frequency band pass filters to separate different signals G05B2219/37494Intelligent sensor, data handling incorporated in sensor G05B2219/37495Correction of measured value as function of given, reference surface G05B2219/37496Root mean square G05B2219/37497Summing, integration of signal G05B2219/37498Variable amplification, gain for detected signal, select correct level range G05B2219/37499Determine cumulative deviation, difference G05B2219/37501Delay detected signal avoids transients, start up noise G05B2219/37502Input signal converted to logarithmic value G05B2219/37503Set integrator of acceleration detector to zero at velocity zero, avoids drift G05B2219/37504Differential use of sensors, to double precision G05B2219/37505Debounce contact signal from absolute reference position cam G05B2219/37506Correction of position error G05B2219/37507Spectral density analysis G05B2219/37508Cross correlation G05B2219/37509Intelligent sensor, incorporation temperature compensation G05B2219/37511Select and process only those detected signals needed for a certain purpose G05B2219/37512Correction for detection delay G05B2219/37513Convert time domain signal to frequency domain signal G05B2219/37514Detect normality, novelty in time series for online monitoring G05B2219/37515Error separation, eliminate eccentricity G05B2219/37516Combine results, opinions of multiple but same sensors, fuzzy logic G05B2219/37517Compensation of position for vibration of probe, calibration x-y lookup table G05B2219/37518Prediction, estimation of machining parameters from cutting data G05B2219/37519From machining parameters classify different fault cases G05B2219/37521Ann to map sensor signals to decision signals G05B2219/37522Determine validity of measured signals G05B2219/37523Reduce noise by combination of digital filter and estimator G05B2219/37524Sampling of forces and signal analysis are triggered as function of rotation angle G05B2219/37525Mean, average values, statistical derived values G05B2219/37526Determine time or position to take a measurement G05B2219/37527Frequency filtering and amplitude qualification G05B2219/37528Separate force signal into static and dynamic component G05B2219/37529Synchronous demodulation G05B2219/37531Superpose modulated measuring signal on servo command reference G05B2219/37532Synchronized data acquisition G05B2219/37533Real time processing of data acquisition, monitoring G05B2219/37534Frequency analysis G05B2219/37535Signal processing, ratio of signals against fluctuation of signals G05B2219/37536Rate of change, derivative G05B2219/37537Virtual sensor G05B2219/37538Window for signal, to detect signal at peak or zero values G05B2219/37539Read values twice, for correctness G05B2219/37541Switch off measuring, control system during test of encoder, resolver G05B2219/37542Curve fitting measured points, predict, extrapolate dimension in time G05B2219/37543Set, compare to maximum, peak, minimum value G05B2219/37544Compare detected signal to several references to derive several control actions G05B2219/37545References to be compared vary with evolution of measured signals, auto-calibrate G05B2219/37546Compare two positions measured with different methods, alarm if difference too high G05B2219/37547Ignore position information from detector during invalid intervals G05B2219/37548Avoid false motion condition, jitter, compare three recent values with possible values G05B2219/37549Limit switch protected against overload G05B2219/37551Select for each detector type corresponding signal processor G05B2219/37552Detect loss of correct excitation moment of step motor, correct excitation G05B2219/37553Two cameras one for coarse scanning, other for fine scanning G05B2219/37554Two camera, or tiltable camera to detect different surfaces of the object G05B2219/37555Camera detects orientation, position workpiece, points of workpiece G05B2219/37556Camera detects fictive contour of workpiece, by reflection G05B2219/37557Camera for coarse, acoustic array for fine vision G05B2219/37558Optical sensor, scanner G05B2219/37559Camera, vision of tool, compute tool center, detect tool wear G05B2219/37561Move camera until image corresponds to stored image of same workpiece G05B2219/37562Scan mark at certain angle, to avoid glare noise G05B2219/37563Ccd, tv camera G05B2219/37564Center of camera vision aligned with axis of drill G05B2219/37565Camera to detect precisely, crosshair, positions on workpiece by operator G05B2219/37566Explore autonomous, explore surface until useful measurement possible G05B2219/375673-D vision, stereo vision, with two cameras G05B2219/375683-D spectacles, glasses, left and right synchronised with images on screen G05B2219/37569Radiography in x and y, x-ray images G05B2219/37571Camera detecting reflected light from laser G05B2219/37572Camera, tv, vision G05B2219/37573In-cycle, insitu, during machining workpiece is measured continuously G05B2219/37574In-process, in cycle, machine part, measure part, machine same part G05B2219/37575Pre-process, measure workpiece before machining G05B2219/37576Post-process, measure worpiece after machining, use results for new or same G05B2219/37577In-process and post-process measurement combined G05B2219/37578Compare images of workpiece before and after machining G05B2219/37579Run away measured value by differentiating measured signal, rate of change G05B2219/37581Measuring errors G05B2219/37582Position, angle of workpiece surface G05B2219/37583Detect separation, cutting, penetration, piercing, break through material G05B2219/37584Deformation of machined material G05B2219/37585Start, begin and end, halt, stop of machining G05B2219/37586Detect, discriminate cutting or non cutting machining state G05B2219/37587Count number of machining cycles, frequency use of tool G05B2219/37588Detect swarf, building up of swarf G05B2219/37589Measure drift of servo during positioning, not disturbing actual position G05B2219/37591Plant characteristics G05B2219/37592Detect machine, workpiece noise by operator with headphone, directional G05B2219/37593Measure correct setting of workpiece G05B2219/37594Detect discharge state between electrode and workpiece G05B2219/37595Detect if drill bit is in peck cycle G05B2219/37596Surface layer to be machined away, lowest point, minimum material to be cut G05B2219/37597Spectrum analyser G05B2219/37598Chip length G05B2219/37599Presence of metal G05B2219/37601Count number of times tool is overloaded, derived from mean and limit G05B2219/37602Material removal rate G05B2219/37603System time constant G05B2219/37604Hysteresis of actuator, servo G05B2219/37605Accuracy, repeatability of machine, robot G05B2219/37606Thread form, parameters G05B2219/37607Circular form G05B2219/37608Center and diameter of hole, wafer, object G05B2219/37609Over-travel G05B2219/37611Relative movement between tool and workpiece carriage G05B2219/37612Transfer function, kinematic identification, parameter estimation, response G05B2219/37613Cutter axis tilt of end mill G05B2219/37614Number of workpieces, counter G05B2219/37615Dead time, between detecting finished workpieces and feedback measured value G05B2219/37616Use same monitoring tools to monitor tool and workpiece G05B2219/37617Tolerance of form, shape or position G05B2219/37618Observe, monitor position, posture of tool G05B2219/37619Characteristics of machine, deviation of movement, gauge G05B2219/37621Inertia, mass of rotating, moving tool, workpiece, element G05B2219/37622Detect collision, blocking, stall by change, lag in position G05B2219/37623Detect collision, blocking by use of integrated load between two limits G05B2219/37624Detect collision, blocking by measuring change of velocity or torque G05B2219/37625By measuring changing forces in a time window G05B2219/37626By measuring changing forces in different position zones G05B2219/37627Measure elapsed time needed for positioning G05B2219/37628Use of special detector the output of which changes if object detected G05B2219/37629Detect sudden change of direction due to collision G05B2219/37631Means detecting object in forbidden zone G05B2219/37632By measuring current, load of motor G05B2219/37633Output modulated signal on detection of blocking instead of flat signal G05B2219/37634By measuring vibration G05B2219/39Robotics, robotics to robotics hand G05B2219/39001Robot, manipulator control G05B2219/39002Move tip of arm on straight line G05B2219/39003Move end effector on ellipse, circle, sphere G05B2219/39004Assisted by automatic control system for certain functions G05B2219/39005Feedback for stability of manipulator, felt as force reflection G05B2219/39006Move end effector in a plane, describing a raster, meander G05B2219/39007Calibrate by switching links to mirror position, tip remains on reference point G05B2219/39008Fixed camera detects reference pattern held by end effector G05B2219/39009Using fixture with potentiometer, wire to end effector, estimate lenght of wire G05B2219/39011Fixed camera detects deviation end effector from reference on workpiece, object G05B2219/39012Calibrate arm during scanning operation for identification of object G05B2219/39013Locate movable manipulator relative to object, compare to stored gridpoints G05B2219/39014Match virtual world with real world G05B2219/39015With different manipulator configurations, contact known sphere, ballbar G05B2219/39016Simultaneous calibration of manipulator and camera G05B2219/39017Forward calibration, find actual pose world space for given joint configuration G05B2219/39018Inverse calibration, find exact joint angles for given location in world space G05B2219/39019Calibration by cmm coordinate measuring machine over a certain volume G05B2219/39021With probe, touch reference positions G05B2219/39022Transform between measuring and manipulator coordinate system G05B2219/39023Shut off, disable motor and rotate arm to reference pin G05B2219/39024Calibration of manipulator G05B2219/39025Spheric tool interrupts transmitted calibration beam, in different configurations G05B2219/39026Calibration of manipulator while tool is mounted G05B2219/39027Calibrate only some links, part of dofs, lock some links, ref pins on links G05B2219/39028Relative to base calibrated 6-DOF device, cmm connected between wrist and base G05B2219/39029Verify if calibration position is a correct, by comparing with range in rom G05B2219/39031Use of model for robot and for measuring device G05B2219/39032Touch probe senses constraint known plane, derive kinematic calibration G05B2219/39033Laser tracking of end effector, measure orientation of rotatable mirror G05B2219/39034Use of telescopic ballbar G05B2219/39035Screw axis measurement, each joint moved in circle, cpa circle point analysis G05B2219/39036Screw axis measurement, jacobian estimation from wrist and joint torques, no motion G05B2219/39037Screw axis measurement, jacobian estimation from end effector and joint speeds G05B2219/39038Determine position of two cameras by using a common reference grid G05B2219/39039Two cameras detect same reference on workpiece to define its position in space G05B2219/39041Calibrate only for end position G05B2219/39042Interchange robot and reference pattern, measure by camera at same location G05B2219/39043Self calibration using ANN to map robot poses to the commands, only distortions G05B2219/39044Estimate error model from error at different attitudes and points G05B2219/39045Camera on end effector detects reference pattern G05B2219/39046Compare image of plate on robot with reference, move till coincidence, camera G05B2219/39047Calibration plate mounted on robot, plate comprises sensors for measuring target G05B2219/39048Closed loop kinematic self calibration, grip part of robot with hand G05B2219/39049Calibration cooperating manipulators, closed kinematic chain by bolting G05B2219/39051Calibration cooperating manipulators, closed kinematic chain by alignment G05B2219/39052Self calibration of parallel manipulators G05B2219/39053Probe, camera on hand scans many points on own robot body, no extra jig G05B2219/39054From teached different attitudes for same point calculate tool tip position G05B2219/39055Correction of end effector attachment, calculated from model and real position G05B2219/39056On line relative position error and orientation error calibration G05B2219/39057Hand eye calibration, eye, camera on hand, end effector G05B2219/39058Sensor, calibration of sensor, potentiometer G05B2219/39059Sensor adaptation for robots by software G05B2219/39061Calculation direct dynamics G05B2219/39062Calculate, jacobian matrix estimator G05B2219/39063Quick calculation of coordinates by using precalculated, stored matrixes, inverses G05B2219/39064Learn kinematics by ann mapping, map spatial directions to joint rotations G05B2219/39065Calculate workspace for end effector, manipulator G05B2219/39066Two stage inverse kinematics algorithm, first inner joint variables, then outer G05B2219/39067Calculate max load a manipulator can repeatedly lift G05B2219/39068Time needed to execute an instruction G05B2219/39069Inverse kinematics by arm splitting, divide six link arm into two three link arms G05B2219/39071Solve inverse kinematics by ann learning nonlinear mappings, consider smoothness G05B2219/39072Solve inverse kinematics by linear hopfield network G05B2219/39073Solve inverse kinematics by fuzzy algorithm G05B2219/39074By formal substitution of two consecutive joints by a spherical joint G05B2219/39075Solve inverse kinematics by error back propagation ebp G05B2219/39076Learn by function division, change only one variable at a time, combine shapes G05B2219/39077Solve inverse geometric model by iteration, no matrixes inversion G05B2219/39078Divide workspace in sectors, lookup table for sector joint angle G05B2219/39079Solve inverse differential kinematics in closed, feedback loop, iterate G05B2219/39081Inexact solution for orientation or other DOF with relation to type of task G05B2219/39082Collision, real time collision avoidance G05B2219/39083Robot interference, between two robot arms G05B2219/39084Parts handling, during assembly G05B2219/39085Use of two dimensional maps and feedback of external and joint sensors G05B2219/39086Reduce impact effect by impact configuration of redundant manipulator G05B2219/39087Artificial field potential algorithm, force repulsion from obstacle G05B2219/39088Inhibit movement in one axis if collision danger G05B2219/39089On collision, lead arm around obstacle manually G05B2219/39091Avoid collision with moving obstacles G05B2219/39092Treat interference in hardware, circuit and also in software G05B2219/39093On collision, ann, bam, learns path on line, used next time for same command G05B2219/39094Interference checking between robot and fixture G05B2219/39095Use neural geometric modeler, overlapping spheres G05B2219/39096Self-collision, internal collison, collision between links of one robot G05B2219/39097Estimate own stop, brake time, then verify if in safe distance G05B2219/39098Estimate stop, brake distance in predef time, then verify if in safe distance G05B2219/39099Interlocks inserted in movement process if necessary to avoid collision G05B2219/39101Cooperation with one or more rotating workpiece holders, manipulators G05B2219/39102Manipulator cooperating with conveyor G05B2219/39103Multicooperating sensing modules G05B2219/39104Manipulator control orders conveyor to stop, to visualize, pick up G05B2219/39105Manipulator cooperates with moving machine, like press brake G05B2219/39106Conveyor, pick up article, object from conveyor, bring to test unit, place it G05B2219/39107Pick up article, object, measure, test it during motion path, place it G05B2219/39108Regrasp object as function of impact G05B2219/39109Dual arm, multiarm manipulation, object handled in cooperation G05B2219/39111Use of flexibility or free joint in manipulator to avoid large forces G05B2219/39112Force, load distribution G05B2219/39113Select grasp pattern based on motion oriented coordinability G05B2219/39114Hand eye cooperation, active camera on first arm follows movement of second arm G05B2219/39115Optimal hold and moving force, torque G05B2219/39116Constraint object handled in cooperation G05B2219/39117Task distribution between involved manipulators G05B2219/39118Cooperation between manipulator and vehicle with manipulator G05B2219/39119Path constraint handling of object G05B2219/39121Two manipulators operate on same object G05B2219/39122Follower, slave mirrors leader, master G05B2219/39123Manipulate, handle flexible object G05B2219/39124Grasp common rigid object, no movement end effectors relative to object G05B2219/39125Task is grasp object with movable parts, like pliers G05B2219/39126Manipulate very large objects, not possible to grasp, open palm and use of links G05B2219/39127Roll object on base by link control G05B2219/39128Grasp tool with two manipulators, rigidity, and use tool G05B2219/39129One manipulator holds one piece, other inserts, screws other piece, dexterity G05B2219/39131Each of the manipulators holds one of the pieces to be welded together G05B2219/39132Robot welds, operates on moving workpiece, moved by other robot G05B2219/39133Convert teached program for fixed workpiece to program for moving workpiece G05B2219/39134Teach point, move workpiece, follow point with tip, place tip on next point G05B2219/39135For multiple manipulators operating at same time, avoid collision G05B2219/39136Teach each manipulator independently or dependently from each other G05B2219/39137Manual teaching, set next point when tool touches other tool, workpiece G05B2219/39138Calculate path of robots from path of point on gripped object G05B2219/39139Produce program of slave from path of master and desired relative position G05B2219/39141Slave program has no taught positions, receives position from master, convert from master G05B2219/39142Moving time between positions in slave program coordinated online with master G05B2219/39143One program in robot controller for both robot and machine, press, mold G05B2219/39144Scale moving time of all robots, machines to match slowest, no waiting G05B2219/39145Slave path is the same as master path and superposed desired relative movement G05B2219/39146Swarm, multiagent, distributed multitask fusion, cooperation multi robots G05B2219/39147Group transport, transfer object, ant problem G05B2219/39148To push or pull on objects, boxes G05B2219/39149To assemble two objects, objects manipulation G05B2219/39151Use intention inference, observe behaviour of other robots for their intention G05B2219/39152Basic behaviour, avoid, follow, aggregate, disperse, home, wander, grasp, drop G05B2219/39153Human supervisory control of swarm G05B2219/39154Each robot can pick up an information carrier, read and write it, exchange it G05B2219/39155Motion skill, relate sensor data to certain situation and motion G05B2219/39156To machine together workpiece, desktop flexible manufacturing G05B2219/39157Collectively grasping object to be transported G05B2219/39158Configuration description language, to define behaviour of system G05B2219/39159Task modelling G05B2219/39161Search, grip object and bring to a home area, gather object, object placement G05B2219/39162Learn social rules, greedy robots become non-greedy, adapt to other robots G05B2219/39163Formation control, robots form a rigid formation, fixed relationship G05B2219/39164Embodied evolution, evolutionary robots with basic ann learn by interactions with each other G05B2219/39165Evolution, best performing control strategy is transmitted to other robots G05B2219/39166Coordinate activity by sending pheromone messages between robots, no central control G05B2219/39167Resources scheduling and balancing G05B2219/39168Multiple robots searching an object G05B2219/39169Redundant communication channels with central control G05B2219/39171Vehicle moves towards arm if streched arm, away from it if folded, singular point G05B2219/39172Vehicle, coordination between manipulator arm and its moving vehicle G05B2219/39173Dynamic interaction between vehicle and manipulator G05B2219/39174Add DOFs of mobility to DOFs of manipulator to add user defined tasks to motion G05B2219/39175Cooperation between fixed manipulator and manipulator on vehicle G05B2219/39176Compensation deflection arm G05B2219/39177Compensation position working point as function of inclination tool, hand G05B2219/39178Compensation inertia arms G05B2219/39179Of movement after lock stop by small movement against load, stop again G05B2219/39181Compensation of coulomb friction in joint G05B2219/39182Compensation for base, floor deformation G05B2219/39183Compliance compensation G05B2219/39184Forward compensation in robot world space, inverse in joint space G05B2219/39185ANN as compensator G05B2219/39186Flexible joint G05B2219/39187Coriolis and centripetal compensation G05B2219/39188Torque compensation G05B2219/39189Compensate for dead weight of tool as function of inclination tool G05B2219/39191Compensation for errors in mechanical components G05B2219/39192Compensate thermal effects, expansion of links G05B2219/39193Compensate movement before lock stop, by small movement against load, gravity G05B2219/39194Compensation gravity G05B2219/39195Control, avoid oscillation, vibration due to low rigidity G05B2219/39196Use of passive joint, no actuator but brake, brake on or off G05B2219/39197Passive compliance, no input of force reference, mechanical resilience, spring G05B2219/39198Manipulator used as workpiece handler and for machining operation G05B2219/39199Active vibration absorber G05B2219/39201Control of joint stiffness G05B2219/39202Invariant inertia, constant inertia matrix independent of joint positions G05B2219/39203Fuzzy petrinet controller G05B2219/39204Petrinet controller G05B2219/39205Markov model G05B2219/39206Joint space position control G05B2219/39207Manipulator is passive, gives operator only feedback of what is currently done G05B2219/39208Robot is active, realizes planned trajectory by itself G05B2219/39209Switch over from free space motion to constraint motion G05B2219/39211If operator on platform moves in certain direction, arm will follow G05B2219/39212Select between autonomous or teleoperation control G05B2219/39213Distributed tasks, space motion, contact, kinematic conditioning tasks G05B2219/39214Compensate tracking error by using model, polynomial network G05B2219/39215Adaptive control with stabilizing compensation G05B2219/39216Motion scaling G05B2219/39217Keep constant orientation of handled object while moving manipulator G05B2219/39218Force tracking G05B2219/39219Trajectory tracking G05B2219/39221Control angular position of joint by length of linear actuator G05B2219/39222Disturbance rejection, suppression G05B2219/39223Resonance ratio control, between arm and motor G05B2219/39224Jacobian transpose control of force vector in configuration and cartesian space G05B2219/39225Rmfc resolved motion force control, apply known acceleration to payload mass G05B2219/39226Operational space formulation, project model into cartesian coordinates G05B2219/39227Configuration control, generate end effector forces to compensate dynamics G05B2219/39228Computed torque method and H-compensation G05B2219/39229Linear parameterization of robot dynamics G05B2219/39231Parameterization of inertia, coriolis and centrifugal matrix G05B2219/39232Fuzzy adaptation of sliding mode controller G05B2219/39233Adaptive switching of multiple models, same model but different initial estimates, different robot model for different areas G05B2219/39234Constraint accelerated feedback, distance dependant sampling rate G05B2219/39235Track surface without knowing surface geometry G05B2219/39236Hybrid integrator back-stepping control, cascaded motor and manipulator subsystems G05B2219/39237Torque disturbance control G05B2219/39238Trajectory feedforward and feedback to input ann, output a control function G05B2219/39239Control additional actuator in each flexible link G05B2219/39241Force and vibration control G05B2219/39242Velocity blending, change in a certain time from first to second velocity G05B2219/39243Adaptive trajectory tracking G05B2219/39244Generic motion control operations, primitive skills each for special task G05B2219/39245Computed torque fuzzy controller G05B2219/39246Control position and orientation of handled object G05B2219/39247Control speed, acceleration as function of load and rate of fatigue G05B2219/39248Visual servoing combined with inertial measurements G05B2219/39249Computed torque controller combined with ann compensating switch type controller G05B2219/39251Autonomous distributed control, joint and link is a subsystem, communication intensive G05B2219/39252Autonomous distributed control, task distributed into each subsystem, task space G05B2219/39253Virtual arm, has end effector on any joint of real manipulator G05B2219/39254Behaviour controller, robot have feelings, learns behaviour G05B2219/39255Penalty invariance:distribute disturbance equally over all joints, nodes G05B2219/39256Task space controller G05B2219/39257Switch from task space to joint space controller when close to singularity G05B2219/39258Three objective attitude control G05B2219/39259GPS to control robotic arm G05B2219/39261Calculate driving torque from