G05BCONTROL OR REGULATING SYSTEMS IN GENERALFUNCTIONAL ELEMENTS OF SUCH SYSTEMSMONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS fluid-pressure actuators or systems acting by means of fluids in general F15B; valves per se F16K; characterised by mechanical features only G05G; sensitive elements, see the appropriate subclass, e.g. G12B, subclass of G01, H01; correcting units, see the appropriate subclass, e.g. H02KThis subclass covers features of control systems or elements for regulating specific variables, which are clearly more generally applicable.
This subclass does not cover:systems for controlling or regulating non-electric variables in general, which are covered by subclass G05D;systems for regulating electric or magnetic variables in general, which are covered by subclass G05F;systems specially adapted for the control of particular machines or apparatus provided for in a single other subclass, which are classified in the relevant subclass for such machines or apparatus, provided that there is specific provision for control or regulation relevant to the special adaptation. Otherwise, classification is made in the most appropriate place in this subclass.IIn this subclass, the following terms or expressions are used with the meanings indicated:"automatic controller" means a system, circuit, or device in which a signal from the detecting element is compared with a signal representing the desired value and which operates in such a way as to reduce the deviation. The automatic controller generally does not include the sensitive element, i.e. that element which measures the value of the condition to be corrected, or the correcting element, i.e. that element which adjusts the condition to be corrected;
"electric" includes "electromechanical", "electrohydraulic" or "electropneumatic".
In this subclass, details or specific control systems are classified in the group relevant to that system, if not otherwise provided for.
In this subclass non-limiting references (in the sense of paragraph 39 of the Guide to the IPC) may still be displayed in the scheme. G05B1/00 G05B1/00Comparing elements, i.e. elements for effecting comparison directly or indirectly between a desired value and existing or anticipated values comparing phase or frequency of two electric signals H03D13/00 G05B1/01electric G05B1/02for comparing analogue signals G05B1/022using discharge tubes G05B1/025using inductance means G05B1/027using impedance bridges G05B1/03for comparing digital signals G05B1/04with sensing of the position of the pointer of a measuring instrument G05B1/06continuous sensing G05B1/08stepwise sensing G05B1/11fluidic G05B5/00Anti-hunting arrangements G05B5/01electric G05B5/04fluidic G05B6/00Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral, differential in automatic controllers G05B11/00 G05B6/02electric G05B6/05fluidic G05B7/00Arrangements for obtaining smooth engagement or disengagement of automatic control G05B7/02electric G05B7/04fluidic G05B9/00Safety arrangements G05B7/00 takes precedence; safety arrangements in programme-control systems G05B19/048, G05B19/406; safety valves F16K17/00; emergency protective circuit arrangements in general H02H G05B9/02electric G05B9/03with multiple-channel loop, i.e. redundant control systems G05B9/05fluidic G05B11/00Automatic controllers G05B13/00 takes precedence G05B11/01electric G05B11/011details of the correcting means G05B11/012details of the transmission means G05B11/013using discharge tubes G05B11/015using rotating amplifiers G05B11/016using inductance means G05B11/017using photo-electric means G05B11/018using thermal amplifiers G05B11/06in which the output signal represents a continuous function of the deviation from the desired value, i.e. continuous controllers G05B11/26 takes precedence G05B11/10the signal transmitted being dc G05B11/12the signal transmitted being modulated on an ac carrier G05B11/14in which the output signal represents a discontinuous function of the deviation from the desired value, i.e. discontinuous controllers G05B11/26 takes precedence G05B11/16Two-step controllers, e.g. with on-off action G05B11/18Multi-step controllers G05B11/26in which the output signal is a pulse-train G05B11/28using pulse-height modulationusing pulse-width modulation G05B11/30using pulse-frequency modulation G05B11/32with inputs from more than one sensing elementwith outputs to more than one correcting element G05B11/36with provision for obtaining particular characteristics, e.g. proportional, integral, differential G05B11/38for obtaining a proportional characteristic G05B11/40for obtaining an integral characteristic G05B11/42for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D. G05B11/44pneumatic only G05B11/46without auxiliary power G05B11/48with auxiliary