dynamic model, computed torque method variant G05B2219/39262Position joint to minimize energy in previous joints, equilibrium point, attractor G05B2219/39263Normal and overload operation modes, robot speed or torque higher than nominal G05B2219/39264Torque control using hardware designed for position control G05B2219/39265Cutting force disturbances compensated by accelerating a mass within tool head G05B2219/39266Algorithm for control G05B2219/39267Uncertainty estimation by the bounds G05B2219/39268Layer perceptron, drive torque from state variables G05B2219/39269Neural adaptation followed by fuzzy correction G05B2219/39271Ann artificial neural network, ffw-nn, feedforward neural network G05B2219/39272Course by expert rule based system to correct fine fuzzy system G05B2219/39273Neural oscillator G05B2219/39274CMAC cerebellar model articulation controller network G05B2219/39275Ann in parallel to known dynamics model to correct for unknown dynamics G05B2219/39276FFW and PD and ANN for compensation position error G05B2219/39277Segmented tree ANN G05B2219/39278Ann with pd in parallel, pd corrects response of ANN G05B2219/39279Ann parallel with p controller G05B2219/39281Ann for compensation torque G05B2219/39282FFW ann for torque command, adapt as function of speed and detected speed G05B2219/39283Ffw ann to compensate torque or speed G05B2219/39284NSC neural servo controller G05B2219/39285From database find strategy and select corresponding neural servo controller G05B2219/39286Forward inverse, dynamics model, relaxation neural network model firm G05B2219/39287Position and speed error to fuzzy input, output corrected by ann as function of position G05B2219/39288Track control with ann G05B2219/39289Adaptive ann controller G05B2219/39291Fuzzy neural for adaptive force control G05B2219/39292Neural brain based controller based on simplified model of vertebrate nervous system G05B2219/39293Ann parallel to pd, learn inverse dynamics and feedforward of torque signal G05B2219/39294Learn inverse dynamics, ffw decomposed ann adapted by pid G05B2219/39295Learn position correction values to be added to reference values G05B2219/39296Learn inverse and forward model together G05B2219/39297First learn inverse model, then fine tune with ffw error learning G05B2219/39298Trajectory learning G05B2219/39299Learn forward dynamics G05B2219/39301Learn feedforward control G05B2219/39302Backpropagation end effector location error through the link equations G05B2219/39303Feedback error learn inverse dynamics, felc use position reference and error G05B2219/39304Feedback error learn inverse dynamics, use actual position and error G05B2219/39305Learn, detect kinematic contraints in a plane from displacement and force G05B2219/39306Three networks, data to cartesian, cartesian to joint angle, joint angle to control G05B2219/39307Multiple ann, trajectory control net and force control net G05B2219/39308Position control net, pcn combined with velocity control net, vcn G05B2219/39309Inverse dynamic network combined with time scaling network for trajectory plan G05B2219/39311Multilayer, MNN, four layer perceptron, sigmoidal neural network G05B2219/39312Double neural network for tracking, slave microprocessor for servo control G05B2219/39313Ann for joint control, ann for trajectory optimization G05B2219/39314Ann for identification, ann for convergence, ann for tracking control G05B2219/39315Art ann classifier and input selector, bam ann to retrieve collision free path G05B2219/39316Two ann, second ann trained with calibration data to learn error first ann G05B2219/39317Adapt weights MNN online, MNN as feedforward, maps inputs to joint torques G05B2219/39318Position loop ann and velocity loop ann and force loop ann G05B2219/39319Force control, force as reference, active compliance G05B2219/39321Force control as function of position of tool G05B2219/39322Force and position control G05B2219/39323Force and motion control G05B2219/39324Force as function of distance from boundary, border of grinding area G05B2219/39325External force control, additional loop comparing forces corrects position G05B2219/39326Model compensates positions as function of position to compensate force deformations G05B2219/39327Fuzzy adaptive force control G05B2219/39328Fuzzy pi force control G05B2219/39329Adaptive force and position control G05B2219/39331Switch between position and force control by fuzzy logic G05B2219/39332Adaptive force control G05B2219/39333Fuzzy adaptive force and position control, hybrid G05B2219/39334Fuzzy reinforcement compliance control G05B2219/39335Independent joint control, decentralised G05B2219/39336Pd controller combined with disturbance rejection at joint G05B2219/39337Pd controller combined with joint energy based controller G05B2219/39338Impedance control, also mechanical G05B2219/39339Admittance control, admittance is tip speed-force G05B2219/39341Sliding mode based impedance control G05B2219/39342Adaptive impedance control G05B2219/39343Force based impedance control G05B2219/39344Cooperative impedance control, between fingers or arms G05B2219/39345Active compliance control, control tension of spring with dc motor G05B2219/39346Workspace impedance control G05B2219/39347Joint space impedance control G05B2219/39348Generalized impedance control G05B2219/39349RCC remote center compliance device inserted between wrist and gripper G05B2219/39351Compensation ann for uncertain trajectory in impedance control G05B2219/39352Feedback error learning, ffw ann compensates torque, feedback from pd to ann G05B2219/39353Joint space observer G05B2219/39354Operation, work space observer G05B2219/39355Observer, disturbance observer G05B2219/39356Fuzzy logic velocity observer, to estimate velocity in joints G05B2219/39357Execute motion of path in minimum of time G05B2219/39358Time optimal control along path for singular points, having veloctiy constraints G05B2219/39359Tracking path, priority control for component perpendicular to path G05B2219/39361Minimize time-energy cost G05B2219/39362Adapth path of gripping point as function of position of cooperating machine G05B2219/39363Track circular path on inclined surface G05B2219/39364Path, correction of path in function of load G05B2219/39365By using a cue, part of a stimulus to prompt an adapted reaction pattern G05B2219/39366SMC sensory motor coordination G05B2219/39367Using a motion map, association between visual position and joint position G05B2219/39368Sensorimotor command layer, between task space and sensor, motor space G05B2219/39369Host and robot controller and vision processing G05B2219/39371Host and robot controller G05B2219/39372Expert rule based system to correct parameters impedance controller G05B2219/39373Fuzzy for planning, fuzzy neural for adaptive force control G05B2219/39374Ffw and ann combined to compensate torque G05B2219/39375MMI to path planner to servo controller G05B2219/39376Hierarchical, learning, recognition and skill level and adaptation servo level G05B2219/39377Task level supervisor and planner, organizer and execution and path tracking G05B2219/39378Control panel separated from power control of articulations G05B2219/39379Open architecture such as nasrem, ngc, dicam, saridis, chimera, gisc, utap, nomad, robline G05B2219/39381Map task, application to behaviour, force tracking, singularity to motion to actuator G05B2219/39382Level, organization and coordination or distribution of tasks and execution level G05B2219/39383Supervisor communicates with several ion control agents G05B2219/39384Control unit near robot, control and teaching panel in safe zone G05B2219/39385Hybrid control system with neural brain based controller and classical ctrler G05B2219/39386Cell configuration, selection and connection of cell combinations G05B2219/39387Reflex control, follow movement, track face, work, hand, visual servoing G05B2219/39388Visual compliance, xy constraint is 2-D image, z position controlled G05B2219/39389Laparoscopic surgery, camera on center of operated part, view around, scale G05B2219/39391Visual servoing, track end effector with camera image feedback G05B2219/39392Dynamic pyramiding, change vision field to small area if high tracking speed, zoom G05B2219/39393Camera detects projected image, compare with reference image, position end effector G05B2219/39394Compensate hand position with camera detected deviation, new end effector attitude G05B2219/39395Expectation based visual servoing, use of model G05B2219/39396Manipulator action on screen depends from displayed position on screen G05B2219/39397Map image error directly to robot movement, position with relation to world, base not needed, image based visual servoing G05B2219/39398Convert hand to tool coordinates, derive transform matrix G05B2219/39399Convert position of old, teach to new, changed, actual tool by transform matrix G05B2219/39401Machine tool coordinates to manipulator coordinates G05B2219/39402Transfer matrix for moving object and robot to absolute space, motion independent G05B2219/39403Method, axial rotation of tool to make tool and base coordinates parallel G05B2219/39404Design of manipulator G05B2219/39405Develop inverse model of system with ann G05B2219/39406Obtain optimal parameters of model of system G05B2219/39407Power metrics, energy efficiency G05B2219/39408Integrated structure and control design G05B2219/39409Design of gripper, hand G05B2219/39411Effect of scaling drive arms G05B2219/39412Diagnostic of robot, estimation of parameters G05B2219/39413Robot self diagnostics G05B2219/394147-DOF G05B2219/39415Hyper redundant, infinite number of DOFs G05B2219/3941612-DOF G05B2219/394176-DOF G05B2219/394183-DOF G05B2219/394194-DOF G05B2219/39421DOF is degree of freedom, 2-DOF G05B2219/394227-DOF for arm and 6-DOF for end effector G05B2219/394235-DOF G05B2219/3942416-DOF G05B2219/394259-DOF G05B2219/3942610-DOF G05B2219/39427Panel on arm, hand of robot, controlled axis G05B2219/39428Panel with special keys for robot programming, like gripper, hand, wrist G05B2219/39429Using graphic kinematic perspective entered and represented by keys G05B2219/39431Keys represent function of gripper, open, close G05B2219/39432Direct robot control, click on mouse on variety of display command buttons G05B2219/39433Enter a move file, robot will follow a series of instructions G05B2219/39434Each function key of pc corresponds to a motor, jog each motor G05B2219/39435Free movable unit has push buttons for other than position, orientation control G05B2219/39436Joystick mimics manipulator to provide spatial correspondance G05B2219/39437Joystick with additional handle for wrist and gripper control G05B2219/39438Direct programming at the console G05B2219/39439Joystick, handle, lever controls manipulator directly, manually by operator G05B2219/39441Voice command, camera detects object, grasp, move G05B2219/39442Set manual a coordinate system by jog feed operation G05B2219/39443Portable, adapted to handpalm, with joystick, function keys, display G05B2219/39444Display of position, of shape of robot and tool G05B2219/39445Select between jog modes, user, robot coordinates, tool, system feed, joint feed G05B2219/39446Display of manipulator and workpiece and jog directions G05B2219/39447Dead man switch G05B2219/39448Same teach pendant connects to many robot controllers over network G05B2219/39449Pendant, pda displaying camera images overlayed with graphics, augmented reality G05B2219/39451Augmented reality for robot programming G05B2219/39452Select with mouse button a coordinate plane for micromanipulation G05B2219/39453Select program as function of location of mobile manipulator G05B2219/39454Rubber actuator, two muscle drive, one for extension other for traction G05B2219/39455Flexible microactuator, fluidic controlled fibre reinforced rubber, three tubes G05B2219/39456Direct drive G05B2219/39457Tendon drive G05B2219/39458Vehicle levitated, arm pushes to position vehicle G05B2219/39459Finger actuator, ac motor and harmonic gear and encoder G05B2219/39461Rotate arm in one direction, forearm in other direction but double speed G05B2219/39462Pneumatic actuator, imitates human muscle G05B2219/39463Exercise treatment end effector, dexter cube with various switches for tasks G05B2219/39464Estimation of human hand impedance in multijoint arm movements G05B2219/39465Two fingers each with 2-DOF G05B2219/39466Hand, gripper, end effector of manipulator G05B2219/39467Select hand as function of geometric form of hand G05B2219/39468Changeable hand, tool, code carrier, detector G05B2219/39469Grip flexible, deformable plate, object and manipulate it G05B2219/39471Push workpiece in order to grip it correctly G05B2219/39472Braced manipulator, for fine positioning hand is resting on table G05B2219/39473Autonomous grasping, find, approach, grasp object, sensory motor coordination G05B2219/39474Coordination of reaching and grasping G05B2219/39475Grasp slightly, rotate object between two fingers by action of gravity G05B2219/39476Orient hand relative to object G05B2219/39477Finger tracks moving light spot on object G05B2219/39478Control force and posture of hand G05B2219/39479Grip, release again to put object in correct position in tray, regrip and move G05B2219/39481Control distance finger from center, radius G05B2219/39482Control position of center of grip G05B2219/39483Control angle of rotation G05B2219/39484Locate, reach and grasp, visual guided grasping G05B2219/39485Lift workpiece with two fingers, then grasp it with two additional fingers G05B2219/39486Fingered hand, multifingered hand G05B2219/39487Parallel jaws, two fingered hand G05B2219/39488Each finger gets 1-DOF, one more movement, translation or rotation G05B2219/39489Soft fingertip, electro rheological controlled fluid G05B2219/39491Each finger controlled by a controller G05B2219/39492Finger impedance control G05B2219/39493Passive compliant finger, array of resilient rods in tip G05B2219/39494Each finger has 4-DOF G05B2219/39495Active electromechanical compliance for each finger G05B2219/394963-Fingered hand G05B2219/39497Each finger can be controlled independently G05B2219/39498Each finger has force torque sensor in tip of finger G05B2219/394994-Fingers with each 6-DOF G05B2219/395015-Fingers with each 4-DOF G05B2219/395024-Fingers with each 3-DOF G05B2219/395034-Fingers with each 4-DOF G05B2219/39504Grip object in gravity center G05B2219/39505Control of gripping, grasping, contacting force, force distribution G05B2219/39506Grip flexible wire at fixed base, move gripper to top of wire and grip G05B2219/39507Control of slip motion G05B2219/39508Reorientation of object, orient, regrasp object G05B2219/39509Gripping, grasping, links embrace, encircle, envelop object to grasp G05B2219/39511Reorient, rotate object in hand between fingers by action of fingers G05B2219/39512Whole hand manipulation, use of fingertips and hand surface G05B2219/39513Tip prehension grasp, grasp with tip of fingers G05B2219/39514Stability of grasped objects G05B2219/39515Grapple object, grip in compliant mode, self alignment of fingers and object G05B2219/39516Push align object against wall, detect each time distance from grip point to wall G05B2219/39517Control orientation and position of object in hand, roll between plates G05B2219/39518Rolling contact between fingers, robot arms and object G05B2219/39519Concurrent grasp, all forces converge in one point G05B2219/39521Pencil grasp, forces act in two points, along line of intersection of two planes G05B2219/39522Regulus grasp, forces do not intersect at all G05B2219/39523Set holding force as function of dimension, weight, shape, hardness, surface G05B2219/39524Power grasp, between thumb and four fingers, acting as a virtual middle finger G05B2219/39525Lateral grasp, between thumb and four fingers, acting as virtual index finger G05B2219/39526Three fingers used, thumb, index, middle finger for lateral precision G05B2219/39527Workpiece detector, sensor mounted in, near hand, gripper G05B2219/39528Measuring, gripping force sensor build into hand G05B2219/39529Force, torque sensor in wrist, end effector G05B2219/39531Several different sensors integrated into hand G05B2219/39532Gripping force sensor build into finger G05B2219/39533Measure grasping posture and pressure distribution G05B2219/39534By positioning fingers, dimension of object can be measured G05B2219/39535Measuring, test unit build into hand, end effector G05B2219/39536Planning of hand motion, grasping G05B2219/39537First slide object on table in order to be able to grasp it, grasp it G05B2219/39538Rotate object with one or more fingers, while sliding on table G05B2219/39539Plan hand shape G05B2219/39541Place fingers to reorient object while grasping G05B2219/39542Plan grasp points, grip matrix and initial grasp force G05B2219/39543Recognize object and plan hand shapes in grasping movements G05B2219/39544Fuzzy dynamic programming, generate trajectory of finger during tracking G05B2219/39545Trajectory generation for smoothly grasping moving object G05B2219/39546Map human grasps to manipulator grasps G05B2219/39547Program, plan gripping force, range and speed G05B2219/39548Enter interactively parameter for gripper, then teach movement G05B2219/39549Structure, hand has connector for power supply and control signals G05B2219/39551Pivoting gripper, so part takes always vertical orientation G05B2219/39552Stewart platform hand, parallel structured hand G05B2219/39553Dual gripper, two heads to pick up different objects G05B2219/39554Gripper is formed by flexible tube, embraces object like a finger G05B2219/39555Revolver with several grippers, hands G05B2219/39556Control system build into hand itself G05B2219/39557Vacuum gripper using mask with pattern corresponding to workpiece to be lifted G05B2219/39558Vacuum hand has selective gripper area G05B2219/39559Polyvalent gripper, to grip, assemble, manipulate G05B2219/39561Gripper with build in positioning device to align handled object G05B2219/39562Dual end effector, one as tool, the other as workhandler, revolver G05B2219/39563Hand has a center pin to pick up coils G05B2219/39564Spoon and fork, fork slides back if food delivered in mouth G05B2219/39565Two fingered microhand, each finger is a parallel, stewart platform G05B2219/39566Transparent gripper, object can always be seen by camera G05B2219/39567Use electromagnetic attraction to bring robot hand in contact with workpiece G05B2219/39568Extract, insert objects by controlling fingers, dexterous G05B2219/39569Twirl baton, rotate cylinder through center perpendicular to length G05B2219/39571Grip, grasp non rigid material, piece of cloth G05B2219/39572Task, tool manipulation G05B2219/39573Tool guidance along path G05B2219/39574Passive compliant hand, wrist G05B2219/39575Wrist, flexible wrist G05B2219/39576Magnetically levitated wrist G05B2219/39577Active electromechanical compliance for wrist G05B2219/39578Axis wrist G05B2219/40Robotics, robotics mapping to robotics vision G05B2219/40001Laser color indicates type of machining G05B2219/40002Camera, robot follows direction movement of operator head, helmet, headstick G05B2219/40003Move end effector so that image center is shifted to desired position G05B2219/40004Window function, only a specific region is analyzed G05B2219/40005Vision, analyse image at one station during manipulation at next station G05B2219/40006Placing, palletize, un palletize, paper roll placing, box stacking G05B2219/40007Optimize sequence of pick and place operations upon arrival of workpiece on conveyor G05B2219/40008Place a box, block in a corner G05B2219/40009Remove and replace machine part, module G05B2219/40011Lay down, laying non rigid material, handle flat textile material G05B2219/40012Pick and place by chain of three manipulators, handling part to each other G05B2219/40013Kitting, place parts from belt into tray, place tray on conveyor belt G05B2219/40014Gripping workpiece to place it in another place G05B2219/40015Soccer playing G05B2219/40016Kick a ball, leg and foot movement simulator G05B2219/40017Hockey playing, puck and paddle G05B2219/40018Ball in cup G05B2219/40019Placing and assembly, throw object correctly on table G05B2219/40021Batting, to redirect a projectile G05B2219/40022Snatching, dynamic pick, effector contacts object, moves with object G05B2219/40023Dynamic closure, remain contact by acceleration forces G05B2219/40024Catching G05B2219/40025Dynamic manipulation, throwing G05B2219/40026Juggling, tennis playing, throw and catch G05B2219/40027Preying, object capture, interception, mouse-buster G05B2219/40028Insert flexible rod, beam into hole G05B2219/40029Mount elastic ring on a cylinder G05B2219/40031Dual peg in hole G05B2219/40032Peg and hole insertion, mating and joining, remote center compliance G05B2219/40033Assembly, micro assembly G05B2219/40034Disassembly, for recycling G05B2219/40035Shake grasped parts for dropping excess entangled parts back into pin G05B2219/40036Transport plates or sheets between two locations without motion inversion G05B2219/40037No incomplete containers allowed to exit on output conveyor G05B2219/40038Black list, exclude operation on workpiece when not possible, collision, error G05B2219/40039Robot mounted or sliding inside vehicle, on assembly line or for test, service G05B2219/40041Robot operates panel like car radio by pushing, turning buttons, knobs G05B2219/40042Control tilting angle of surface carried by robot G05B2219/40043Move object without swinging, no pendulum or swing motion at stop point G05B2219/40044Unfold flexible material G05B2219/40045Fill bucket, if hard rock, follow contour rock G05B2219/40046Fill bucket with sand, move horizontally, if resistance move up, move horizontally G05B2219/40047Machine overhanging sculptured surfaces G05B2219/40048Transport bar by two mobile robots on wavy road G05B2219/40049Cut material with scissors G05B2219/40051Manipulate flexible material fixed with one end to a wall G05B2219/40052Deform, bend flexible material G05B2219/40053Pick 3-D object from pile of objects G05B2219/40054Supply sheet to bending machine G05B2219/40055Wire stripping G05B2219/40056Slide an edge over an edge G05B2219/40057Contour tracking, edge following G05B2219/40058Align box, block with a surface G05B2219/40059Mount, couple and demount, decouple exchangeable mechanical modules G05B2219/40061Disconnect cable G05B2219/40062Door opening G05B2219/40063Transport dish pile and dispense material in each dish of pile G05B2219/40064Pierce, penetrate soft tissue G05B2219/40065Approach, touch and then push object G05B2219/40066Stack and align identical layers, laminates, electronic substrate layers G05B2219/40067Stack irregular packages G05B2219/40068Collective, group transport G05B2219/40069Flattening, sweeping non rigid material, take out wrinkles G05B2219/40071Relative positioning, grinding and polishing against rotating belt G05B2219/40072Exert a screwing motion G05B2219/40073Carry container with liquid, compensate liquid vibration, swinging effect G05B2219/40074Move tip of arm or carried object on surface, wall, constraint G05B2219/40075Turn crank, handle, link around fixed point G05B2219/40076Fold flexible plate, non rigid material G05B2219/40077Posicast, inverted pendulum, acrobat, balance rod G05B2219/40078Sort objects, workpieces G05B2219/40079Grasp parts from first bin, put them in reverse order in second bin G05B2219/40081Grasp part, object through hole in wall G05B2219/40082Docking, align object on end effector with target G05B2219/40083Pick up pen and robot hand writing G05B2219/40084Posicast, inverted pendulum, acrobat, balance rod, control unactuated joint, dof G05B2219/40085Point with tip always to same remote target point G05B2219/40086Slide, tumble, pivot object on surface with fingers of manipulator, graspless G05B2219/40087Align hand on workpiece to pick up workpiece, peg and hole G05B2219/40088Task is push, slide box G05B2219/40089Tele-programming, transmit task as a program, plus extra info needed by robot G05B2219/40091Tele-programming by graphical simulation G05B2219/40092Tele-programming by direct instruction on new object, using vision and force sensors G05B2219/40093Use known task for similar, like object, inform system of that likeness G05B2219/40094By changing knowledge base directly G05B2219/40095Modify tasks due to modular tooling, other fixture configuration, environment G05B2219/40096Modify tasks due to use of different manipulator G05B2219/40097Select stations with mouse to create process steps G05B2219/40098Show grid locations with symbols of workstations G05B2219/40099Graphical user interface for robotics, visual robot user interface G05B2219/40101Generate concurrent tasks G05B2219/40102Tasks are classified in types of unit motions G05B2219/40103Show object with laser pointer, give oral command for action on, with object G05B2219/40104Reactive planner, user is integral component of planner, interactive G05B2219/40105Oop task planning, use three knowledge bases, world-, domain- for vision, plan base G05B2219/40106Feedback of online failures to offline learned knowledge base G05B2219/40107Offline task learning knowledge base, static planner controls dynamic online G05B2219/40108Generating possible sequence of steps as function of timing and conflicts G05B2219/40109Consider each part to be assembled as an agent, behaving autonomously G05B2219/40111For assembly G05B2219/40112Using graph grammars and fuzzy logic G05B2219/40113Task planning G05B2219/40114From vision detected initial and user given final state, generate tasks G05B2219/40115Translate goal to task program, use of expert system G05B2219/40116Learn by operator observation, symbiosis, show, watch G05B2219/40117Virtual mecanism, like slider to constraint movement in task space G05B2219/40118Task oriented virtual tool, developed for task, assists operator in task G05B2219/40119Virtual internal model, derive from forces on object, motion of end effector G05B2219/40121Trajectory planning in virtual space G05B2219/40122Manipulate virtual object, for trajectory planning of real object, haptic display G05B2219/40123Indicate, select features on display, remote manipulator will execute G05B2219/40124During manipulator motion, sensor feedback to adapt model in memory G05B2219/40125Overlay real time stereo image of object on existing, stored memory image argos G05B2219/40126Virtual landmarks, reference points for operator G05B2219/40127Virtual tape measure, indicate distance between end effector and destination G05B2219/40128Virtual tether, line on display connects end effector to destination point G05B2219/40129Virtual graphic 3-D pointer, manipulator commands real manipulator G05B2219/40131Virtual reality control, programming of manipulator G05B2219/40132Haptic joystick with force feedback based on accelerometer included in joystick G05B2219/40133Force sensation of slave converted to movement of chair for operator G05B2219/40134Force sensation of slave converted to vibration for operator G05B2219/40135Slave force converted to shape display, actuated by fingers, surface is force image G05B2219/40136Stereo audio and vision G05B2219/40137Force sensation feedback from simulated tool G05B2219/40138Scaled feedback of forces from slave to master and master to slave G05B2219/40139Force from slave converted to a digital display like fingers and object G05B2219/40141Pain sensation feedback, impinge air on, squeeze, vibrate, stimulate fingers G05B2219/40142Temperature sensation, thermal feedback to operator fingers G05B2219/40143Slip, texture sensation feedback, by vibration stimulation of fingers G05B2219/40144Force sensation feedback from slave G05B2219/40145Force sensation of slave converted to audio signal for operator G05B2219/40146Telepresence, teletaction, sensor feedback from slave to operator G05B2219/40147Variable time delay, through internet G05B2219/40148Predict locally machining forces from model to control remote machine G05B2219/40149Local intelligence for global planning, remote intelligence for tuning G05B2219/40151Time delay, problems caused by time delay between local and remote G05B2219/40152Deictic, using a sign language, point finger to reach, close hand to grasp G05B2219/40153Teleassistance, operator assists, controls autonomous robot G05B2219/40154Moving of objects G05B2219/40155Purpose is grasping objects G05B2219/40156Input work program as well as timing schedule G05B2219/40157Planning, event based planning, operator changes plans during execution G05B2219/40158Correlate actual image at angle with image presented to operator without angle G05B2219/40159Between operator and sensor a world modeler, local intelligence G05B2219/40161Visual display of machining, operation, remote viewing G05B2219/40162Sound display of machining operation G05B2219/40163Measuring, predictive information feedback to operator G05B2219/40164Fault recovery from task execution errors G05B2219/40165Sensor data to display depends on robot status G05B2219/40166Surface display, virtual object translated into real surface, movable rods G05B2219/40167Switch between simulated display of remote site, and actual display G05B2219/40168Simulated display of remote site, driven by operator interaction G05B2219/40169Display of actual situation at the remote site G05B2219/40171Set a common coordinate system for all remotely controlled robots G05B2219/40172Stop command transmission if no feedback signal received at remote site G05B2219/40173Stop robot if no command received within interval G05B2219/40174Robot teleoperation through internet G05B2219/40175Inclination, tilt of operator seat, chair serves as control command, like handle G05B2219/40176Encode operator actions into symbolic commands for transmission to remote G05B2219/40177Nano manipulation G05B2219/40178Distributed top, resource availability in network G05B2219/40179Design of controller G05B2219/40181Operator can fine position in small area, free, but if contact, force feedback G05B2219/40182Master has different configuration than slave manipulator G05B2219/40183Tele-machining G05B2219/40184Compliant teleoperation, operator controls motion, system controls contact, force G05B2219/40185Decoupled coarse fine motion coordination G05B2219/40186Reachability control, permits slave to reach commanded position G05B2219/40187Indexed position control, master controls only small part of slave space G05B2219/40188Position control with scaling, master small movement, slave large movement G05B2219/40189Modes, coarse by rate controller, fine by position controller G05B2219/40191Autonomous manipulation, computer assists operator during manipulation G05B2219/40192Control modes, velocity for coarse, position for fine, hand for gripper G05B2219/40193Micro manipulation G05B2219/40194Force reflective, impedance shaping tele operation G05B2219/40195Tele-operation, computer assisted manual operation G05B2219/40196Projecting light on floor to delimit danger zone around robot G05B2219/40197Suppress, execute command depending on physical position of control panel G05B2219/40198Contact with human allowed if under pain tolerance limit G05B2219/40199Soft material covers links, arms for shock and pain attenuation G05B2219/40201Detect contact, collision with human G05B2219/40202Human robot coexistence G05B2219/40203Detect position of operator, create non material barrier to protect operator G05B2219/40204Each fault condition has a different recovery procedure G05B2219/40205Multiple arm systems G05B2219/40206Redundant serial manipulators, kinematic fault tolerance G05B2219/40207Parallel structured modules, more joints than DOF G05B2219/40208Dual redundant actuators G05B2219/40209If speed is important processors execute each different code, otherwise same code G05B2219/40211Fault tolerant, if one joint, actuator fails, others take over, reconfiguration G05B2219/40212Two-way clutch for joint, prevents movement in unallowable direction G05B2219/40213Record history, log of instructions sent from task planner to path planner G05B2219/40214Command rejection module G05B2219/40215Limit link kinetic energy to amount another element can dissipate upon impact G05B2219/40216Record image of working robot display to detect errors G05B2219/40217Individual emergency stop lines for each part of system G05B2219/40218Check conditions before allowing unlocking of joint brake G05B2219/40219Detect contact, proximity of other manipulators G05B2219/40221Individual and common power cutoff switch for several robots G05B2219/40222Lock arm if somebody is looking into the hand G05B2219/40223If insertion force to high, alarm, stop for operator assistance G05B2219/40224If robot gets a return signal, go to initial condition position G05B2219/40225During start up, control robot with low speed, after a while gradually higher G05B2219/40226Input control signals to control system and to model, compare their outputs G05B2219/40227If one access robot fails, other pushes it out of the way G05B2219/40228If deviation of compliant tool is too large, stop and alarm G05B2219/40229Analytical redundancy, use available funcional redundancy of model G05B2219/40231Safety, dual clutched freewheel for joint, if error no movement possible G05B2219/40232Lock mechanical arm if servo, cpu error, other arms remain free G05B2219/40233Portable robot G05B2219/40234Snake arm, flexi-digit robotic manipulator, a hand at each end G05B2219/40235Parallel robot, structure G05B2219/40236With opposing actuators on same joint, agonist, flexor, muscle G05B2219/40237Bus for communication with sensors G05B2219/40238Dual arm robot, one picks up one part from conveyor as other places other part in machine G05B2219/40239Common control box for several robot control boards and additional control boards G05B2219/40241Underactuated robot, has less actuators than number of DOF G05B2219/40242End effector with motor to provide a yaw, roll and pitch motion G05B2219/40243Global positioning robot G05B2219/40244Walking manipulator with integrated stewart, parallel arm G05B2219/40245Gripper on crawling device, smaller than two cm G05B2219/402466-DOF 3-ppsp parallel manipulator G05B2219/40247Series manipulator mounted on parallel manipulator G05B2219/40248Manipulator on slide G05B2219/40249Whole arm manipulator, grip object not with end effector but with all links G05B2219/40251Ghdrs generalized high dimensional robotic system, virtual decomposition G05B2219/40252Robot on track, rail moves only back and forth G05B2219/40253Soft arm robot, light, rubber, very compliant G05B2219/40254Serial to parallel, branching manipulator, one macro and several parallel arms G05B2219/40255End effector attached to cable for gravity balance suspension G05B2219/40256Large, heavy manipulator G05B2219/40257Flexible macro manipulator with rigid attached micro manipulator G05B2219/40258Robot can be fixed in orientation and height to ground, plurality of such points G05B2219/40259Set friction in each joint to optimal value G05B2219/40261Self reproducing, replicating fabrication machine, tools, structure, info for this G05B2219/40262Two link arm with a free, attached to base, and an active joint between links G05B2219/40263Dual use mobile detachable manipulator G05B2219/40264Human like, type robot arm G05B2219/40265Use of inflatable links, can easily be folded, compressed air for stiffness G05B2219/40266Resonant manipulator, springs cooperate with latches, motor only for lost energy G05B2219/40267Parallel manipulator, end effector connected to at least two independent links G05B2219/40268Master attached to tip of macro manipulator, controls slave micro manipulator G05B2219/40269Naturally compliant robot arm G05B2219/40271Underwater, submarine movable manipulator G05B2219/40272Manipulator on slide, track G05B2219/40273Wire manipulator, crane type manipulator with three wires G05B2219/40274Cebot segments are mobile manipulators, connected by manipulator arm self G05B2219/40275Manipulator mounted on satellite, space manipulator G05B2219/40276Aqua robot manipulator G05B2219/40277Hybrid, connect parallel manipulators in series, Stewart truss G05B2219/40278Compact, foldable manipulator G05B2219/40279Flexible arm, link G05B2219/40281Closed kinematic loop, chain mechanisms, closed linkage systems G05B2219/40282Vehicle supports manipulator and other controlled devices G05B2219/40283Reservoir with additional material on vehicle with manipulator G05B2219/40284Toolrack on vehicle with manipulator, toolchanger G05B2219/40285Variable geometry manipulator, camlock G05B2219/40286End effector with offset arm, to carry hose to feed material G05B2219/40287Workpiece manipulator and tool manipulator cooperate G05B2219/40288Integrate sensor, actuator units into a virtual manipulator G05B2219/40289Scara for coarse movement, xy table for fine movement G05B2219/40291Instead of two links, two eccentrically rotating disks for full circle working G05B2219/40292Manipulator is positioned by a crane to cover a large workpiece, extended range G05B2219/40293Gantry, portal G05B2219/40294Portable robot can be fixed, attached to different workplaces, stations G05B2219/40295Sensors at the elbow to detect obstacles G05B2219/40296Second arm can be attached to first arm, modular G05B2219/40297Macro manipulator and micro hand, distributed positioning G05B2219/40298Manipulator on vehicle, wheels, mobile G05B2219/40299Holonic, made of similar modules, truss manipulator G05B2219/40301Scara, selective compliance assembly robot arm, links, arms in a plane G05B2219/40302Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot G05B2219/40303Arm somersaults over grid, place one hand on grid point, release other hand G05B2219/40304Modular structure G05B2219/40305Exoskeleton, human robot interaction, extenders G05B2219/40306Two or more independent robots G05B2219/40307Two, dual arm robot, arm used synchronously, or each separately, asynchronously G05B2219/40308Machine, conveyor model in library contains coop robot path G05B2219/40309Simulation of human hand motion G05B2219/40311Real time simulation G05B2219/40312OOP object oriented programming for simulation G05B2219/40313Graphic motion simulation for ergonomic analysis G05B2219/40314Simulation of program locally before remote operation G05B2219/40315Simulation with boundary graphs G05B2219/40316Simulation of human-like robot joint, restricted 3-D motion G05B2219/40317For collision avoidance and detection G05B2219/40318Simulation of reaction force and moment, force simulation G05B2219/40319Simulate contact of object and obstacle, reduce to pairs with only one contact G05B2219/40321Simulation of human arm trajectories G05B2219/40322Simulation with des, discrete event system G05B2219/40323Modeling robot environment for sensor based robot system G05B2219/40324Simulation, modeling of muscle, musculoskeletal dynamical system G05B2219/40325Learn inverse kinematic model by variation, perturbation G05B2219/40326Singular value decomposition G05B2219/40327Calculation, inverse kinematics solution using damped least squares method G05B2219/40328If joint near singularity, restore angle to start values, adapt other joints G05B2219/40329Semi-singularity, movement in one direction not possible, in opposite direction is possible G05B2219/40331Joint angle change constraint, singularity between elbow up and down G05B2219/40332Identify degenerated directions, eliminate velocity component in that direction G05B2219/40333Singularity, at least one movement not possible, kinematic redundancy G05B2219/40334By fuzzy logic supervisor G05B2219/40335By probability distribution functions pdf G05B2219/40336Optimize multiple constraints or subtasks G05B2219/40337Maximum distance criterium G05B2219/40338Task priority redundancy G05B2219/40339Avoid collision G05B2219/40341Minimize energy G05B2219/40342Minimize sum of gravitational torques of some joints G05B2219/40343Optimize local torque G05B2219/40344Configuration index, control, limits of joint movement G05B2219/40345Minor measure G05B2219/40346Compatibility index G05B2219/40347Optimize manipulator velocity ratio function G05B2219/40348Optimize condition number G05B2219/40349Optimize manipulability measure function G05B2219/40351Cooperation of hand arm, break down into two subsystems G05B2219/40352Combination of priority, basic task, tip position, and task for link movement G05B2219/40353Split robot into two virtual robot, origin of second equals tip of first G05B2219/40354Singularity detection G05B2219/40355Geometric, task independent G05B2219/40356Kinetic energy, content and distribution G05B2219/40357Compliance, design and operational issues G05B2219/40358Inertial, from dynamic models G05B2219/40359Constraint, physical limitations G05B2219/40361Category of performance criteria G05B2219/40362Elbow high or low, avoid obstacle collision with redundancy control G05B2219/40363Two independent paths planned, interpolations for same robot G05B2219/40364Position of robot platform as additional task G05B2219/40365Configuration control, select other tasks by configuration of link positions G05B2219/40366Elbow reaches its target position before the end effector G05B2219/40367Redundant manipulator G05B2219/40368Multipoint impedance control, redundant manipulator can touch several obstacles G05B2219/40369Generate all possible arm postures associated with end effector position G05B2219/40371Control trajectory to avoid joint limit as well as obstacle collision G05B2219/40372Control end effector impedance G05B2219/40373Control of trajectory in case of a limb, joint disturbation, failure G05B2219/40374Control trajectory in case of distortion of visual input G05B2219/40375Control trajectory in case of changed tool length G05B2219/40376Moving center of mass and end effector for dynamic task of lifting heavy weight G05B2219/40377Impact force on stationary end effector, move center of mass, no reaction to base G05B2219/40378Keep center of mass fixed, no counterweight, no reaction on base G05B2219/40379Manipulability G05B2219/40381Control trajectory in case of joint limit, clamping of joint G05B2219/40382Limit allowable area where robot can be teached G05B2219/40383Correction, modification program by detection type workpiece G05B2219/40384Optimize teached path by data acquisition followed by genetic algorithm G05B2219/40385Compare offline teached point with online teached point, modify rest as function of error G05B2219/40386Search around teached point until operation has succes, correct program G05B2219/40387Modify without repeating teaching operation G05B2219/40388Two channels between robot and teaching panel, rs232c and video G05B2219/40389Use robot control language also to write non robotic user, application programs G05B2219/40391Human to robot skill transfer G05B2219/40392Programming, visual robot programming language G05B2219/40393Learn natural high level command, associate its template with a plan, sequence G05B2219/40394Combine offline with online information to generate robot actions G05B2219/40395Compose movement with primitive movement segments from database G05B2219/40396Intermediate code for robots, bridge, conversion to controller G05B2219/40397Programming language for robots, universal, user oriented G05B2219/40398Opto-electronic follow-up of movement of head, eyelids, finger to control robot G05B2219/40399Selection of master-slave operation mode G05B2219/40401Convert workspace of master to workspace of slave G05B2219/40402Control button on master for quick movement, for fine slow movement G05B2219/40403Master for walk through, slave uses data for motion control and simulation G05B2219/40404Separate master controls macro and micro slave manipulator G05B2219/40405Master slave position control G05B2219/40406Master slave rate control G05B2219/40407Master slave, master is replica of slave G05B2219/40408Intention learning G05B2219/40409Robot brings object near operator, operator places object in correct position G05B2219/40411Robot assists human in non-industrial environment like home or office G05B2219/40412Sensor knowledge command fusion network, data and feature and action and constraint G05B2219/40413Robot has multisensors surrounding operator, to understand intention of operator G05B2219/40414Man robot interface, exchange of information between operator and robot G05B2219/40415Semi active robot, cobot, guides surgeon, operator to planned trajectory , constraint G05B2219/40416Planning for variable length tool, laser beam as tool G05B2219/40417For cooperating manipulators G05B2219/40418Presurgical planning, on screen indicate regions to be operated on G05B2219/40419Task, motion planning of objects in contact, task level programming, not robot level G05B2219/40421Motion planning for manipulator handling sheet metal profiles G05B2219/40422Force controlled velocity motion planning, adaptive G05B2219/40423Map task space to sensor space G05B2219/40424Online motion planning, in real time, use vision to detect workspace changes G05B2219/40425Sensing, vision based motion planning G05B2219/40426Adaptive trajectory planning as function of force on end effector, bucket G05B2219/40427Integrate sensing and action in planning G05B2219/40428Using rapidly exploring random trees algorithm RRT-algorithm G05B2219/40429Stochastic, probabilistic generation of intermediate points G05B2219/40431Grid of preoptimised paths as function of target position, choose closest, fine adapt G05B2219/40432Pass states by weighted transitions G05B2219/40433Distributed, trajectory planning for each virtual arm G05B2219/40434Decompose in motion planning for swarm of robots and motion planning for object to be transported G05B2219/40435Extract minimum number of via points from a trajectory G05B2219/40436Distributed search of attainable positions, parallel computed G05B2219/40437Local, directly search robot workspace G05B2219/40438Global, compute free configuration space, connectivity graph is then searched G05B2219/40439Feasible map algorithm G05B2219/40441Probabilistic backprojection G05B2219/40442Voxel map, 3-D grid map G05B2219/40443Conditional and iterative planning G05B2219/40444Hierarchical planning, in levels G05B2219/40445Decompose n-dimension with n-links into smaller m-dimension with m-1-links G05B2219/40446Graph based G05B2219/40447Bitmap based G05B2219/40448Preprocess nodes with arm configurations, c-space and planning by connecting nodes G05B2219/40449Continuous, smooth robot motion G05B2219/40451Closest, nearest arm, robot executes task, minimum travel time G05B2219/40452Evaluation function derived from skilled, experimented operator data G05B2219/40453Maximum torque for each axis G05B2219/40454Max velocity, acceleration limit for workpiece and arm jerk rate as constraints G05B2219/40455Proximity of obstacles G05B2219/40456End effector orientation error G05B2219/40457End effector position error G05B2219/40458Grid adaptive optimization G05B2219/40459Minimum torque change model G05B2219/40461Plan for even distribution of motor load of joints G05B2219/40462Constant consumed energy, regenerate acceleration energy during deceleration G05B2219/40463Shortest distance in time, or metric, time optimal G05B2219/40464Minimum relative velocities G05B2219/40465Criteria is lowest cost function, minimum work path G05B2219/40466Plan for minimum time trajectory, at least one joint maximum torque G05B2219/40467Virtual springs, impedance method G05B2219/40468Using polytree intersection method G05B2219/40469Using fuzzy logic performance, distances are fuzzy, very close to very far G05B2219/40471Using gradient method G05B2219/40472Using exact cell decomposition G05B2219/40473Using genetic algorithm GA G05B2219/40474Using potential fields G05B2219/40475In presence of moving obstacles, dynamic environment G05B2219/40476Collision, planning for collision free path G05B2219/40477Plan path independent from obstacles, then correction for obstacles G05B2219/40478Graphic display of work area of robot, forbidden, permitted zone G05B2219/40479Use graphic display, layout of robot path, obstacles to indicate interference G05B2219/40481Search pattern according to type of assembly to be performed G05B2219/40482Before assembly arrange parts G05B2219/40483Find possible contacts G05B2219/40484Using several tethered motors, attached to powersupply cable, move over surface G05B2219/40485Generate goal regions in presence of uncertainty, interference G05B2219/40486If physical limitation, execute regrasping steps G05B2219/40487Sensing to task planning to assembly execution, integration, automatic G05B2219/40488Coarse and fine motion planning combined G05B2219/40489Assembly, polyhedra in contact G05B2219/40491Gravity stable assembly, upper part cannot fall apart G05B2219/40492Model manipulator by spheres for collision avoidance G05B2219/40493Task to parameter designer, adapts parameters of impedance model as function of sensors G05B2219/40494Neural network for object trajectory prediction, fuzzy for robot path G05B2219/40495Inverse kinematics model controls trajectory planning and servo system G05B2219/40496Hierarchical, learning, recognition level controls adaptation, servo level G05B2219/40497Collision monitor controls planner in real time to replan if collision G05B2219/40498Architecture, integration of planner and motion controller G05B2219/40499Reinforcement learning algorithm G05B2219/40501Using sub goal method of options for semi optimal path planning G05B2219/40502Configuration metrics G05B2219/40503Input design parameters of workpiece into path, trajectory planner G05B2219/40504Simultaneous trajectory and camera planning G05B2219/40505Adaptive posture planning as function of large forces G05B2219/40506Self motion topology knowledge, configuration mapping G05B2219/40507Distributed planning, offline trajectory, online motion, avoid collision G05B2219/40508Fuzzy identification of motion plans executed by operator G05B2219/40509Piano moving model G05B2219/40511Trajectory optimization, coarse for arm, medium for wrist, fine for finger G05B2219/40512Real time path planning, trajectory generation G05B2219/40513Planning of vehicle and of its manipulator arm G05B2219/40514Computed robot optimized configurations to train ann, output path in real time G05B2219/40515Integration of simulation and planning G05B2219/40516Replanning G05B2219/40517Constraint motion planning, variational dynamic programming G05B2219/40518Motion and task planning G05B2219/40519Motion, trajectory planning G05B2219/40521Alternative, allowable path substitution if arm movements not possible G05B2219/40522Display of workpiece, workspace, locus of robot tip in different planes, xy xz yz G05B2219/40523Path motion planning, path in space followed by tip of robot G05B2219/40524Replace link, joint, structure by stewart platform to model flexibility G05B2219/40525Modeling only part of links or modules G05B2219/40526Modeling of links for each possible error or only certain error G05B2219/40527Modeling, identification of link parameters G05B2219/40528Ann for learning robot contact surface shape G05B2219/40529Neural network based on distance between patterns G05B2219/40531Ann for voice recognition G05B2219/40532Ann for vision processing G05B2219/40533Generate derivative, change of vibration error G05B2219/40534Generate derivative, change of position error G05B2219/40535Selective perception, retain only information needed for special task G05B2219/40536Signal processing for sensors G05B2219/40537Detect if robot has picked up more than one piece from bin interlocked parts G05B2219/40538Barcode reader to detect position G05B2219/40539Edge detection from tactile information G05B2219/40541Identification of contact formation, state from several force measurements G05B2219/40542Object dimension G05B2219/40543Identification and location, position of components, objects G05B2219/40544Detect proximity of object G05B2219/40545Relative position of wrist with respect to end effector spatial configuration G05B2219/40546Motion of object G05B2219/40547End effector position using accelerometers in tip G05B2219/40548Compare measured distances to obstacle with model of environment G05B2219/40549Acceleration of end effector G05B2219/40551Friction estimation for grasp G05B2219/40552Joint limit G05B2219/40553Haptic object recognition G05B2219/40554Object recognition to track object on conveyor G05B2219/40555Orientation and distance G05B2219/40556Multisensor to detect contact errors in assembly G05B2219/40557Tracking a tool, compute 3-D position relative to camera G05B2219/40558Derive hand position angle from sensed process variable, like waveform G05B2219/40559Collision between hand and workpiece, operator G05B2219/40561Contactpoint between sensor surface and the normal, geometric probing G05B2219/40562Position and orientation of end effector, teach probe, track them G05B2219/40563Object detection G05B2219/40564Recognize shape, contour of object, extract position and orientation G05B2219/40565Detect features of object, not position or orientation G05B2219/40566Measuring, determine axis of revolution surface by tactile sensing, orientation G05B2219/40567Purpose, workpiece slip sensing G05B2219/40568Position and force and skin acceleration and stress rate sensors G05B2219/40569Force and tactile and proximity sensor G05B2219/40571Camera, vision combined with force sensor G05B2219/40572Camera combined with position sensor G05B2219/40573Isee integrated sensor, end effector, camera, proximity, gas, temperature, force G05B2219/40574Laserscanner combined with tactile sensors G05B2219/40575Camera combined with tactile sensors, for 3-D G05B2219/40576Multisensory object recognition, surface reconstruction G05B2219/40577Multisensor object recognition G05B2219/40578Impedance, mechanical impedance measurement G05B2219/40579Mechanical impedance, from motor current and estimated velocity G05B2219/40581Touch sensing, arc sensing G05B2219/40582Force sensor in robot fixture, base G05B2219/40583Detect relative position or orientation between gripper and currently handled object G05B2219/40584Camera, non-contact sensor mounted on wrist, indep from gripper G05B2219/40585Chemical, biological sensors G05B2219/405866-DOF force sensor G05B2219/40587Measure force indirectly by using deviation in position G05B2219/40588Three laser scanners project beam on photodiodes on end effector G05B2219/40589Recognize shape, contour of tool G05B2219/40591At least three cameras, for tracking, general overview and underview G05B2219/40592Two virtual infrared range sensors G05B2219/40593Push object and hold, detect moved distance G05B2219/40594Two range sensors for recognizing 3-D objects G05B2219/40595Camera to monitor deviation of each joint, due to bending of link G05B2219/40596Encoder in each joint G05B2219/40597Measure, calculate angular momentum, gyro of rotating body at end effector G05B2219/40598Measure velocity, speed of end effector G05B2219/40599Force, torque sensor integrated in joint G05B2219/40601Reference sensors G05B2219/40602Robot control test platform G05B2219/40603Infrared stimulated ultrasonic button on end effector, two fixed receivers G05B2219/40604Two camera, global vision camera, end effector neighbourhood vision camera G05B2219/40605Two cameras, each on a different end effector to measure relative position G05B2219/40606Force, torque sensor in finger G05B2219/40607Fixed camera to observe workspace, object, workpiece, global G05B2219/40608Camera rotates around end effector, no calibration needed G05B2219/40609Camera to monitor end effector as well as object to be handled G05B2219/40611Camera to monitor endpoint, end effector position G05B2219/406126-DOF ultrasonic or infrared external measurement G05B2219/40613Camera, laser scanner on end effector, hand eye manipulator, local G05B2219/40614Whole arm proximity sensor WHAP G05B2219/40615Integrate sensor placement, configuration with vision tracking G05B2219/40616Sensor planning, sensor configuration, parameters as function of task G05B2219/40617Agile eye, control position of camera, active vision, pan-tilt camera, follow object G05B2219/40618Measure gripping force offline, calibrate gripper for gripping force G05B2219/40619Haptic, combination of tactile and proprioceptive sensing G05B2219/40621Triangulation sensor G05B2219/40622Detect orientation of workpiece during movement of end effector G05B2219/40623Track position of end effector by laser beam G05B2219/40624Optical beam area sensor G05B2219/40625Tactile sensor G05B2219/40626Proprioceptive, detect relative link position, form object from hand contact G05B2219/40627Tactile image sensor, matrix, array of tactile elements, tixels G05B2219/40628Progressive constraints G05B2219/40629Manipulation planning, consider manipulation task, path, grasping G05B2219/41Servomotor, servo controller till figures G05B2219/41001Servo problems G05B2219/41002Servo amplifier G05B2219/41003Control power amplifier with data on data bus G05B2219/41004Selection gain according to selection of speed or positioning mode G05B2219/41005Update servo gain not for each microprocessor cycle, but after a certain displacement G05B2219/41006Change gain as function of speed and position G05B2219/41007Select gain as function of gear ratio G05B2219/41008Speed gain high, position gain low in speed mode and inverse in position mode G05B2219/41009Sum output of amplifiers with different gains G05B2219/41011Adapt gain as function of followup error, model can be used G05B2219/41012Adjust feedforward gain G05B2219/41013Lower gain in high frequency region G05B2219/41014Cubic raise of gain until friction overcome, then linear raise G05B2219/41015Adjust position and speed gain of different axis G05B2219/41016Adjust gain to maintain operating bandwith for guaranteed servo performance G05B2219/41017High gain in narrow band of frequencies centered around frequency of rotation G05B2219/41018High gain for motor control during acceleration, low during deceleration G05B2219/41019Measure time needed from first to second speed, to adapt gain to aging condition G05B2219/41021Variable gain G05B2219/41022Small gain for small movements, large gain for large movements G05B2219/41023Large pd gain initially switched to smaller pd gain afterwards G05B2219/41024High gain for low command speed, torque or position error equals or near zero G05B2219/41025Detect oscillation, unstability of servo and change gain to stabilize again G05B2219/41026Change gain as function of speed G05B2219/41027Control signal exponentially to error G05B2219/41028Select gain with memory, rom table G05B2219/41029Adjust gain as function of position error and position G05B2219/41031Raise gain at zero speed until position error or speed is zero, then normal gain G05B2219/41032Backlash G05B2219/41033Constant counter torque G05B2219/41034Two motors driven in opposite direction to take up backlash G05B2219/41035Voltage injection G05B2219/41036Position error in memory, lookup table for correction actual position G05B2219/41037With computer G05B2219/41038Compensation pulses G05B2219/41039Change compensation slowly, gradually, smooth error with filter G05B2219/41041Compensation pulses as function of direction movement G05B2219/41042Switch between rapid, quick feed and cut, slow workspeed feed backlash G05B2219/41043Memory table with motor current and corresponding correction for lost motion G05B2219/41044For several transducers a table, select table as function of transducer G05B2219/41045For several modes and feed speeds, a table, registers for several backlash G05B2219/41046Ffw compensation using adaptive inverse backlash model G05B2219/41047Recirculating ballnut, ballscrew, preloaded bearing G05B2219/41048Relieve backlash by stepping back a little and verify position G05B2219/41049Block position pulses until movement detected, automatic compensation G05B2219/41051Detect end of lost motion by detecting changing current G05B2219/41052By detecting change of velocity G05B2219/41053How to integrate position error, add to speed loop G05B2219/41054Using neural network techniques G05B2219/41055Kind of compensation such as pitch error compensation G05B2219/41056Compensation for changing stiffness, deformation of workpiece G05B2219/41057Stiffness, deformation of slide, drive G05B2219/41058For deformation of screw G05B2219/41059Play in gear, screw backlash, lost motion G05B2219/41061Backlash for linear deviations G05B2219/41062Compensation for two, three axis at the same time, crosscoupling G05B2219/41063Lineary distributing pitch error over interpolated distance, add pulses, smoothing G05B2219/41064Reference screw, simulation axis, electronic simulated axis G05B2219/41065Resolver or inductosyn correction G05B2219/41066Keep nut at constant distance from screw G05B2219/41067Correction screw G05B2219/41068Measuring and feedback G05B2219/41069With cam G05B2219/41071Backlash for non orthogonal axis G05B2219/41072Cam transmits movement to resolver G05B2219/41073Tuning potentiometers and programming them G05B2219/41074Learn, calibrate at start for indetermined position, drive until movement G05B2219/41075Calibrate at start if new screw or slide has been installed, new lookup table G05B2219/41076For each replacement of a movable part, reload pitch error correction G05B2219/41077Self tuning, test run, detect, compute optimal backlash, deformation compensation G05B2219/41078Backlash acceleration compensation when inversing, reversing direction G05B2219/41079Cross coupled backlash for two other axis on reversing third axis G05B2219/41081Approach position from same direction G05B2219/41082Timer, speed integration to control duration of backlash correction G05B2219/41083Upon reversing direction, lower, change gain G05B2219/41084Compensation speed axis with changing, reversing direction, quadrant circle G05B2219/41085Compensation pulses on inversion of direction of rotation, movement G05B2219/41086Bang bang control G05B2219/41087Determine switch point G05B2219/41088If error too large, switch over to signal identification and servo correction G05B2219/41089Align, calibrate control so that one pulse or signal represents certain movement G05B2219/41091Alignment, zeroing, nulling, set parallel to axis G05B2219/41092References, calibration positions for correction of value position counter G05B2219/41093By injection of sinusoidal signal, superposed on reference G05B2219/41094Removable interferometer, store exact position, needed drive current, temperature G05B2219/41095References, calibration positions to adapt gain of servo G05B2219/41096For several positions store dead zone in memory G05B2219/41097Align stepping motor with driven valve G05B2219/41098Automatic recalibration G05B2219/41099Calibration by going to two extremes, limits, counting pulses, storing values G05B2219/41101Stop, halt step, ac motor on certain excitation phase, after sensing a reference G05B2219/41102Analog comparator G05B2219/41103One comparator for both speed and position feedback G05B2219/41104Start fine position after coarse position stopped G05B2219/41105Coarse fine G05B2219/41106Coarse fine take over, transition, switch over G05B2219/41107Coarse by hydraulic cylinder, fine by step motor superposed on piston G05B2219/41108Controlled parameter such as gas mass flow rate G05B2219/41109Drilling rate, feed rate G05B2219/41111Vertical position and orientation with respect to vertical G05B2219/41112Control parameter such as motor controlled by a torque signal G05B2219/41113Compensation for path radius G05B2219/41114Compensation for gravity, counter balance gravity G05B2219/41115Compensation periodical disturbance, like chatter, non-circular workpiece G05B2219/41116Compensation for instability G05B2219/41117Cancel vibration during positioning of slide G05B2219/41118Drift-compensation for servo, anti-hunt G05B2219/41119Servo error compensation G05B2219/41121Eliminating oscillations, hunting motor, actuator G05B2219/41122Mechanical vibrations in servo, antihunt also safety, stray pulses, jitter G05B2219/41123Correction inertia of servo G05B2219/41124Nonlinear compensation G05B2219/41125Compensate position as function of phase lag of drive motor G05B2219/41126Compensation for current ripple of drive or transducer G05B2219/41127Compensation for temperature variations of servo G05B2219/41128Compensate vibration beam, gantry, feedback of speed of non driven end G05B2219/41129Force compensation for non linearity of system G05B2219/41131Enter manually a compensation, correction for a better positioning G05B2219/41132Motor ripple compensation G05B2219/41133Compensation non linear transfer function G05B2219/41134Ann compensates output of pd controller G05B2219/41135Avoid stray pulses, jitter, use two d-flipflops, or integrate pulse duration G05B2219/41136Compensation of position for slip of ac motor G05B2219/41137Torque compensation for levitation effect of motor G05B2219/41138Torque compensation G05B2219/41139Compensate dynamic deflection of slide, calculated with position, speed, torque deflection values G05B2219/41141Position error compensation as function of speed to compensate detection delay G05B2219/41142Compensation of servocontrol signals as function of changing supply voltage G05B2219/41143Compensation of dynamic characteristic of actuator G05B2219/41144Element used such as low pass filter to cut resonance at non needed regions G05B2219/41145Digital filter for compensation of servo loop G05B2219/41146Kalman filter G05B2219/41147Exponential filter G05B2219/41148Model, from position, speed, acceleration derive compensation G05B2219/41149Zero phase filter G05B2219/41151Finite impulse response filter G05B2219/41152Adaptive filter G05B2219/41153Infinite impulse response filter G05B2219/41154Friction, compensation for friction G05B2219/41155During reversing, inversing rotation, movement G05B2219/41156Injection of vibration anti-stick, against static friction, dither, stiction G05B2219/41157Compensation as function of speed and acceleration G05B2219/41158Use of pwm signal against friction G05B2219/41159Two step command, reference and dead zone value forward, then dead zone reverse G05B2219/41161Adaptive friction compensation G05B2219/41162Large gain at start to overcome friction, then low gain G05B2219/41163Adapt gain to friction, weight, inertia G05B2219/41164How to compensate, for example by injecting compensation signal in comparator of normal loop G05B2219/41165Compensation corrected by second servo independent from main servo G05B2219/41166Adaptive filter frequency as function of oscillation, rigidity, inertia load G05B2219/41167Control path independent of load G05B2219/41168Compensate position error by shifting projected image electronically G05B2219/41169Parallel compensation G05B2219/41171Different compensation for left and right movement G05B2219/41172Adapt coefficients of compensator to bring system into phase margin G05B2219/41173Delay of compensation output signal as function of sampling and computation time G05B2219/41174Compensator in feedback loop G05B2219/41175Derivative compensation for speed loop, added or substracted to speed reference G05B2219/41176Compensation control, position error with data from lookup memory G05B2219/41177Repetitive control, adaptive, previous error during actual positioning G05B2219/41178Serial precompensation G05B2219/41179PI precompensation for speed loop G05B2219/41181PID precompensation for position loop G05B2219/41182PI precompensation for position loop G05B2219/41183Compensation of lag during standstill G05B2219/41184Compensation of lag during constant speed movement G05B2219/41185Send reference data in inverse order to model, filter to get inverted phase G05B2219/41186Lag G05B2219/41187Inverse, reciprocal filter, transfer function, reduce lag in contouring G05B2219/41188Compensate position error between two different axis as function of type of transducer G05B2219/41189Several axis, compensation for load for several axis at the same time G05B2219/41191Cancel vibration by positioning two slides, opposite acceleration G05B2219/41192Compensation for different response times, delay of axis G05B2219/41193Active damping of tool vibrations by cross coupling G05B2219/41194Axis error, one axis is corrected on other axis G05B2219/41195Cross coupled feedback, position change one axis effects control of other G05B2219/41196Adaptive prefiltering G05B2219/41197Adaptive postfiltering G05B2219/41198Fuzzy precompensation of pid, pd G05B2219/41199Feedforward compensation of pid G05B2219/41201Fuzzy compensation of statecontroller G05B2219/41202Structure, compensation circuit after comparator in loop G05B2219/41203Lead-phase compensation, lag-phase compensation servo G05B2219/41204Compensation circuit for input, reference, before comparator G05B2219/41205Compensation circuit in speed feedback loop G05B2219/41206Lookup table, memory with certain relationships G05B2219/41207Lookup table with position command, deviation and correction value G05B2219/41208Lookup table for load, motor torque as function of actual position error G05B2219/41209Lookup table with compensation as function of reference and feedback value G05B2219/41211For surface deviations from reference surface G05B2219/41212Gains for pid compensator as function of xy position G05B2219/41213Lookup table for load, motor torque as function of actual position G05B2219/41214Lookup table for current as function of actual position G05B2219/41215Lookup table for speed as function of actual position error G05B2219/41216Two lookup tables, for forward and reverse movement G05B2219/41217Command preshape, guidance, reference for better dynamic response, forcing feedforward G05B2219/41218Posicast, break reference into two parts, better settling time G05B2219/41219To compensate path, track error, calculate, use compensated reference G05B2219/41221Fuzzy shaping G05B2219/41222Modified command filtering G05B2219/41223Ann shaping, objective position, trajectory is shaped by ann G05B2219/41224Shaping a bang-bang input G05B2219/41225Profile generator for reference and for feedforward torque G05B2219/41226Zero vibration and zero derivative input shaper ZVD G05B2219/41227Extra insensitive input shaper, some vibration allowed G05B2219/41228Frequency of commutation updates depends on motor speed G05B2219/41229Adding a vibration, noise signal to reference signal of position, speed or acceleration G05B2219/41231Using impulse shaping filter G05B2219/41232Notch filter G05B2219/41233Feedforward simulation filter, with model G05B2219/41234Design, modeling of position controller G05B2219/41235Design, modeling of motion controller G05B2219/41236Use of sfc sequential function charts for specification G05B2219/41237Use of petrinets for verification, simulation G05B2219/41238Design with control bandwidth beyond lowest natural frequency G05B2219/41239Lyapunov direct controller design G05B2219/41241Anti-coincidence, synchronizer G05B2219/41242Pulse height modulation PHM G05B2219/41243Prevent, detect overflow of counter G05B2219/41244Dead band, zone G05B2219/41245Discrimination of direction G05B2219/41246Modulate command according to hystereris so that ideal curve is followed G05B2219/41247Servo lock G05B2219/41248Adapting characteristics of servo G05B2219/41249Several slides along one axis G05B2219/41251Servo with spring, resilient, elastic element, twist G05B2219/41252Avoid housing vibration, slide and auxiliary slide controlled with opposite phase G05B2219/41253From measured signature, select in database corresponding servo valve type G05B2219/41254Avoid cumulative measuring, calculation errors, sum remainder G05B2219/41255Mode switch, select independent or dependent control of axis G05B2219/41256Chattering control G05B2219/41257Display of gain G05B2219/41258Single position detector for plural motors driving a single load G05B2219/41259Coupling, clutch G05B2219/41261Flexible coupling between carriage, slide and actuator, motor G05B2219/41262Binary summing of motions, by stacking or using levers G05B2219/41263Switch control mode of spindle drive as function of contouring,spindle orientation G05B2219/41264Driven by two motors G05B2219/41265To avoid backlash G05B2219/41266Coupling, clutch and brake unit G05B2219/41267Servo loop with stepping motor, see figure SE-twelve G05B2219/41268Two cascade slides controlled in opposite direction to avoid local wear G05B2219/41269Ballscrew and ball spline nut driven synchronously or independently G05B2219/41271Drive in two directions G05B2219/41272Driven by two stepmotors with different resonance frequency G05B2219/41273Hydraulic G05B2219/41274Flywheel as power buffer G05B2219/41275Two axis, x y motors controlled simultaneous, no contouring, quick move at 45-degrees G05B2219/41276Displacement as function of width, amplitude pulse to motor G05B2219/41277Separation of position drive controller and motor amplifiers G05B2219/41278Two current amplifiers, pumps for each direction of displacement, pushpull G05B2219/41279Brake G05B2219/41281Hydraulic actuated brake G05B2219/41282Magnetic brake G05B2219/41283Brake force does not load index axis, better positioning G05B2219/41284Brake by applying dc to ac motor G05B2219/41285Dynamic brake of ac, dc motor G05B2219/41286Brake motor before reversing motor G05B2219/41287Mechanical self braking G05B2219/41288Two brakes, one on motor axis, other on drive axis G05B2219/41289Motor direction controlled by relays G05B2219/41291Before switching relay, series semiconductor diminishes current to zero G05B2219/41292H-bridge, diagonal pairs of semiconductors G05B2219/41293Inverter, dc-to-ac G05B2219/41294Dc-to-ac converter G05B2219/41295Ac-to-ac converter frequency controlled G05B2219/41296Two data lines one for drive controllers, other to communicate with central unit G05B2219/41297For cancelling magnetic field leakage generated by G05B2219/41298Stepping motor and control valve and power cylinder and mechanical feedback G05B2219/41299Pneumatic drive, pressure controlled bellow extension G05B2219/41301Pilot valve, linear fluid control valve and power cylinder G05B2219/41302On off fluid valve and power cylinder G05B2219/41303Flow rate valve controls speed G05B2219/41304Pneumatic G05B2219/41305Bypass fluid flow, block it from motor G05B2219/41306Control valve with counteracting control pulses G05B2219/41307Motor drives hydraulic pump in direction needed for power cylinder G05B2219/41308Bellow formed by for linear actuators, each pressure controlled by motor G05B2219/41309Hydraulic or pneumatic drive G05B2219/41311Pilot valve with feedback of position G05B2219/41312Metering piston between switch to fluid supply and switch to power cylinder G05B2219/41313Electro rheological fluid actuator G05B2219/41314Electro rheological valve controls cylinder G05B2219/41315Feedback of position of pilot valve and of power cylinder G05B2219/41316Piezo valve G05B2219/41317Stepping motor and control valve and power cylinder G05B2219/41318Electro hydraulic drive, electric motor drives hydraulic actuator G05B2219/41319Ac, induction motor G05B2219/41321Brushless dc motor G05B2219/41322Vector, field oriented controlled motor G05B2219/41323Permanent magnetic synchronous actuator, motor G05B2219/41324Modular servo drive, simo drive G05B2219/41325Linear electric actuator for position combined with pneumatic actuator for force G05B2219/41326Step motor G05B2219/41327Linear induction motor G05B2219/41328Direct motor drive G05B2219/41329Dc motor G05B2219/41331Galvano driver G05B2219/41332Electromagnet driven core, position of core controlled G05B2219/41333Non linear solenoid actuator G05B2219/41334Electrostatic levitator G05B2219/41335Reluctance motor G05B2219/41336Voltage and frequency controlled ac motor G05B2219/41337Linear drive motor , voice coil G05B2219/41338High torque, low inertia motor, printed circuit motor G05B2219/41339Using, switch reluctance or asynchronous motor in, to stepping mode motor G05B2219/41341Ultrasonic motor G05B2219/41342Shape memory metal actuator G05B2219/41343Magnetostrictive motor G05B2219/41344Piezo, electrostrictive linear drive G05B2219/41345Micropositioner G05B2219/41346Micropositioner in x, y and theta G05B2219/41347Piezo cycloid motor G05B2219/41348Hydraulic pressure block G05B2219/413496-Dof combined magnetic fluidic floating motion stage 100-micrometer cube range G05B2219/41351Piezo impact force, rapid extension of small mass moves object a bit G05B2219/41352Alternative clamping dilation of piezo, caterpillar motion, inchworm G05B2219/41353Optical piezo electric element, light converted in movement G05B2219/41354Magnetic, thermal, bimetal peltier effect displacement, positioning G05B2219/41355Electro magnetic coil actuator , voice coil G05B2219/41356Variable speed transmission, Van Doorne, Reeves G05B2219/41357Belt G05B2219/41358Transmission, variable gear ratio G05B2219/41359Gearbox G05B2219/41361Differential G05B2219/41362Registration, display of servo error G05B2219/41363Excess in error, error too large, follow up error G05B2219/41364Excess in error for speed, follow up error for speed G05B2219/41365Servo error converted to frequency G05B2219/41366Linearization of embedded position signals G05B2219/41367Estimator, state observer, space state controller G05B2219/41368Disturbance observer, inject disturbance, adapt controller to resulting effect G05B2219/41369Two estimators G05B2219/41371Force estimation using velocity observer G05B2219/41372Force estimator using disturbance estimator observer G05B2219/41373Observe position and driving signal, estimate disturbance and speed G05B2219/41374Observe position and driving signal, predict, estimate disturbance signal G05B2219/41375Observe speed and select torque as function of position reference, to compensate torque G05B2219/41376Tool wear, flank and crater, estimation from cutting force G05B2219/41377Estimate cutting torque in real time G05B2219/41378Estimate torque as function of speed, voltage and current G05B2219/41379Estimate torque from command torque and measured speed G05B2219/41381Torque disturbance observer to estimate inertia G05B2219/41382Observe position from encoder, estimate speed with ann G05B2219/41383Observe current, voltage, derive position G05B2219/41384Force estimation using position observer G05B2219/41385Observe position from encoder, estimate speed, position with kalman filter G05B2219/41386System identifier adapts coefficients tables for state and observer controller G05B2219/41387Observe reference torque, position and feedback position, estimate contact force G05B2219/41388Observe input torque and feedback position, estimate reaction torque G05B2219/41389Estimate torque from command torque and feedback acceleration G05B2219/41391Flux observer, flux estimated from current and voltage G05B2219/41392Observer for each axis, link, freedom, gives greater speed G05B2219/41393Synchronize observer with pulse from encoder G05B2219/41394Estimate speed and position error from motor current, torque G05B2219/41395Observe actual position to estimate compensation torque G05B2219/41396Estimate acceleration from three phase current values G05B2219/41397Estimate voltage control signal as function of voltage control signal and position error G05B2219/41398Estimate twist between motor and load, observe motor position and speed G05B2219/41399Reduced order estimator G05B2219/41401Estimate position from max and min speeds in open loop G05B2219/41402Observe speed and driving signal, estimate speed G05B2219/41403Machine deformation estimator as function of commanded position G05B2219/41404Hysteresis, bang bang feedback of velocity G05B2219/41405Inverse kinematic, dynamic G05B2219/41406LQR linear quadratic regulator to calculate gain for several known variables G05B2219/41407Master changes resistor, slave restores value in order to follow master G05B2219/41408Control of jerk, change of acceleration G05B2219/41409Update position feedback during speed control G05B2219/41411Avoid integrator wind-up, saturation actuator by dead zone feedback for integral G05B2219/41412Bandwidth of velocity loop is just below natural frequency of drive support G05B2219/41413Forward kinematics G05B2219/41414Time delay control, estimate non linear dynamics, correct with time delayed input G05B2219/41415Lookup table for nonlinear function synthesis G05B2219/41416Feedback signal is doubled, reference signal is doubled plus one G05B2219/41417Correction signal is different as function of sign of error G05B2219/41418Select feedback signal between detected position of motor and of driven load G05B2219/41419Resolution of feedback of incremental position decreases with velocity speed G05B2219/41421Eliminate, diminish delay in feedback speed G05B2219/41422Correction stored position while motor, power off, drive - encoder not connected G05B2219/41423Noise filter as function of rate of displacement, speed, for stabilisation G05B2219/41424Select a controller as function of large or small error G05B2219/41425Feedforward of acceleration G05B2219/41426Feedforward of torque G05B2219/41427Feedforward of position G05B2219/41428Feedforward of position and speed G05B2219/41429Mean value of previous feedforward values G05B2219/41431Delay position command as function of calculation time for feedforward, or order of system G05B2219/41432Feedforward of current G05B2219/41433Advance feedforward as function of delay rising torque, for large acceleration changes G05B2219/41434Feedforward FFW G05B2219/41435Adapt coefficients, parameters of feedforward G05B2219/41436Feedforward of speed and acceleration G05B2219/41437Feedforward of speed G05B2219/41438Feedforward of speed only during deceleration G05B2219/41439Position error ffw for compensation of speed G05B2219/41441Position reference ffw for compensation speed reference and speed error G05B2219/41442Position reference ffw for compensation speed reference G05B2219/41443Position reference ffw for compensation of position G05B2219/41444Speed reference ffw for compensation of speed error G05B2219/41445Ffw of position and speed error to compensate torque G05B2219/41446Position reference acceleration ffw for torque compensation G05B2219/41447Position generates force ffw combined with position error G05B2219/41448Ffw friction compensation for speed error, derived from position reference G05B2219/41449Speed reference and derived position ffw to compensate delay of position control G05B2219/41451Ffw tracking controller G05B2219/41452Position reference ffw for speed error compensation G05B2219/41453Inverse, feedforward controller is inverse of closed loop system G05B2219/41454Zero phase error tracking controller zpec G05B2219/41455Servo loop with absolute digital comparator, see figure SE-one G05B2219/41456Servo loop with switch between difference of counter OR absolute digital comparator, see figure SE-two G05B2219/41457Superposition of movement G05B2219/41458Servo loop with phase counter and phase discriminator, see figure SE-four G05B2219/41459Time counter and phase discriminator G05B2219/41461Phase counter and phase discriminator, phase locked motion G05B2219/41462Servo loop with position and reference counter, see figure SE-seven G05B2219/41463Servo loop with angle comparator and angle comparator predictor, see figure SE-eight G05B2219/41464Servo loop with position decoder, see figure SE-nine G05B2219/41465Servo loop with phase comparator, see figure SE-ten G05B2219/41466Servo loop with oscillator, see figure SE-eleven G05B2219/41467Servo loop with coicindence detector, see figure SE-thirteen G05B2219/41468Servo loop with adder, see figure SE-fourteen G05B2219/41469Servo loop with counter, see figure SE-fifteen G05B2219/41471Servo loop with u-down counter, see figure SE-sixteen G05B2219/41472Servo loop with position error indicates speed step value G05B2219/41473Servo loop with position and speed loop, problems of speed loop G05B2219/41474Servo loop with absolute digital position sensor G05B2219/41475Servo loop with absolute digital position sensor for continuous path control G05B2219/41476Servo loop with analog position sensor G05B2219/41477Servo loop with analog position sensor for continuous path control G05B2219/41478Servo loop with combination of analog and digital sensor G05B2219/41479Servo loop with position loop G05B2219/41481Divide command, block in subcommands, subblocks G05B2219/42Servomotor, servo controller kind till VSS G05B2219/42001Statistical process control spc G05B2219/42002Proportional G05B2219/42003Three point, hysteresis comparator, controller G05B2219/42004PD proportional derivative G05B2219/42005Disturbance decoupling, rejection, suppression G05B2219/42006Digital event dynamic system control G05B2219/42007Nonlinear PD G05B2219/42008P regulator for position loop G05B2219/42009I regulator for speed loop G05B2219/42011PI regulator for speed loop G05B2219/42012H-infinite controller G05B2219/42013Two pd controllers, one for coarse, one for fine motion G05B2219/42014Pseudo derivative control with feedforward of gain G05B2219/42015P integrator, look at past periodic errors, fading memory, repetitive controller G05B2219/42016Dynamic impedance control, load does not influence speed, force, position G05B2219/42017Mimo controller with many inputs and outputs G05B2219/42018Pid learning controller, gains adapted as function of previous error G05B2219/42019Pi for position controller G05B2219/42021Pi for current loop G05B2219/42022Three point, hysteresis controller with variable hysteresis as function of error G05B2219/42023Non linear pi G05B2219/42024Stage controller, zpec and fuzzy smc and compensation controller G05B2219/42025Pidaf, pid with acceleration and friction compensation G05B2219/42026Pi position controller and fuzzy logic speed controller G05B2219/42027Flsps frequency locked steeping position control servo G05B2219/42028Five point, hysteresis controller G05B2219/42029Crone controller, fractional or fractal or non integer order robust controller G05B2219/42031All denominator model, the model form is expanded in denominator taylor series G05B2219/42032Differential feedback pd G05B2219/42033Kind of servo controller G05B2219/42034Pi regulator G05B2219/42035I regulator G05B2219/42036Adaptive control, adaptive nonlinear control G05B2219/42037Adaptive pi G05B2219/42038Real time adaptive control G05B2219/42039Select servo parameter set from table for fixed linear working points G05B2219/42041Adaptive pd G05B2219/42042Adaptive robust controller G05B2219/42043Adapt regulator as function of its output G05B2219/42044Adapt model as function of difference between real and calculated position G05B2219/42045Ann, error to pd, output pd to plant and also sets weights in ann G05B2219/42046Fuzzy pd controller, with position and velocity inputs G05B2219/42047Pid like fuzzy controller with position and velocity inputs G05B2219/42048Fuzzy pi control G05B2219/42049Fuzzy p G05B2219/42051Fuzzy position controller G05B2219/42052Fuzzy pi and d control G05B2219/42053Dynamic fuzzy position controller G05B2219/42054Loop, p control for position loop G05B2219/42055Pi control for speed G05B2219/42056Pi current controller G05B2219/42057Predictive fuzzy controller G05B2219/42058General predictive controller GPC G05B2219/42059Delta gpc, using derivative in time, predict over finite horizon G05B2219/42061Stochastic predictive controller spc G05B2219/42062Position and speed and current G05B2219/42063Position and speed and current and force, moment, torque G05B2219/42064Position, speed and acceleration G05B2219/42065Feedforward combined with pid feedback G05B2219/42066Position and speed and acceleration and current feedback G05B2219/42067Position and current G05B2219/42068Quasi smc, smc combined with other regulators G05B2219/42069Observer combined with pd and zero phase error tracking ffw controller G05B2219/42071Two clocks for each of the two loops G05B2219/42072Position feedback and speed feedforward, speed from data of tape G05B2219/42073Position and speed feedback, speed derived from position reference G05B2219/42074Position feedback and speed feedback, speed measured with tacho G05B2219/42075Two position loops G05B2219/42076Hybrid, digital control sets reference, coefficients for quick analog, pid, control G05B2219/42077Position, speed or current, combined with vibration feedback G05B2219/42078Observer combined with pd G05B2219/42079P position loop, fuzzy speed loop G05B2219/42081Fuzzy position controller and smc for motor voltage control G05B2219/42082Force control in one axis, velocity control in other axis G05B2219/42083Position, speed and force feedback G05B2219/42084Hybrid, analog loop, reference compensated by digital loop G05B2219/42085Error between reference model and controller compensated with fuzzy controller G05B2219/42086Position, speed and deflection feedback G05B2219/42087Speed and force loop G05B2219/42088I parallel to non linear controller G05B2219/42089Quick but coarse loop and slow but fine loop, dexterity G05B2219/42091Loop combinations, add a second loop, cascade control G05B2219/42092Position and force control loop together G05B2219/42093Position and current, torque control loop G05B2219/42094Speed then pressure or force loop G05B2219/42095First closed loop, then open loop G05B2219/42096Add, substract i part of speed feedback as function of sign speed error G05B2219/42097Dual mode servo, slow and precise, quick and coarse movement G05B2219/42098First open, then closed loop to correct setpoint of open loop G05B2219/42099Slow coarse loop followed by fine quick loop G05B2219/42101Coarse position with microprocessor, fine with hardware centering, tracking G05B2219/42102Coarse 8-bit positioning in closed loop, fine 10-bit in open loop G05B2219/42103Switch from pi, if large error to disturbance mode control if small error G05B2219/42104Loop switch, speed loop then position loop, mode switch G05B2219/42105Switch from pid to bang-bang to energy dissipation as function of speed, error G05B2219/42106Speed regulation starts only in braking range, less processor time needed G05B2219/42107Always position loop, first open loop for speed, then also closed loop speed G05B2219/42108Open loop for positioning, closed loop for calibration G05B2219/42109Coarse is speed loop, fine is position loop G05B2219/42111Change from pd, if small error, to bangbang if large error G05B2219/42112Switch between motion and stall mode, if speed is below certain value G05B2219/42113Position closed loop or open loop pressure control G05B2219/42114Loop mode, dual mode incremental coarse, analog fine G05B2219/42115Switch from continuous drive to pwm, near stop or out of acceleration period G05B2219/42116Switch from pid to pd or pd to pid G05B2219/42117Speed mode then stepping mode G05B2219/42118Breaking of control loop, closing open control loop G05B2219/42119Switch between motion and stall mode if actuator voltage current below limit G05B2219/42121Switch from bang-bang control to dead beat, finite time settling control G05B2219/42122First open loop, then closed loop G05B2219/42123Position loop then force, current loop G05B2219/42124Change over between two controllers, transfer error signal G05B2219/42125Switch from pi to p or to pd-controller G05B2219/42126Bumpless, smooth transfer between two control modes G05B2219/42127Timing, switch over on detection of marker on spindle G05B2219/42128Servo characteristics, drive parameters, during test move G05B2219/42129Teach, learn position table, model, for each reference a motor control output G05B2219/42131Speed model created by entering estimated speed at references G05B2219/42132Correct, modify position table, model if detected error too large G05B2219/42133Position references as function of time, correlated speed, acceleration in memory, signature G05B2219/42134Fuzzy logic tuning of controller as function of error G05B2219/42135Fuzzy model reference learning controller, synthesis, tune rule base automatically G05B2219/42136Fuzzy feedback adapts parameters model G05B2219/42137Automatic tune fuzzy controller G05B2219/42138Network tunes controller G05B2219/42139Tune fuzzy controller by three attributes: rise time, overshoot, settling time G05B2219/42141Filter error learning G05B2219/42142Fuzzy control learning of starting friction coefficient G05B2219/42143offline optimization of fuzzy controller G05B2219/42144Online tuning of fuzzy controller by ann G05B2219/42145Coarse tune with genetic algorithm, fine with gradient descent, hill climbing G05B2219/42146In each position, upper, lower drive current needed to move more, less, store mean G05B2219/42147Tune with genetic algorithm G05B2219/42148Position references as function of time, correlated noise, temperature in memory G05B2219/42149During learning relation between control and controlled signal, open loop G05B2219/42151Learn dynamics of servomotor system by ann G05B2219/42152Learn, self, auto tuning, calibrating, environment adaptation, repetition G05B2219/42153Inverse dynamics model idm, computed torque method G05B2219/42154Model itself controlled by position and speed loop G05B2219/42155Model G05B2219/42156Forward dynamics model fdm G05B2219/42157Reference model uses only output and input measurements G05B2219/42158Fuzzy model of cutting process of milling machine G05B2219/42159ARMA, AR autoregressive for poles, MA moving average model for zeros , in combination G05B2219/42161One model for load, one model for motor inertia G05B2219/42162Model reference adaptive control MRAC, correction fictive-real error, position G05B2219/42163Simulator G05B2219/42164Compensation of integration time of model G05B2219/42165Compensation of gain of speed control circuit for model G05B2219/42166Criterium is minimum jerk G05B2219/42167Minimum torque change G05B2219/42168Measuring of needed force for servo G05B2219/42169Decoder G05B2219/42171Velocity profile, variable gain, multiplication factors, rom ram G05B2219/42172Special code G05B2219/42173Acceleration deceleration G05B2219/42174Memory with position profile and force limits G05B2219/42175Velocity, speed points, profile and corresponding acceleration, delta v G05B2219/42176Motion profile G05B2219/42177Configuration memory for step motor G05B2219/42178Reduce cable connection by pre-memorized positions G05B2219/42179Normalize velocity profile, calculate real velocity from additional parameters G05B2219/42181Rom contains sin and cos table to drive step motor G05B2219/42182Memory is Rom for servo control G05B2219/42183Memory is Ram G05B2219/42184Master slave with feedforward for compensation of contour error G05B2219/42185Master slave with contour controller G05B2219/42186Master slave, motion proportional to axis G05B2219/42187Position mirror, axis, display, back of seat as function of position of seat, other axis G05B2219/42188Slave controlled as function of reference and actual position and derived speed of master G05B2219/42189Motion look up table as function of cam angle G05B2219/42191Adjust proportionality factor to optimize slave axis movement G05B2219/42192Each axis drive has own queue of commands, executed in synchronism G05B2219/42193Select between limit switches as function of current position and destination G05B2219/42194Derive position from command speed, integrate speed G05B2219/42195Position a stop, move workpiece against stop to cut stock, bar G05B2219/42196Follow dynamically contour warped surface with tool G05B2219/42197Brake as function of machining load, to keep total load on tool constant, avoid oscillation G05B2219/42198Step motor driven by step size and step duration data G05B2219/42199Fine position with gauge, coarse with limit switch, transducer G05B2219/42201Deriving speed from commanded position G05B2219/42202Square of distance G05B2219/42203Using a counter and a limit switch G05B2219/42204Absolute positions G05B2219/42205With potentiometer G05B2219/42206Block, stop pulses in one axis, not in other axis G05B2219/42207Generate points between start and end position, linear interpolation G05B2219/42208Set position of proximity switch G05B2219/42209Two slides, fine and quick, coarse and slow, piggyback, multirate positioner G05B2219/42211Command position by time value, proportional to total displacement G05B2219/42212Rotation over, selection of smallest, shortest angle, distance G05B2219/42213Position overshoot, axis still moves after stop G05B2219/42214Near desired position, control actuator by pulse in each clock, otherwise continuously G05B2219/42215Stop machine in a predetermined position G05B2219/42216Changing position range, stroke, between closed and fully open G05B2219/42217Time optimal position control G05B2219/42218Coarse and fine position control combined, each by ann G05B2219/42219Slow positioning with low pass, concurrent quick with high pass part of command G05B2219/42221Control position by equilibrium between spring and actuator force G05B2219/42222Compare reflected image from object with reference image, adjust object G05B2219/42223Number and frequency of pwm signals define mean position in time G05B2219/42224Process received reference to adapt it to range of servo G05B2219/42225Coarse and fine position control combined, added, superposed G05B2219/42226If deviation, return to desired position after a delay if within position range G05B2219/42227Using incremental control actuator G05B2219/42228Stop motor where torque will be maximum G05B2219/42229Shut off control, system, power on detection of zero or neutral position G05B2219/42231Detent, stop lock, current through motor in stop, locked, hold, blocked position G05B2219/42232Select, switch between long, extended and short range to position G05B2219/42233Pwm signal to low pass filter, compared to feedback position, if equal stop motor G05B2219/42234Regression ann to map position error to pulse width G05B2219/42235Adaptive pulsing, augment time duration until movement detected G05B2219/42236Use of a certain number of ac periods G05B2219/42237Pwm pulse width modulation, pulse to position modulation ppm G05B2219/42238Control motor position with direction signal and pwm signal for position G05B2219/42239Adaptive pulsing, take into account next cycle, command G05B2219/42241Select minimum value of two reference values G05B2219/42242Reference generator for position G05B2219/42243Enter velocity in reference generator, delivers position signals G05B2219/42244Enter acceleration, jerk, generator outputs acceleration, speed, position by integration G05B2219/42245Reference generates upper and lower range value at both sides of reference G05B2219/42246Add compensation to reference value G05B2219/42247Remote reference transmitted to servo G05B2219/42248Command reference limited, clipped, only between upper and lower values G05B2219/42249Relative positioning G05B2219/42251Control position of beam in coordination with xy slide G05B2219/42252Position beam to keep centerline G05B2219/42253Double resolution for one pulse of computer G05B2219/42254Resolution one axis different from resolution other axis G05B2219/42255Acceleration, deceleration time is a multiple of sampling time G05B2219/42256Sampling the signal G05B2219/42257Sampling time in fixed relation to timer interrupt G05B2219/42258Two sampling frequencies, for online measurements, for offline calculations G05B2219/42259Variable sampling rate as function of thermal displacement G05B2219/42261Two sampling frequencies, one for motion, one for stillstand G05B2219/42262Variable sampling rate as function of position error G05B2219/42263Different sample rates, multiple sample rates for the different loops G05B2219/42264Slow down sampling if power down is detected G05B2219/42265Sampling rate for sending reference values equals interpolation rate G05B2219/42266Variable sampling rate, slow at low velocity G05B2219/42267Stability analysis G05B2219/42268Safety, excess in error G05B2219/42269Inject, superpose test signal on reference, monitor functionality servo G05B2219/42271Monitor parameters, conditions servo for maintenance, lubrication, repair purposes G05B2219/42272Total movement is divided in several zones with different protection parameters G05B2219/42273On restart, power up, overload replace reference with feedback signal, free rotate G05B2219/42274On power failure keep last servoposition by cutting off air supply G05B2219/42275Alarm if working cycle fraction with values exceeding nominal exceeds threshold G05B2219/42276Action, on power failure, close pilot valve entirely by return spring G05B2219/42277If no position command in a period, servo to rest position, shut off power G05B2219/42278If direction bad, change direction sign or phase sequence automatically G05B2219/42279Allow temporary motor overload if temperature still under maximum, heat inertia G05B2219/42281If estimated temperature rise of motor is too high, inhibit motor G05B2219/42282If displacement rate of actuator exceeds limit, lower it G05B2219/42283Motor only actuated if hardware and software permission and control signal together G05B2219/42284Stop and brake motor G05B2219/42285Stop axis contour controlled G05B2219/42286Speed, ramp controlled slow down of motor G05B2219/42287On feedback failure, use profile stored in memory during learning G05B2219/42288Limit, stop drive current if axis obstructed, blocked, force against stop G05B2219/42289Avoid overload servo motor, actuator limit servo torque G05B2219/42291Regenerate faulty feedback by last measurement after detection excess error G05B2219/42292If speed detection fails, regenerate speed from position signal G05B2219/42293Regenerate faulty feedback by using previous value, substitute G05B2219/42294Software monitoring of time delay of feedback pulses, feedback failure G05B2219/42295Detect augmenting torque of drive motor G05B2219/42296Detect diminishing torque of drive motor, below low limit G05B2219/42297Detect phase lag of driving motor G05B2219/42298Measure backlash, time difference between point A to point B and from B to A, if too large G05B2219/42299Measure current during first acceleration command G05B2219/42301Detect correct connection of servomotor to powersupply G05B2219/42302Detect insufficient acceleration, diminishing speed G05B2219/42303Detect no speeding up of motor G05B2219/42304Load, torque threshold as function of speed G05B2219/42305Detect loss of pulse step motor G05B2219/42306Excess in error, compare reference with feedback G05B2219/42307Compare actual feedback with predicted, simulated value to detect run away G05B2219/42308Watchdog or integrator to detect no change or excess in feedback G05B2219/42309Excess in speed G05B2219/42311Store working torque profiles as function of time, position, compare with real torque G05B2219/42312Compare feedback with upper and lower limit, store result as 0-1 if in tolerance G05B2219/42313Excess in error for speed and different sign of position and speed feedback G05B2219/42314Warning signals are send when excess in error for speed, acceleration, amplitude G05B2219/42315Two, double counter to check measurement G05B2219/42316Additional hardware to detect which part of feedback is defect, failed G05B2219/42317Redundant, two actuators G05B2219/42318Using two, more, redundant measurements or scales to detect bad function G05B2219/42319What kind of actuator failure G05B2219/42321Wrong direction or sign of measured value, eventually stop G05B2219/42322Emit dummy pulses, detect loss of pulses, feedback failure, wire brake, short G05B2219/42323Detect wire break, short circuit of feedback G05B2219/42324Axis breaking, between motor and slide, table G05B2219/42325Stalling of drive motor, overload G05B2219/42326Protection servo for saturation of amplifier G05B2219/42327Detect ballscrew wear G05B2219/42328Detect bearing, clamp wear G05B2219/42329Defective measurement, sensor failure G05B2219/42331Bad parameter configuration for spindle, gear ratio, encoder resolution G05B2219/42332Detect failure of servo controller G05B2219/42333Synchronization by opposite correction for both axis G05B2219/42334Synchronous tracking servo for biaxial positioning tables, contouring G05B2219/42335If one slave axis out of synchronisation, synchronise all other axes to that one G05B2219/42336To synchronize axis, adapt gain of each axis as function of max, min, average gain G05B2219/42337Tracking control G05B2219/42338Position tracking control G05B2219/42339Speed tracking control G05B2219/42341Force tracking control G05B2219/42342Path, trajectory tracking control G05B2219/42343Optimum, adaptive sliding mode controller G05B2219/42344Chattering alleviation control, chattering about switching surface G05B2219/42345VSTC variable structure tracking control G05B2219/42346Fuzzy sliding mode control fsmc G05B2219/42347Switch to a saturation control signal if deviation from switch line is too large G05B2219/42348Slimsoc sliding mode self organizing controller G05B2219/42349Sliding mode control with perturbation estimation smcpe G05B2219/42351PIVSC proportional integral compensated vsc G05B2219/42352Sliding mode controller SMC, select other gain G05B2219/42353Variable structure system, control VSS VSC G05B2219/43Speed, acceleration, deceleration control ADC G05B2219/43001Speed, feed, infeed, acceleration, stopping problems G05B2219/43002Acceleration, deceleration for forward, backward reciprocating movement G05B2219/43003Acceleration deceleration in presence of backlash, dynamic backlash G05B2219/43004Decelerate to follow desired velocity G05B2219/43005Corner distance variables to keep path when programmed speed changes G05B2219/43006Acceleration, deceleration control G05B2219/43007Acceleration from rest G05B2219/43008Deceleration and stopping G05B2219/43009Acceleration deceleration for each block of data, segment G05B2219/43011Shorter time by adjusting corner speed, avoid zero speed when engage corner G05B2219/43012Profile is defined by series of bits, for each actuator, sensor G05B2219/43013Ramp signal from division of sum of registers G05B2219/43014Calculate inertia ratio from full acceleration and full deceleration trial G05B2219/43015Calculate square root x G05B2219/43016Acceleration, deceleration as function of feed rate override G05B2219/43017Acceleration is larger than deceleration to compensate for friction G05B2219/43018Compensation, correction of acceleration, deceleration time G05B2219/43019Compensate acceleration for sudden change in load, shockless G05B2219/43021At several positions detect acceleration error, compensate for it G05B2219/43022Compensate for friction as function of position G05B2219/43023Switch from acceleration to deceleration if mid stroke speed not reached G05B2219/43024Parabolic velocity profile, linear acceleration, keep energy dissipation minimal G05B2219/43025Acceleration, deceleration is polynomial, derivative is zero on stop position G05B2219/43026Predict deceleration start from measured characteristics and actual performance G05B2219/43027Parabolic acceleration, deceleration trajectory at start, stop G05B2219/43028Switching points for trapezoidal form are stored in memory G05B2219/43029Acceleration larger than deceleration for safe stopping at slow speed G05B2219/43031Feed speed reduction dependent on tool surface G05B2219/43032Non symmetric acceleration profile G05B2219/43033Sinusoidal acceleration profile G05B2219/43034Form of profile, ramp, trapezoid, S-curve, exponential G05B2219/43035Vertical start and stop phase G05B2219/43036Velocity profile with given starting and stopping speed vector G05B2219/43037Position, speed as function of position is trapezoid G05B2219/43038Parabolic acceleration, constant speed, parabolic deceleration as function of position G05B2219/43039Time, exponential acceleration, constant speed, exponential deceleration as function of time G05B2219/43041Prediction, look ahead deceleration control, calculate start deceleration G05B2219/43042Convolution of speed curve with torque curve G05B2219/43043Normal and maximum deceleration mode, switch as function of position deviation, error G05B2219/43044Drive and brake alternative to decelerate and stop G05B2219/43045Max torque, acceleration, then variable, then reverse, variable then max deceleration G05B2219/43046Determine time constant from command speed and needed max acceleration torque G05B2219/43047If speed below reference, small acceleration, if above, large deceleration G05B2219/43048Step change in reference, soft start , smoothing reference G05B2219/43049Digital convolution for velocity profile, also successive convolution G05B2219/43051Translate generic motion description into acceleration profiles G05B2219/43052Set for each block time constant and speed target G05B2219/43053Slow acceleration, rapid deceleration G05B2219/43054Take up gear backlash during deceleration G05B2219/43055Same acceleration deceleration pattern for position and velocity loop G05B2219/43056Asynchronous acceleration between slow, fast axes, rotational, linear axes G05B2219/43057Adjust acceleration, speed until maximum allowable moment for axis G05B2219/43058Limitation of acceleration, permissible, tolerable acceleration G05B2219/43059Accelerate, decelerate all axis as function of max, min, average speed axis G05B2219/43061Maximum acceleration deceleration lookup table as function of distance G05B2219/43062Maximum acceleration, limit G05B2219/43063Acceleration deceleration as function of maximum allowable speed G05B2219/43064Brake, decelerate at least one axis at maximum G05B2219/43065Limitation of jerk G05B2219/43066Max centrifugal acceleration, especially for cmm G05B2219/43067Reach maximum speed at zero acceleration G05B2219/43068Adapt acceleration as function of load, developed heat in motor G05B2219/43069Measure acceleration, derive limit torque, adapt acceleration G05B2219/43071Open closing acceleration deceleration control G05B2219/43072Position controlled opening profile G05B2219/43073Time controlled opening profile G05B2219/43074Control speed, acceleration so as to follow desired speed profile G05B2219/43075Two modes, one normal and one for obstruction by objects G05B2219/43076Switch from acceleration to constant speed as function of detected speed limit G05B2219/43077Limit switch starts braking, stop, no braking, low torque movement until end G05B2219/43078Near end position limit switch, brake by reversing, then slow until end limit G05B2219/43079Acceleration, deceleration controlled by switches along path G05B2219/43081Set parameters of profile generator, creep distance and speed, flight time G05B2219/43082Near end position limit switch, lower speed and brake G05B2219/43083Structure, step motor G05B2219/43084Acceleration deceleration circuit implemented in software, algorithm G05B2219/43085Acceleration-deceleration circuit before interpolator G05B2219/43086Acceleration-deceleration circuit after interpolator G05B2219/43087Stop valves to stop fluid flow of hydraulic drive cylinder G05B2219/43088Select out of plurality of acceleration profiles G05B2219/43089Rom, ram with speed and acceleration G05B2219/43091Ram with optimum motion curve G05B2219/43092Torque curve, wave stored in rom, ram G05B2219/43093Speed pattern, table together with timing data in ram G05B2219/43094Acceleration and deceleration together with their respective time G05B2219/43095Maximum speed and acceleration deceleration time constant as function of position G05B2219/43096Position, trajectory and speed stored in ram G05B2219/43097Table, rom, ram speed table G05B2219/43098Change ADC time constant during start and end of interpolation G05B2219/43099Select acceleration deceleration time constants as function of weight, load , position G05B2219/43101Change time constants acceleration, deceleration as function of feed rate override G05B2219/43102Time constant acceleration, deceleration as function of machining conditions G05B2219/43103Switch adc time constants as function of type of axis, spindle feed or position axis G05B2219/43104Minimize time constant based on operation program G05B2219/43105ADC time constants as function of type of axis rotational or linear G05B2219/43106Time constant acceleration, deceleration as function of temperature of motor G05B2219/43107Correction acceleration and deceleration as function of speed, time constants in rom G05B2219/43108Delay stop command as function of error between reference and multiple of increments G05B2219/43109Adaptive stopping with correction for both directions G05B2219/43111Measure time needed from first to second speed, to adapt position command G05B2219/43112Using feedforward prediction of position G05B2219/43113Give stop order a certain number of motor rotations before end stop G05B2219/43114Detect position, speed or time of object between begin and end, adapt motion G05B2219/43115Adaptive stopping G05B2219/43116Calculate overshoot from supply voltage change, adapt motion G05B2219/43117Torque compensation as function of position reference, feedback of speed and position G05B2219/43118Adjust position reference as function of position reference, feedback of speed and position G05B2219/43119Adapt robot motion to machine speed as function of error from programmed speed G05B2219/43121Axis speed as function of probing signal during probing of workpiece G05B2219/43122Adapt speed, feed as function of duration of transmission of instruction G05B2219/43123Speed of cutter as function of position of feeler, probe G05B2219/43124Adapt speed as function of material, thickness, depth, volume, width, uniform surface quality G05B2219/43125Speed as function of size of chuck, diameter tool G05B2219/43126Pivoting speed of workpiece as function of inverse of work, machining time needed G05B2219/43127As a function of, select reference velocity as function of gear ratio G05B2219/43128Feed as function of number of press operations G05B2219/43129Speed as function of curvature, in curves, corners smaller than in straight line G05B2219/43131Adapt speed as function of lag, follow up error G05B2219/43132Rotation speed as function of minimum wave energy, toolwear, first learn for different speeds G05B2219/43133Delay movement start as function of lag, follow up error G05B2219/43134Feed or speed as function of magnetic characteristic, code, form of tool G05B2219/43135Reduce path speed near centre of axis G05B2219/43136Lower speed of indexing motor if door to turret lathe is open G05B2219/43137Constant path speed for combined rotational and linear movement G05B2219/43138Set speed by controlling position of pulley of variable transmission G05B2219/43139VCO variable frequency oscillator or two oscilators with different frequency G05B2219/43141Surface, path, tangential speed G05B2219/43142Control relative speed between two spindles G05B2219/43143ADC ramp and velocities are set by potentiometers which control digital valve G05B2219/43144Accelerate one slide and decelerate other slide to keep speed constant G05B2219/43145Machine first with low spindle speed, then with high speed, avoid chatter G05B2219/43146Control of speed, velocity of movement of tool as function of power of tool G05B2219/43147Control power of tool as function of speed, velocity of movement G05B2219/43148Rapid return, retract stroke G05B2219/43149Rapid approach, then slow, then pressure for clamping, bonding G05B2219/43151Rapid feed in, slow workspeed during entering material, then high work speed G05B2219/43152Feed in, transfer line, rapid traverse to work, grip speed G05B2219/43153Control depth of feed in by timer G05B2219/43154Quick feed in to workpiece without gauging, then normal feed with gauging G05B2219/43155Rapid speed for approach then slow speed for working G05B2219/43156Feed rate G05B2219/43157Feed rate G05B2219/43158Feedrate override G05B2219/43159Feedrate override only for x y, not for z or only for z and not for x y G05B2219/43161Second, independent feedrate override G05B2219/43162Motion control, movement speed combined with position G05B2219/43163Based on unit motions, primitive b-spline motions, time shifted and weighted G05B2219/43164Independent, uncoordinated motion control of several motors to initialise G05B2219/43165Superposition of special effects motion on normal motion G05B2219/43166Simulation of mechanical gear G05B2219/43167Distributed motion control G05B2219/43168Motion profile planning for point to point control G05B2219/43169Motor drives a mechanical cam G05B2219/43171Correction servo and constant velocity motor as input to differential, sum motion G05B2219/43172Change velocities on the fly during a motion G05B2219/43173Synchronize motion with scenery, sound G05B2219/43174Simulating cam motion mechanism G05B2219/43175Motion in several blocks, for each part in open and part in closed loop G05B2219/43176Scale velocity profile G05B2219/43177Single cycle positioning, start, move, stop for single rotation G05B2219/43178Filter resonance frequency from acceleration pattern, derive new speed pattern G05B2219/43179Speed changes gradualy from constant value to zero G05B2219/43181Reaching reference position by spiraling speed reference G05B2219/43182Speed control with feedback and as reference the programmed value G05B2219/43183Speed control, input is the reference, but no feedback G05B2219/43184From desired speed, derive delta positions during equal intervals G05B2219/43185Speed invariant motions, path accuracy independent of speed G05B2219/43186Pulses from handle, knob, hand wheel control speed G05B2219/43187Vector speed, ratio between axis, without feedback G05B2219/43188Vector speed with feedback G05B2219/43189Sum of squares G05B2219/43191Approximation G05B2219/43192Brake while driving to obtain very low speed, step wise movement, then stop G05B2219/43193Variable slope speed steps as function of position, pulse pump controller G05B2219/43194Speed steps, switch over as function of position G05B2219/43195Using a tri-phase motor and a step motor G05B2219/43196Using two motors G05B2219/43197Two axis at the same time G05B2219/43198Coupling and step motor G05B2219/43199Safety, limitation of feedrate G05B2219/43201Limit speed to allowable speed for all axis G05B2219/43202If collision danger, speed is low, slow motion G05B2219/43203Limitation of speed, permissible, allowable, maximum speed G05B2219/43204Different, dynamic current limits as function of speed G05B2219/43205General tape speed controls speed of axis G05B2219/43206Tape speed controls speed of axis G05B2219/45Nc applications G05B2219/45001Antenna orientation G05B2219/45002To application field of control G05B2219/45003Harvester G05B2219/45004Mining G05B2219/45005Registration machine, chart recorder G05B2219/45006Valves G05B2219/45007Toy G05B2219/45008Theatre G05B2219/45009Glassforming G05B2219/45011To be assigned G05B2219/45012Excavator G05B2219/45013Spraying, coating, painting G05B2219/45014Elevator, lift G05B2219/45015Roller blind, shutter G05B2219/45016Radar G05B2219/45017Agriculture machine, tractor G05B2219/45018Car, auto, vehicle G05B2219/45019Balancing wheels G05B2219/45021Wheel mounting G05B2219/45022Auto seat, dentist chair, roll wheel chair G05B2219/45023Align head lamps of car G05B2219/45024Simulation car ride G05B2219/45025Position, mount glass window, sunroof in car-body G05B2219/45026Circuit board, pcb G05B2219/45027Masking, project image on wafer semiconductor, photo tracer G05B2219/45028Lithography G05B2219/45029Mount and solder parts on board G05B2219/45031Manufacturing semiconductor wafers G05B2219/45032Wafer manufacture interlock, load-lock module G05B2219/45033Wire bonding, wire wrap G05B2219/45034Adjusting, trimming circuits on printed boards G05B2219/45035Printed circuit boards, also holes to be drilled in a plate G05B2219/45036Waterjet cutting G05B2219/45037Veneer cutting G05B2219/45038Cutting plotter G05B2219/45039Slitter, scoring G05B2219/45041Laser cutting G05B2219/45042Hot wire cutting, use of polystyrene or similar material G05B2219/45043EDM machine, wire cutting G05B2219/45044Cutting G05B2219/45045Maintenance, automatic storage and retrieval system G05B2219/45046Crane G05B2219/45047Sorting G05B2219/45048Packaging G05B2219/45049Forklift G05B2219/45051Transfer line G05B2219/45052Filling vehicle with material G05B2219/45053Coil, bobbin handling G05B2219/45054Handling, conveyor G05B2219/45055Assembly G05B2219/45056Handling cases, boxes G05B2219/45057Storage handling for disks or material G05B2219/45058Grinding, polishing robot G05B2219/45059Drilling robot G05B2219/45061Measuring robot G05B2219/45062Surface finishing robot G05B2219/45063Pick and place manipulator G05B2219/45064Assembly robot G05B2219/45065Sealing, painting robot G05B2219/45066Inspection robot G05B2219/45067Assembly G05B2219/45068Cutting robot G05B2219/45069Computer controlled automata, doll G05B2219/45071Aircraft, airplane, ship cleaning manipulator, paint stripping G05B2219/45072Sewer cleaning manipulator G05B2219/45073Microrobot G05B2219/45074Edge treating robot, machine G05B2219/45075Sewer repair G05B2219/45076Gas, fuel refilling G05B2219/45077Sculpturing manipulator G05B2219/45078Window cleaning, end effector contains detection and cleaning means G05B2219/45079Stripping robot, strip pieces of garments from table G05B2219/45081Tuning robot for amplifiers G05B2219/45082Sanding robot, to clean surfaces G05B2219/45083Manipulators, robot G05B2219/45084Service robot G05B2219/45085Space robot G05B2219/45086Brick laying, masonry robot G05B2219/45087Gymnast robot, acrobat G05B2219/45088Riveting robot G05B2219/45089Testing robot G05B2219/45091Screwing robot, tighten or loose bolt G05B2219/45092Analysing or chemical synthesis robot, moving samples from station to station G05B2219/45093Tacker robot, to join panels with nails, staples G05B2219/45094Milling robot G05B2219/45095Office messenger G05B2219/45096Polishing manipulator G05B2219/45097Cable harnessing robot G05B2219/45098Vacuum cleaning robot G05B2219/45099Filament, tape winding robot G05B2219/45101Hot line work robot, to handle high voltage lines G05B2219/45102Concrete delivering manipulator with several links G05B2219/45103Security, surveillance applications G05B2219/45104Lasrobot, welding robot G05B2219/45105Fruit picker, pruner, end effector is a platform for an operator G05B2219/45106Used in agriculture, tree trimmer, pruner G05B2219/45107Weed robot G05B2219/45108Aid, robot for aid to, assist human disabled G05B2219/45109Excercise, coordination, therapy, rehabillitation robot for disabled patients G05B2219/45111Meal, food assistance G05B2219/45112Arm movement aid G05B2219/45113Animal handling, milking robot G05B2219/45114Fisher line robot G05B2219/45115Evisceration robot, remove intestines of animal G05B2219/45116Tapping human shoulder with hammer G05B2219/45117Medical, radio surgery manipulator G05B2219/45118Endoscopic, laparoscopic manipulator G05B2219/45119Telesurgery with local assistent, voice communication G05B2219/45121Operating microscope, mounted on manipulator arm G05B2219/45122Laser skin treatment G05B2219/45123Electrogoniometer, neuronavigator, medical robot used by surgeon to operate G05B2219/45124Two spindle lathe G05B2219/45125Four axis, spindle lathe G05B2219/45126Riveting machine G05B2219/45127Portable, hand drill G05B2219/45128Nibble machines G05B2219/45129Boring, drilling G05B2219/45131Turret punch press G05B2219/45132Forging press, combined with furnace G05B2219/45133Lapping G05B2219/45134Marking G05B2219/45135Welding G05B2219/45136Turning, lathe G05B2219/45137Punch, stamp, also with use die, mould G05B2219/45138Laser welding G05B2219/45139Laser drilling G05B2219/45141Turret lathe G05B2219/45142Press-line G05B2219/45143Press-brake, bending machine G05B2219/45144Saw G05B2219/45145Milling G05B2219/45146Inertia friction welding G05B2219/45147Machining blade, airfoil G05B2219/45148Boring G05B2219/45149Micromachining to micrometer precision G05B2219/45151Deburring G05B2219/45152Forming workpiece by pressing tool against metal on model G05B2219/45153Carton forming G05B2219/45154Forming workpiece by using thermal energy, laser forming G05B2219/45155Electroforming, original form is covered with metal G05B2219/45156Grind on lathe G05B2219/45157Grind optical lens G05B2219/45158Grind sawteeth G05B2219/45159Dressing, sharpening, trueing tool G05B2219/45161Grinding machine G05B2219/45162Chamfer grinding G05B2219/45163Laser erosion, take away layer of material by burning, use oxygen, engrave G05B2219/45164Laser refurbish with laser beam and metal powder G05B2219/45165Laser machining G05B2219/45166Tomography G05B2219/45167Dentist, dental manufacture G05B2219/45168Bone prosthesis G05B2219/45169Medical, rontgen, x ray G05B2219/45171Surgery drill G05B2219/45172Prosthesis G05B2219/45173Object making, golf ball G05B2219/45174Making panels G05B2219/45175Glasses, spectacles G05B2219/45176Animation for film scenes, show G05B2219/45177Data disk drive G05B2219/45178Zoom, focus lens G05B2219/45179Optical, telescope G05B2219/45181Optical multiplexer G05B2219/45182Microscope, micromanipulator for microscope G05B2219/45183Photocopying, image scanning G05B2219/45184Filming, photography, camera G05B2219/45185Auto mirror G05B2219/45186Print on workpieces G05B2219/45187Printer G05B2219/45188Laserjet printer G05B2219/45189Plotter G05B2219/45191Spinning, web spinning G05B2219/45192Weaving G05B2219/45193Yarn manufacturing G05B2219/45194Lace, braid, knitting G05B2219/45195Sewing machines G05B2219/45196Textile, embroidery, stitching machine G05B2219/45197Prepare and machine parts, assemble parts G05B2219/45198Coiling, making springs G05B2219/45199Polish G05B2219/45201Crowned roll machining G05B2219/45202Edge finishing G05B2219/45203Screwing G05B2219/45204Die, mould making G05B2219/45205Assembly of woodframe G05B2219/45206Ultrasonic drill, mill, machining G05B2219/45207Actuator to regulate position, flow, speed, process variable G05B2219/45208Long, deep drill, with drill, bore diameter small relative to length, in pipes G05B2219/45209Measuring, indicating device having a needle G05B2219/45211Making, assembling truss structures G05B2219/45212Etching, engraving, sculpturing, carving G05B2219/45213Integrated manufacturing system ims, transfer line, machining center G05B2219/45214Gear cutting G05B2219/45215Thread cutting G05B2219/45216Tapping G05B2219/45217Notching G05B2219/45218Making cams, cones G05B2219/45219Making intermeshing helical rotors, for pump, compressor G05B2219/45221Edm, electrical discharge machining, electroerosion, ecm, chemical G05B2219/45222Cloth making G05B2219/45223Making mirror, mirror segment G05B2219/45224Electrode making G05B2219/45225Making impellers, propellers G05B2219/45226Process control G05B2219/45227Stamp making G05B2219/45228Making spheres G05B2219/45229Woodworking G05B2219/45231Stoneworking G05B2219/45232CMP chemical mechanical polishing of wafer G05B2219/45233Repairing pipelines, tubes G05B2219/45234Thin flat workpiece, sheet metal machining G05B2219/45235Dispensing adhesive, solder paste, for pcb G05B2219/45236Facing, polygon working, polyhedron machining G05B2219/45237Honing machine G05B2219/45238Tape, fiber, glue, material dispensing in layers, beads, filling, sealing G05B2219/45239Filament, coil winding G05B2219/45241Coke oven G05B2219/45242Door, panel, window operation, opening, closing G05B2219/45243Shoe, footwear making G05B2219/45244Injection molding G05B2219/45245Making key G05B2219/45246Turn cylindrical workpiece, crowned G05B2219/45247Diamond turning, tool is diamond point G05B2219/45248Turning G05B2219/47Tracing, tracking G05B2219/4701Edge detector, project line, inclined camera detects discontinuity G05B2219/4702Project several lines on surface, to detect discontinuity by camera G05B2219/4703View whole surface before edge detection, coarse scan then fine tracking G05B2219/4704Store actual edge, seam in memory before machining, compare with detected G05B2219/4705Detect edge during machining, welding, sewing G05B2219/4706Edge detector is incorparated into machine G05B2219/4707Trace groove always at bottom of groove G05B2219/4708Command codes, marks along line to control operation, velocity G05B2219/4709Command code in form of a sticker G05B2219/4711Using a pantograph G05B2219/4712Using photocell sensible to different colours G05B2219/4713Limit scanning surface by marks, stored limit, limit switches G05B2219/4714Use of help paths to go to different workpiece paths to be followed G05B2219/4715Second photocell in advance of first, to control speed or other operation G05B2219/4716Trace electric potential lines to control z motion G05B2219/4717Machine 3-D model by tracing two 2-D models G05B2219/4718Two mode switch over tracking as function of predetermined cmm probe angle G05B2219/4719Line detector with laser beam, adjustable optical axis G05B2219/49Nc machine tool, till multiple G05B2219/49001Machine tool problems G05B2219/49002Map unfolded surface on flat surface to make dies, composite objects, free form G05B2219/49003Make two halves of tool, model at the same time G05B2219/49004Modeling, making, manufacturing model to control machine, cmm G05B2219/49005Map 2-D pattern on 3-D G05B2219/49006Nc machine makes cams, model to control, or make a copy, on other machines G05B2219/49007Making, forming 3-D object, model, surface G05B2219/49008Making 3-D object with model in computer memory G05B2219/49009Model stored in a memory of a prototype G05B2219/49011Machine 2-D slices, build 3-D model, laminated object manufacturing LOM G05B2219/49012Remove material by laser beam, air, water jet to form 3-D object G05B2219/49013Deposit layers, cured by scanning laser, stereo lithography SLA, prototyping G05B2219/49014Calculate number and form of 2-D slices automatically from volume on screen G05B2219/49015Wire, strang laying, deposit fluid, welding, adhesive, hardening, solidification, fuse G05B2219/49016Combination DTM and machining, sff, sfm solid free form fabrication G05B2219/49017DTM desktop manufacturing, prototyping G05B2219/49018Laser sintering of powder in layers, selective laser sintering SLS G05B2219/49019Machine 3-D slices, to build 3-D model, stratified object manufacturing SOM G05B2219/49021Deposit layer, machine, mill layer, then new layer, SDM solid deposit manufacting G05B2219/49022Photo masking, mask cures whole layer at one time, add wax, mill, new layer G05B2219/490233-D printing, layer of powder, add drops of binder in layer, new powder G05B2219/49024LEM laminated engineering materials, like lom but first cut, then stack G05B2219/49025By positioning plurality of rods, pins to form together a mold, maquette G05B2219/49026SDM shape deposition manufacturing for multimaterial layers G05B2219/49027SALD selective area laser deposition, vapor solidifies on surface G05B2219/49028Rapid freeze prototyping, selectively deposit and rapidly freeze water layer by layer G05B2219/49029Virtual rapid prototyping, create a virtual prototype, simulate rapid prototyping process G05B2219/49031Project particles, laser beam to point using two, more jets, beams, ballistic particle G05B2219/49032Bond layers with glue, solder, welding, brazing in LOM G05B2219/49033Blanks or taken from roll of metal sheet G05B2219/49034Changing design, use same prototype, add reinforcements where needed G05B2219/49035Reconstruct boundary volume from stack of layer contours, sections G05B2219/49036Use quality measures, build time, strength of material, surface approximation G05B2219/49037Electro rheological fluid to build support for overhanging parts, particle jet G05B2219/49038Support help, grid between support and prototype, separate easily G05B2219/49039Build layer of different, weaker material between support and prototype G05B2219/49041Workpiece is surrounded by softer support material during machining G05B2219/49042Remove chips from probe, tool by blowing them away G05B2219/49043Control of lubrication G05B2219/49044Control preload of spindle bearing G05B2219/49045Relieve stress of workpiece after machinining by vibration table G05B2219/49046Control flatness of deformable workpiece table G05B2219/49047Remove chips by tool up down movement, pecking G05B2219/49048Control of damping of vibration of machine base G05B2219/49049Coolant serves as lubrication and also to take away swarf, chips G05B2219/49051Heat treatment of workpiece, tempering G05B2219/49052Accessory, coolant G05B2219/49053Break chips, spiral chips, interrupt momentarily in feed during two or more rotations G05B2219/49054Active damping of tool vibration G05B2219/49055Remove chips from probe, tool by vibration G05B2219/49056Control of flow of fluid or temperature as function of speed for uniform coating G05B2219/49057Controlling temperature of workpiece, tool, probe holder G05B2219/49058Division algorithm, calculate inverse ratio of cutting process from parameters G05B2219/49059Machine with constant volume in time G05B2219/49061Calculate optimum operating, machining conditions and adjust, adapt them G05B2219/49062Adaptive control AC G05B2219/49063Adaptive control constraint ACC G05B2219/49064Fuzzy adaptive control G05B2219/49065Execute learning mode first for determining adaptive control parameters G05B2219/49066Geometric adaptive control G05B2219/49067Find optimum between production rate and quality, number of points and speed G05B2219/49068Minimum cost adaptive G05B2219/49069Adaptive control optimalisation ACO G05B2219/49071Cycle time reduction G05B2219/49072Action, withdraw, stop feed tool to prevent breakage or lower load G05B2219/49073Adapt machining parameters so as to keep temperature constant G05B2219/49074Control cutting speed G05B2219/49075Control depth of cut G05B2219/49076Reduce cutting speed if feed force below minimum level G05B2219/49077Control of feed and spindle, cutting speed G05B2219/49078Control of feed only G05B2219/49079Control cutting torque, force G05B2219/49081If obstruction, bad joint, move head aside and retry operation G05B2219/49082Maintain constant material removal rate G05B2219/49083If number of feed retractions exceeds a limit, repeat same instruction block G05B2219/49084Control roughness of surface G05B2219/49085CMP end point analysis, measure parameters on points to detect end of polishing process G05B2219/49086Adjust feeding speed or rotational speed of main spindle when load out of range G05B2219/49087Adjust parameter to compensate path deviation G05B2219/49088As a function of, regulate feed as function of material, tool G05B2219/49089Control feed as function of detected number of tools engaging simultaneously workpiece G05B2219/49091Control feed as function of detected diameter, cross section of workpiece G05B2219/49092Vary, change controlled parameter as function of detected power G05B2219/49093Adapt cutting speed as function of depth of cutting G05B2219/49094Feed as function of deviation of real from programmed position at fixed time intervals G05B2219/49095Of rigidity of workpiece G05B2219/49096Deviation of compliant mounted tool G05B2219/49097Material type of each layer to be drilled, to be joined G05B2219/49098As a function of machine operating speed and tool G05B2219/49099Cutting force, torque G05B2219/49101As function of tool speed G05B2219/49102Tool temperature G05B2219/49103Speed and feed G05B2219/49104Chip thickness G05B2219/49105Emitted noise of tool G05B2219/49106Feed as function of lateral movement of saw blade G05B2219/49107Optimize spindle speed as function of calculated motion error G05B2219/49108Spindle speed G05B2219/49109Control cutting speed as function of tool wire wear, measure diameter of wire G05B2219/49111Cutting speed as function of contour, path, curve G05B2219/49112Compensation alignment of cylindrical workpiece G05B2219/49113Align elements like hole and drill, centering tool, probe, workpiece G05B2219/49114Go to coarse programmed reference, detector for fine alignment G05B2219/49115Alignment by taking into account asymmetries in signal, for small offsets G05B2219/49116Align tool head with fixed line by actuating actuators along tool head slideways G05B2219/49117Alignment of surfaces to get them parallel G05B2219/49118Machine end face, control C-axis and X-axis G05B2219/49119Machine arc of circumference, as groove, cylindrical interpolation G05B2219/49121C-axis for turning, fifth axis for milling G05B2219/49122Multiclamping, to reduce dead times G05B2219/49123Simulation of clamping workpiece, modeling fixture and workpiece G05B2219/49124Determine clamping position from equipment specification and machining shape G05B2219/49125Open clamp if tool approaches clamp zone, close again afterwards G05B2219/49126Clamp piece to pallet using connectable power source G05B2219/49127Variable clamping force as function of movement, force on workpiece G05B2219/49128Determine maximum clamping force as function of allowable displacement workpiece G05B2219/49129Clamps are movable along rod to desired positions G05B2219/49131High force clamping along periphery G05B2219/49132Control fixed clamping force G05B2219/49133Variable chuck clamping force as function of spindle speed G05B2219/49134Clamp, keep positioned slide, workpiece stationary during machining G05B2219/49135Active clamping, use servo to keep in position G05B2219/49136Vacuum pads hold workpiece during machining G05B2219/49137Store working envelop, limit, allowed zone G05B2219/49138Adapt working envelop, limit, allowed zone to speed of tool G05B2219/49139Alarm if outside zone G05B2219/49141Detect near collision and slow, stop, inhibit movement tool G05B2219/49142Shut off power, stop if outside working zone G05B2219/49143Obstacle, collision avoiding control, move so that no collision occurs G05B2219/49144Limit movement on an axis by setting limits G05B2219/49145Spheres replace object, check first collision for large spheres, then small G05B2219/49146Tool changing registers geometry of tool to avoid collision G05B2219/49147Retract on collision with moving object, tool follows, yields to object G05B2219/49148Adapt working envelop, limit to size workpiece G05B2219/49149Ball end cutter interference, caused by tool shape, overcut part surface G05B2219/49151Axis related interference, remove hidden surfaces G05B2219/49152Feedhold, stop motion if machine door is open, if operator in forbidden zone G05B2219/49153Avoid collision, interference between tools moving along same axis G05B2219/49154Detect position of slide to change hover height of tool to avoid collision G05B2219/49155On collision, reverse motor over certain angle, then stop to avoid bending G05B2219/49156On collision, cut off motor, delay, again motor on, repeat to avoid bending G05B2219/49157Limitation, collision, interference, forbidden zones, avoid obstacles G05B2219/49158On near collision reduce speed G05B2219/49159Avoid pinching of persons between moving and fixed part G05B2219/49161Near end of position, lower power or speed of motor to safe value, at end normal G05B2219/49162On collision, obstruction reverse drive, accelerate, cancel inertia G05B2219/49163Stop, dwell in corner edge, allow for cooling, go on machining, better surface G05B2219/49164Corner, making corner G05B2219/49165Compensation relative movement between two commonly driven slides G05B2219/49166Compensation for measured deviation of tool path, as function of lenght of path G05B2219/49167Execute compensation only if workhead, module is connected G05B2219/49168Compensate feed as function of measured values and manual introduced values G05B2219/49169Compensation for temperature, bending of tool G05B2219/49171Compensate for dressing amount G05B2219/49172Compensate slide position as function of indexed workpiece spindle position error G05B2219/49173Compensation for sidewise deviation of machined workpiece G05B2219/49174Compensate position by use of separate cmm G05B2219/49175Compensate for errors in cmm, especially mirror errors, not flat enough G05B2219/49176Compensation of vibration of machine base due to slide movement G05B2219/49177Runout, eccentricity, unbalance of tool or workpiece G05B2219/49178Compensation of tool position as function of square of rotating speed of spindle G05B2219/49179Compensation for reluctance of axis motors causing surface ondulation G05B2219/49181Calculation, estimation, creation of error model using measured error values G05B2219/49182Tapping, overshoot after reversal, elasticity compensation G05B2219/49183Compensation height of tool as function of horizontal position of spindle head, bending G05B2219/49184Compensation for bending of workpiece, flexible workpiece G05B2219/49185Position error compensation as function of position of slide, control bearing pressure G05B2219/49186Deflection, bending of tool G05B2219/49187Control position of steady rest to compensate bending G05B2219/49188Proportional compensation from middle to end of elongated workpiece G05B2219/49189Bending of driven table, lag between real and commanded position G05B2219/49191Bending, tilt spindle in bearings to compensate for bending G05B2219/49192Create optical reference axis always kept parallel to reference optical block G05B2219/49193Orthogonality of axis, deviation from 90-degree correction G05B2219/49194Structure error, in slide or screw G05B2219/49195Slide, guideway, robot arm deviation G05B2219/49196Screw G05B2219/49197Gear G05B2219/49198Using lookup table, map, position and corresponding quasi static error G05B2219/49199For non linear interpolation movement G05B2219/49201Variable load, slide friction, irregular machine guides G05B2219/49202For point to point positioning G05B2219/49203For linear movement G05B2219/49204Control of heat to compensate for dilatation, thermal displacement G05B2219/49205Compensate with stored values as function of machining time G05B2219/49206Compensation temperature, thermal displacement, use measured temperature G05B2219/49207Compensate thermal displacement using measured distance G05B2219/49208Preheat spindle by powering polyphase motor with monophase G05B2219/49209Compensation by using temperature feelers on slide, base, workhead G05B2219/49211Compensation dilatation using calculated temperature from velocity G05B2219/49212Using lookup table, map, position error, temperature and position G05B2219/49213Active thermal preload regulation for spindle G05B2219/49214Estimate error from heat distribution model and drive current, correct error G05B2219/49215Regulate temperature of coolant G05B2219/49216Control of temperature of processor G05B2219/49217Compensation of temperature increase by the measurement G05B2219/49218Compensation of workpiece dilatation G05B2219/49219Compensation temperature, thermal displacement G05B2219/49221Control of scale G05B2219/49222Rough cut at high speed G05B2219/49223Remove workpiece portions left uncut, unmachined by tool with suitable shape G05B2219/49224Identify and calculate uncut portions G05B2219/49225Adapt machining conditions as function of workpiece cutting resistance G05B2219/49226Cut, up or down cutting, cutting direction right, left G05B2219/49227Cutting with trailing or leading edge of tool G05B2219/49228Unidirectional or multidirectional cutting G05B2219/49229Cutter, axis change over G05B2219/49231Keep tool, probe at constant distance from workpiece surface G05B2219/49232Limit penetration of drill into backup material, support G05B2219/49233Machining depth relative to surface, constant depth G05B2219/49234Keep constant distance even if hole present, avoid collision tool with hole G05B2219/49235Control depth as function of grey level of scanned object, map of thickness G05B2219/49236Translate thickness to be removed in dwell delay, then to corresponding speed G05B2219/49237Depth, tool depth control G05B2219/49238Surface tracking, following G05B2219/49239Dimensions G05B2219/492412-5-D lace cutting, work in xy and increment in z, repeat G05B2219/492424-D G05B2219/492435-D G05B2219/492446-D G05B2219/492452-5-D pocket machining G05B2219/492463-D printing, layer of powder, add drops of binder in layer, new powder G05B2219/49247Dressing started after number of workpieces machined G05B2219/49248Dressing started if sparking out time to get correct surface is too long G05B2219/49249Dressing as function of load of grinding wheel G05B2219/49251Dress by conductive fluid between conductive grindstone and electrode G05B2219/49252Two spindle drives for common workpiece G05B2219/49253Position in space by controlling length of two, more cables, wires G05B2219/49254High speed AC, induction spindle motor G05B2219/49255Gear meshing, synchronize both with relative phase, then shift G05B2219/49256Epicyclic movement of tool G05B2219/49257Six or more linear drives to position x y z table G05B2219/49258Two y axis to control also rotation G05B2219/49259Endless belt with coupling, position tools simultaneously in both directions G05B2219/49261Direct drive, without gear G05B2219/49262Two drives at both sides of long tool G05B2219/49263Separate, auxiliary indexing motor G05B2219/49264Several x-y slides on single surface G05B2219/49265X motor moves x and y axis, y motor only y axis G05B2219/49266Two xy tables, on top and below workpiece, in between a cutting wire G05B2219/49267Three linear actuators to position vertically and rotate horizontally G05B2219/49268Four bar mechanism G05B2219/49269Single motor for different drives , switch, change gears G05B2219/49271Air bearing slide, hydraulic, electromagnetic bearing G05B2219/49272Electromagnetic bearing also used as feed in one axis or positioning in two axis G05B2219/49273Switch between continuous drive and index or stop mode G05B2219/49274Four linear actuators to position x y table G05B2219/49275Linear actuators on x y to position x y table, ballscrew drive on y to rotate G05B2219/49276Floating, air, magnetic suspension xy table, sawyer motor, xenetics G05B2219/49277Oscillating, swinging feed drive, for grinding G05B2219/49278Parallel link mechanism G05B2219/49279Nanometric xy table G05B2219/49281X y table positioned by vibration G05B2219/49282Same control for double drive or slide G05B2219/49283Frictionless rolling element G05B2219/49284Two cascaded slides, large range sits on small range, piggyback G05B2219/49285Linear control rotating movement kept constant G05B2219/49286Two rotations gives cartesian coordinates, compact construction G05B2219/49287Motor drives cam for very fine linear displacement, movement G05B2219/49288Three linear actuators to position x y table G05B2219/49289Large transmission ratio G05B2219/49291Torque, moment, drive power amplifier, movement follower G05B2219/49292Harmonic gear, transmission, strain wave gear G05B2219/49293Switch between dual, double slide or double spindle mode G05B2219/49294Motor and brake actuated together G05B2219/49295Drive spindle motor at maximum, limit torque for rapid machining time G05B2219/49296Identification workpiece by dimension, height, resistance value, but no code G05B2219/49297Spindle identification in multispindle station G05B2219/49298Probe identification G05B2219/49299Identify workpiece and align, center workpiece at the same time G05B2219/49301Identify material to be used, select between several G05B2219/49302Part, workpiece, code, tool identification G05B2219/49303Tool identification and tool offset, compensation data together G05B2219/49304Tool identification, code G05B2219/49305Store, memory on tool with control and maintenance data G05B2219/49306Derive kind of cutter from null load G05B2219/49307Learn, learn operational zone, feed, speed to avoid tool breakage G05B2219/49308Fuzzy classification of tool wear states G05B2219/49309Main and secondary machining area, main spindle and satellite spindle G05B2219/49311Select machining portion of workpiece, pivoting workpiece as function of correction needed G05B2219/49312Fixture free machining G05B2219/49313Machining about eccentric center different from rotational center of workpiece G05B2219/49314Machine with oscillating workpiece, no full rotation G05B2219/49315Machine first contour slowly, then remaining surface quickly, fast G05B2219/49316Back-off grinding, during wheel retract, by deflection workpiece, after plunge G05B2219/49317Traverse grinding, move along workpiece G05B2219/49318Grind and simultaneous gauging, dwell, measure and final feed without gauging G05B2219/49319Centerless machining, grinding, cutting G05B2219/49321Reverse movement of tool to deburr G05B2219/49322Cool to solidify material before machining it G05B2219/49323Machine long, slender workpiece G05B2219/49324Different starting point for each machining pass, to prevent dent formation G05B2219/49325Combine punching and laser machining G05B2219/49326Drill on laser machine, transfer to edm for operation on hole, adjust position G05B2219/49327Combine punch and marker, engraving for workpiece G05B2219/49328Laser machining and milling combined G05B2219/49329Combine edm and milling G05B2219/49331Laser drilling followed by laser cutting G05B2219/49332First saw rough contours in workpiece then mill rest G05B2219/49333Drilling and thread cutting by same machine G05B2219/49334Combine turning, milling, grinding or other in one setup G05B2219/49335Part, workpiece, inner, internal outer, external machining G05B2219/49336Machine two mating, matching parts, at opposite ends of spindle, simultaneously G05B2219/49337Machine holes in spherical nodes G05B2219/49338Micromachining, workpieces small, around 1-mm or less G05B2219/49339Machine simultaneous left and right, mirror part G05B2219/49341Manual pocket machining, multipasses G05B2219/49342Select between concentric and eccentric regions of a workpiece G05B2219/49343Machining point symmetrical surfaces, revolving surfaces G05B2219/49344Surface, 5-axis surface machining G05B2219/49345Smooth and polish surface at the same time G05B2219/493463-Axis surface machining G05B2219/49347Machine cover, first scan surface on which cover is to be placed G05B2219/49348Mill surface from underneath workpiece, easy chips, cutout material evacuation G05B2219/49349Drill both sides of workpiece at the same time, under and over workpiece G05B2219/493514-Axis surface machining G05B2219/493527-Axis surface machining G05B2219/49353Control of output power of tool, laser beam G05B2219/49354High speed cutting G05B2219/49355Machine flat surface on rotating workpiece, rotate tool inverse direction G05B2219/49356Tool with constant force against workpiece during machining G05B2219/49357Tool perpendicular to surface with varying force G05B2219/49358Facing milling, tool perpendicular to surface G05B2219/49359Cylindrical or side milling, tool tangential to surface G05B2219/49361Workpiece and tool have each own rotation speed G05B2219/49362Tool, probe at constant height to surface during machining G05B2219/49363Minimalize time for tool movement between different positions, holes G05B2219/49364Minimize number of punch strokes G05B2219/49365Minimise noncutting area, tool travel, eliminate air cutting G05B2219/49366Machine several small pieces on one sheet, break off pieces G05B2219/49367Group machines into cells to minimise intercellular travel G05B2219/49368Vision calculates errors while table already moves, result corrects movement G05B2219/49369Minimize machining time by maximizing feed, speed G05B2219/49371Variable laser spot width, small for boundary, large for rest G05B2219/49372Optimize toolpath pattern for a given cutting layer, mounting sequence G05B2219/49373Flying operation, while tool and workpiece have same speed G05B2219/49374Speed up each conveyor between two stations, at stations synchronize in phase G05B2219/49375Minimalizing machine time, number of tool change G05B2219/49376Select two machining types, milling or turning, complete machining with one tool G05B2219/49377Eliminate double cutting G05B2219/49378Tool path finding, select minimal distance G05B2219/49379Key input path, move one axis manually, other axis slave controlled by program G05B2219/49381Raster, line servo, area machining, cutting, facing G05B2219/49382Movement reciprocating G05B2219/49383Using pick feed with non reciprocating machining direction G05B2219/49384Control of oscillatory movement like filling a weld, weaving G05B2219/49385Using pick feed when machining a surface G05B2219/49386Automatic seam, weld line, finding G05B2219/49387Limiting scanning region G05B2219/49388Computer controlled movement of plotter is transferred to tool by pantograph G05B2219/49389Machine alternative both sides of rib, net machining, against deformation G05B2219/49391Adapt number of passes as function of tool wear G05B2219/49392Multipasses, segmentation of cut, paraxial cutting G05B2219/49393Machining step, fixing smallest step nibble machine, planer G05B2219/49394Stop in one point, execute other operation and return back to first point G05B2219/49395Repeating same operations for other coordinates G05B2219/49396Stepwise milling, mill by advancing larger step then retract smaller step, repeat G05B2219/49397Control of dwell time G05B2219/49398Repeat same operations on machined part until machining reaches its finishing G05B2219/50Machine tool, machine tool null till machine tool work handling G05B2219/50001Multislides, multispindles with multitool turret for each G05B2219/50002Drill more holes simultaneously, adapt distance tools as function of detected image G05B2219/50003Machine simultaneously two workpieces G05B2219/50004Multitool at the same time, priority for one tool as function of machining parameter G05B2219/50005Multiple chuck machining, chuck position change after each partial machining G05B2219/50006Two parallel spindles, bi-spindle and two tool blocks sliding on same axis G05B2219/50007Multiple polishing heads, oscillating and rotating G05B2219/50008Multiple, multi tool head, parallel machining G05B2219/50009Revolver head G05B2219/50011Two spindles drive single large tool, cooperation of spindles G05B2219/50012Multi slide and indexable multi workpiece spindles G05B2219/50013Two spindles on same line, one for workpiece, other for tool, second tool on slide G05B2219/50014Several, multi workpieces G05B2219/50015Multi cutting, twin tools contact at same time workpiece, balance cutting G05B2219/50016Turret with multiple workpiece holders, spindles, multiple fixed tools around it G05B2219/50017Two programs, two slides, data second slide related to moving origin of first G05B2219/50018Zero point floating G05B2219/50019Zero, null offset G05B2219/50021Configuration, null point on tool relative to null point on workpiece G05B2219/50022Null point on tool relative to null point of toolholder, rotationcenter G05B2219/50023Measure different null points, references of tool and store in memory G05B2219/50024Go to reference, switches and dog to decelerate and to detect origin G05B2219/50025Go to reference, switches and dog detect origin, combine with pulse from encoder G05B2219/50026Go to reference plane, cube G05B2219/50027Go to workpiece surface plane and store position G05B2219/50028Beam detects x, y deviation on surface, compensates beam of position scanner G05B2219/50029Go to pivotable, rotatable reference plane G05B2219/50031Zero setting, go to reference with gauge G05B2219/50032On one axis only, derive from inclined surface offsets for other axis G05B2219/50033Align tool, tip with a calibration mask G05B2219/50034Set search range about origin, select between different overlapping ranges G05B2219/50035Go to reference point and measure a preset force, pressure, store position G05B2219/50036Find center of circular mark, groove G05B2219/50037Use either upper or lower limit for home control G05B2219/50038Go to mechanical limit with low speed, until blocking of drive G05B2219/50039Two probe, one on turret, serves also to calibrate second probe on bed G05B2219/50041Measuring intensity of tool vibration G05B2219/50042Return to origin, reference point, zero point, homing G05B2219/50043Near zero detection G05B2219/50044For speed G05B2219/50045Combined axis jogging, following programmed shape instead of single axis G05B2219/50046Control of level, horizontal, inclination of workholder, slide G05B2219/50047Positioning, indexing G05B2219/50048Jogging G05B2219/50049Control machine as function of position, angle of workpiece G05B2219/50051Turn workpiece axis perpendicular to turn axis of lathe G05B2219/50052Orienting workpiece relative to tool G05B2219/50053Machine non circular, non-round cross section, hexagonal, rectangular G05B2219/50054Drill on skew surface G05B2219/50055Make hollow worpiece with uniform wall thickness G05B2219/50056Profile, for operation on I-, T-profiles or other elongated profiles G05B2219/50057Compensation error by probing test, machined piece, post or pre process G05B2219/50058During machining, measure previous part to compensate errors G05B2219/50059Record profile error, used for next machining pass G05B2219/50061Compensation of measuring errors due to machine with footprint G05B2219/50062Measure deviation of workpiece under working conditions, machine correction G05B2219/50063Probe, measure, verify workpiece, feedback measured values G05B2219/50064Camera inspects workpiece for errors, correction of workpiece at desired position G05B2219/50065Estimate trends from past measured values, correct before really out of tolerance G05B2219/50066Fit base pattern into detected geometrical workpiece data, create whole program G05B2219/50067Measure surface for thickness and store map in memory, machine surface G05B2219/50068Test valve, object, store parameters, machine object to get wanted performance G05B2219/50069Reject workpiece if not machinable, material to be machined too large G05B2219/50071Store actual surface in memory before machining, compare with reference surface G05B2219/50072Machine workpiece again to correct previous errors G05B2219/50073Signature analysis, store forces during test, compare with real ones during assemby G05B2219/50074Purpose, workpiece measurement to control, adapt feed of tool G05B2219/50075To adapt, control force level at which machining will be considered as finished G05B2219/50076To derive from state of surface, the need to change used, worn tool G05B2219/50077Keep position by switching over to auxiliary power supply for resolver , encoder G05B2219/50078Single battery backup for all axis, encoders, resolvers G05B2219/50079Battery backup supply switched over data, signal lines, to save cable G05B2219/50081On power loss, shut down axis using generated power from one braked axis G05B2219/50082UPS, no break to power actuator and move into safe condition G05B2219/50083Power loss, measures again loss of power G05B2219/50084Keep position, setup parameters in memory G05B2219/50085Realignment, search reference to restablish position G05B2219/50086Microprocessor G05B2219/50087Rough, coarse and finish, fine machining G05B2219/50088Rough and finish machining simultaneously G05B2219/50089Finish allowance equals offset rough finish tool and bending work under rough G05B2219/50091Rough machining G05B2219/50092Sculptured part rough machining with the offset approach G05B2219/50093Sculptured rough machining with the contour map approach, make slices G05B2219/50094Optimize number of layers to be cut for contour map approach G05B2219/50095On tool breakage return to a reference then follow already machined path G05B2219/50096After interrupt, use tool path display to bring tool back on path G05B2219/50097After repair, dry run program until block before restart is detected G05B2219/50098After interrupt, interpolate with suitable startpoint different from stoppoint G05B2219/50099Before restart change jig, fixture with workpieces G05B2219/50101For fine machining, select tool and offset, block and restart midway G05B2219/50102Store history of operation, after power failure, restart from history, journal G05B2219/50103Restart, reverse, return along machined path, stop G05B2219/50104Before restarting program, restore machine status existing at stop time G05B2219/50105Display instructions to operator on how to restart machine G05B2219/50106Before allowing restart, check that machine condition is optimal G05B2219/50107Retract tool if end of drilling is detected G05B2219/50108Retract tool stepwise, same path, until safe boundary reached, then quick retract G05B2219/50109Soft approach, engage, retract, escape, withdraw path for tool to workpiece G05B2219/50111Retract tool along path, reengage along same path G05B2219/50112Retract tool to a point G05B2219/50113Short stroke, retract tool, safe distance from workpiece surface, hover height G05B2219/50114Select approach path as function of zone for tool slide G05B2219/50115Select complicated, combined approach path G05B2219/50116Select approach path out of plurality G05B2219/50117Select approach path as function of machining time G05B2219/50118Select as function of position of tool during cycle, optimum path G05B2219/50119Select between set of paths as function of interrupt nature G05B2219/50121Machining several workpieces with one or more tools in one setup G05B2219/50122Workpiece holder, chuck jaws, fixture setup G05B2219/50123Setup, automatic setup G05B2219/50124Automatic new setup when new program selected G05B2219/50125Configurable fixture, jig G05B2219/50126Position clamp, fixture by machining head itself G05B2219/50127Modular fixture, use of clamps and locators, the latter also for positioning G05B2219/50128Reference free part encapsulation, fixture using molten filler and cube G05B2219/50129Setup machines as function of process model, control strategy for optimum use of machines G05B2219/50131Setup as function of tool position in manufacturing center G05B2219/50132Jig, fixture G05B2219/50133With optical beam, tool crosses beam G05B2219/50134Tool pushes reference plane, or vice versa, reverse motion until again zero G05B2219/50135Tool touches box, sensor to give a contact signal G05B2219/50136With sensor, potentiometer to measure relative displacement G05B2219/50137Contact in probe, touch probe to detect contact, touch trigger G05B2219/50138During setup display is red, after setup display is green colour G05B2219/50139Calibration, setting tool after measurement on tool G05B2219/50141Setup tool, preset G05B2219/50142Measure parallelism of tool with respect to plane and correct G05B2219/50143Tool set up integrated, automatically transferred into control system G05B2219/50144offline setup by simulation of process, during machining, forming of other piece G05B2219/50145Tool setup manual, preset of the machine G05B2219/50146Machine construction error compensation using ann G05B2219/50147Calibrate tool heads based on calibration of first tool head G05B2219/50148Workpiece, setup of component, workpiece G05B2219/50149Find orientation workpiece which maximizes number of faces machined in one setup G05B2219/50151Orient, translate, align workpiece to fit position assumed in program G05B2219/50152Align axis cylinder, tube with rotation axis machine G05B2219/50153Mount machining unit on workpiece, move unit on it G05B2219/50154Milling center G05B2219/50155Swivel spindle head horizontally G05B2219/50156Tiltable rotary table G05B2219/50157Universal swivel spindle head, swivel in all directions G05B2219/50158Modular structure G05B2219/50159Steady rest G05B2219/50161Reverse engineering, cloning G05B2219/50162Stewart platform, hexapod construction G05B2219/50163Machine stations and control modules build as a unity to be connected in line G05B2219/50164Select a structure to make programming of free curved surface easier G05B2219/50165Axis nc machine cooperates with two axis rotary table G05B2219/50166Extended range, machine a workpiece over a long distance G05B2219/50167Adapting to copying G05B2219/50168Retrofitting G05B2219/50169Double stewart platform G05B2219/50171Machine, machining centre, center G05B2219/50172Tool holder is transparent G05B2219/50173Machine tool hang and move on rail above workpiece G05B2219/50174Machine tool y-1, y-2, z, A-axis, table x, c-axis G05B2219/501756-Dof manipulator associated with 1-DOF workpiece holder G05B2219/50176Table, general, for machine tool G05B2219/50177Protection for operator during operation, machining G05B2219/50178Clamp, brake gravity axis on power loss to clamp tool in position G05B2219/50179Dynamic tolerance, limit values as function of speed, type of command G05B2219/50181After stopping apply additionally a brake G05B2219/50182Skip over pieces between machining and measuring station, on tool changing G05B2219/50183Detect correct clamping of workpiece, chucks grip properly workpiece G05B2219/50184Stop feed if relative movement between drive and tool G05B2219/50185Monitoring, detect failures, control of efficiency of machine, tool life G05B2219/50186Diagnostic of spindle bearing G05B2219/50187Stop drive motor if clutch refuses, remains active, if emergency G05B2219/50188If operation, feed movement not done after maximum allowable time, emergency stop G05B2219/50189Compare position of slide with positioning, tape data G05B2219/50191Against noise G05B2219/50192If braking fails due to controller or amplifier fault, separate delayed braking G05B2219/50193Safety in general G05B2219/50194Before restarting machine, enter allowable, maximum speed corresponding to tool G05B2219/50195Emergency stop stops drives and spindle, stored program remains in memory G05B2219/50196Monitor clutch or belt drive G05B2219/50197Signature analysis, store working conditions, compare with actual G05B2219/50198Emergency stop G05B2219/50199Tool, nozzle is covered for protection in home position, if needed also heated G05B2219/50201Tool looses contact with workpiece, alarm if no cut through operation G05B2219/50202During movement of tool towards workpiece, shut down rotation, welding gun G05B2219/50203Tool, monitor condition tool G05B2219/50204Tool replacement point, tool change position without damage, clearance plane G05B2219/50205On tool breakage stop machine G05B2219/50206Tool monitoring integrated in nc control G05B2219/50207Surface finish G05B2219/50208Retrace, remachine portion of path, locus to remove start discontinuities G05B2219/50209Surface treatment, roughing surface G05B2219/50211Finish machining, spark out, rough out G05B2219/50212Giving a texture, structure to surface, like leather, wood appearance G05B2219/50213Grooving of different forms or parallel to each other, grooving cycle G05B2219/50214Refurbish, refinish, reprofile, recondition, restore, rebuild profile G05B2219/50215Move synchrously tool and anvil at both sides of plate G05B2219/50216Synchronize speed and position of several axis, spindles G05B2219/50217Synchronize, control phase angle of two spindles by auxiliary index motor G05B2219/50218Synchronize groups of axis, spindles G05B2219/50219Slave spindle is driven at half the torque of main spindle for synchronism G05B2219/50221Switch speed reference from speed to position loop of both spindles to synchronize G05B2219/50222Stop machines, actuators until others reach common synchronization point G05B2219/50223Loose synchronisation, can shift within time interval G05B2219/50224Synchronize feed and spindle speed during slow down, stopping G05B2219/50225Synchronize feed and spindle speed as function of pitch of screw, thread G05B2219/50226Synchronize feed and spindle speed in forward and reverse feed G05B2219/50227Synchronize two axis by correcting for measured pitch errors G05B2219/50228Synchronize two slides, portal gantry, raising, moving G05B2219/50229Synchronize axis by simulating several virtual axis to control real axis G05B2219/50231Synchronize engage, disengage groups of axis as function of position of simulate G05B2219/50232Synchronize change of feed and spindle speed when overriding feed speed G05B2219/50233Synchonize time-dependent with electronic cam data G05B2219/50234Synchronize two spindles, axis, electronic transmission, line shafting G05B2219/50235Select tools, slides, spindles to work synchronized, independent G05B2219/50236Tool editor for actual used tools and needed next, missing, unused tools G05B2219/50237Detect wear by comparing coded value on tool with real value, grind tool G05B2219/50238Search empty place in changer to place tool G05B2219/50239Select tool manual from tool store, with permission from NC to deblock tool G05B2219/50241Chuck, gripper, spindle changer G05B2219/50242Tool changer and revolver fixed on spindle G05B2219/50243Small buffer tool magazine, ordered tools, filled from large magazine, change time G05B2219/50244Machine integrated tool cassette G05B2219/50245Change tools, like laser head and drill having different driving needs G05B2219/50246Workpiece exchange G05B2219/50247Change to finer, more adapted tools to machine complex surface G05B2219/50248Control position of coolant nozzle as function of selected tool G05B2219/50249Tool, probe, pen changer G05B2219/50251Mobile tool magazine to replace spare or rarely used tool G05B2219/50252Replace, change tool with tracer head, probe, feeler G05B2219/50253Selection tool G05B2219/50254Change feeler or tool on different curvature of workpiece, model G05B2219/50255Tool selection sets speed machining, kind of cooling, other parameter G05B2219/50256Orienting selected tool with respect to workpiece G05B2219/50257Kind of revolver magazine G05B2219/50258Chain magazine G05B2219/50259Flat bed magazine G05B2219/50261Two tool holders to eliminate tool change time, replace and search simultaneously G05B2219/50262Change tool at minimum distance from workpiece G05B2219/50263Standby tool, tool ready for next machining step, change tool while machining G05B2219/50264Change tool during positioning movement G05B2219/50265If tool life over, continue machining only actual block, workability, then stop G05B2219/50266During tool change, workpiece immobile, then execute backward operation sequence G05B2219/50267Change tool and workpiece simultaneously, except if collision possible G05B2219/50268Measure diameter only if new tool has been inserted G05B2219/50269Minimize tool change by selecting appropriate fixture G05B2219/50271Select second tool if first tool cannot machine workpiece without moving it G05B2219/50272Change spare, used tool during machining, minimize machining time G05B2219/50273Before motor start of spindle with new tool, detect if old tool back in storage G05B2219/50274Measure new tool inserted by operator, compare with diameter needed to accept G05B2219/50275Safety, verify correct code of chosen tool, probe G05B2219/50276Detect wear or defect tool, breakage and change tool G05B2219/50277Detection tool presence in tool holder, spindle before starting motor G05B2219/50278Send offset values from tool changer before machining G05B2219/50279Adjust displacement amount of tracer as function of rough, finish machining G05B2219/50281Adjust tool for tool offset by using an axis parallel to feed axis G05B2219/50282Tool offset as function of cutting depth G05B2219/50283Tool offset for two different diameters, smoothing G05B2219/50284Tool nose correction G05B2219/50285Tool geometry compensation, keep contact of tool on desired curve G05B2219/50286Fine adjustement tool head, adjustment with respect to toolholder G05B2219/50287Tool offset as function of diameter of saw, for begin and end point of path G05B2219/50288Compensate tool offset as function of speed, needed when tool is not mounted correctly in spindle G05B2219/50289Tool offset general G05B2219/50291Multi-tool, several tools G05B2219/50292Tool offset based on two cutter contact points, admitting some overcut G05B2219/50293Radial setting of tool G05B2219/50294Tool offset length by going to a reference and recording distance G05B2219/50295Tool offset by manual input by switches G05B2219/50296Tool offset by verifying piece and registrating errors G05B2219/50297Compensation of positioning error due to a-axis, b-axis tool rotation G05B2219/50298Trace with feelers of different diameter, from the two loci calculate offset G05B2219/50299Correction data stored in memory attached to tool or tool holder G05B2219/50301Correction stored on tape, together with tool identification G05B2219/50302Remachine same workpiece with same tool but diminished tool offset G05B2219/50303Resolver G05B2219/50304Correction from tape, file G05B2219/50305For every diameter a tape G05B2219/50306Tool height, axial displacement from center of circular workpiece, surface G05B2219/50307Correction by probing dimension of machined workpiece G05B2219/50308Estimate wear from machining data and conditions G05B2219/50309Correction of wear as function of dressing G05B2219/50311Compensate tool wear by grinding tool to a known position G05B2219/50312Compensation of tool wear by adapting program to profile of tool G05B2219/50313Tool offset, tool wear G05B2219/50314Search for reference, go to reference G05B2219/50315Selfcorrecting by measurement during machining G05B2219/50316Calculate as function of empirical calculated values from used tools G05B2219/50317As function of number of workpieces G05B2219/50318As function of number of cutting edges of saw, mill G05B2219/50319As function of tool geometry and machining data G05B2219/50321As function of machined volume per time unit G05B2219/50322As function of effective machining time G05B2219/50323As function of tool type G05B2219/50324As function of coolant G05B2219/50325As function of measured vibrations G05B2219/50326As function of feed forces G05B2219/50327As function of cutting forces G05B2219/50328As function of motor spindle load, current G05B2219/50329Tool offset for pockets, area machining avoiding interference with wall G05B2219/50331Electrode, wire gap compensation in edm, wire cutting G05B2219/50332Tool offset for 3-D surfaces normal to surface G05B2219/50333Temperature G05B2219/50334Tool offset, diameter correction G05B2219/50335Tool offset for straight lines G05B2219/50336Tool, probe offset for curves, surfaces, contouring G05B2219/50337Tool offset for point G05B2219/50338Tool with rom chip G05B2219/50339Select machining portion of tool according to surface of work G05B2219/50341Tool with right and left nose value, different radius G05B2219/50342Use two tools with different diameter G05B2219/50343Ball end tool, end is spherical G05B2219/50344Flat end tool, end is flat G05B2219/50345Bull nose tool, end is practical flat with rounded corners G05B2219/50346Ion ray G05B2219/50347Tool sends via electromagnetic waves actual working condition G05B2219/50348Deform tool to adapt to workpiece, bow tool with pressure G05B2219/50349Obtain normal vector of two points on surface, interpolate in between G05B2219/50351Rotate cutting tool to vary cutting tool geometry G05B2219/50352Inclination of tool as function of diameter of workpiece G05B2219/50353Tool, probe inclination, orientation to surface, posture, attitude G05B2219/50354If tool looses contact, change angle of tool with 90-degrees G05B2219/50355Tool perpendicular to a 2-D curve G05B2219/50356Tool perpendicular, normal to 3-D surface G05B2219/50357Tool tangential to path or surface G05B2219/50358Work handling, automatic load unload workpiece G05B2219/50359Rotate workpiece pallet, workpieces on it, machine and load simultaneous G05B2219/50361Translatory workpiece pallet, translate between two stations G05B2219/50362Load unload with robot G05B2219/50363Load unload with two robots, one to load, other to unload G05B2219/50364Buffer for workpieces, pallets, trays with articles G05B2219/50365Convey workpiece downwards on pallet, to machine rotate upwards G05B2219/50366Work handling with changeable hands G05B2219/50367Several workpiece holders in a single cell G05B2219/50368Pallet with autonomous control unit G05B2219/50369Display empty supply or discharge pallet G05B2219/50371Index table holds same number of load and unload cups, alternative G05B2219/50372Load pallets manually, with visual instruction assistance G05B2219/50373If pallet is not loaded conforming to instruction, warning G05B2219/50374Cylindrical workpiece holder, for each workpiece a separate tool slide G05B2219/50375Reject or reload workpiece if misaligned, excessive error in location G05B2219/50376Workholder receives also parts to be assembled with work G05B2219/50377Two robots with common workbase slides in unison along pallets G05B2219/50378Control height gripper as function of thickness of workpiece and height of pallet G05B2219/50379Workpiece detector, sensor G05B2219/50381Load, unload workpiece while machining other one, dual table machine G05B2219/50382Position claws of first chuck relative to second chuck, to grip small workpiece G05B2219/50383Bar feeder applies torque to compensate bending of workpiece during machining G05B2219/50384Modular, exchangable parts feeder G05B2219/50385Fast forward in idle time G05B2219/50386Feeder, feeding of workpiece, bar G05B2219/50387Two chucks, grippers, feeder bar, transfer workpiece from one to other G05B2219/50388Integrated loader, shuttle transfer G05B2219/50389Gantry loader G05B2219/50391Robot G05B2219/50392Overhead conveyor G05B2219/50393Floor conveyor, AGV automatic guided vehicle G05B2219/50394Bulk hopper G05B2219/50395Pallet magazines, transport dollies G05B2219/50396Gantry loader with two grippers, one always empty G05B2219/50397Two conveyors transporting together a workpiece to station G05B2219/50398For a single machine G05B2219/50399Between machines G05B2219/50401In line work storage system