power G05B11/50in which the output signal represents a continuous function of the deviation from the desired value, i.e. continuous controllers G05B11/52in which the output signal represents a discontinuous function of the deviation from the desired value, i.e. discontinuous controllers G05B11/54Two-step controllers, e.g. with on-off action G05B11/56Multi-step controllers G05B11/58with inputs from more than one sensing elementwith outputs to more than one correcting element G05B11/60hydraulic only G05B13/00Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion G05B19/00 takes precedence; machine learning G06N20/00 G05B13/02electric G05B13/0205not using a model or a simulator of the controlled system G05B13/021in which a variable is automatically adjusted to optimise the performance G05B13/0215using trial and error method, including "peak-holding" G05B13/022using a perturbation of the variable G05B13/0225being a periodic perturbation G05B13/023being a random or a self-induced perturbation G05B13/0235using steepest descent or ascent method G05B13/024in which a parameter or coefficient is automatically adjusted to optimise the performance G05B13/0245not using a perturbation signal G05B13/025using a perturbation signal G05B13/0255the criterion being a time-optimal performance criterion G05B13/026using a predictor G05B13/0265the criterion being a learning criterion G05B13/027using neural networks only G05B13/0275using fuzzy logic only G05B13/028using expert systems only G05B13/0285using neural networks and fuzzy logic G05B13/029using neural networks and expert systems G05B13/0295using fuzzy logic and expert systems G05B13/04involving the use of models or simulators G05B13/041in which a variable is automatically adjusted to optimise the performance G05B13/042in which a parameter or coefficient is automatically adjusted to optimise the performance G05B13/044not using a perturbation signal G05B13/045using a perturbation signal G05B13/047the criterion being a time optimal performance criterion G05B13/048using a predictor G05B15/00Systems controlled by a computer G05B13/00, G05B19/00 take precedence; automatic controllers with particular characteristics G05B11/00; computers per se G06 G05B15/02electric G05B17/00Systems involving the use of models or simulators of said systems G05B13/00, G05B15/00, G05B19/00 take precedence; analogue computers for specific processes, systems, or devices, e.g. simulators G06G7/48 G05B17/02electric G05B19/00Programme-control systems specific applications see the relevant places, e.g. A47L15/46; clocks with attached or built-in means operating any device at a preselected time interval G04C23/00; marking or sensing record carriers with digital information G06K; information storage G11; time or time-programme switches which automatically terminate their operation after the programme is completed H01H43/00 G05B19/02electric G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers G05B19/418 takes precedence; numerical control G05B19/18 G05B19/0405Programme-control specially adapted for machine tool control and not otherwise provided for B23Q takes precedence; G05B19/06 - G05B19/16 take precedence G05B19/041Function-oriented details G05B19/0415adapting phase duration according to measured parameters G05B19/042using digital processors G05B19/05 takes precedence G05B19/0421Multiprocessor system G05B19/0423Input/output G05B19/0425Safety, monitoring G05B19/0426Programming the control sequence G05B19/0428Safety, monitoring G05B19/0423 takes precedence G05B19/045using logic state machines, consisting only of a memory or a programmable logic device containing the logic for the controlled machine and in which the state of its outputs is dependent on the state of its inputs or part of its own output states, e.g. binary decision controllers, finite state controllers G05B19/048MonitoringSafety G05B19/05Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts G05B19/052Linking several PLC's G05B19/054Input/output G05B19/056Programming the PLC G05B19/058Safety, monitoring G05B19/06using cams, discs, rods, drums, or the like mechanical programme-control apparatus G05G21/00 G05B19/063for sequential programme-control without delivering a reference value G05B19/066for delivering "step function", a slope function or a continuous function G05B19/07where the programme is defined in the fixed connection of electrical elements, e.g. potentiometers, counters, transistors G05B19/075for delivering a step function, a slope or a continuous function G05B19/06 takes precedence; function generators per se H03K, G06G G05B19/08using plugboards, cross-bar distributors, matrix switches, or the like G05B19/10using selector switches G05B19/102for input of programme steps, i.e. setting up sequence G05B19/104characterised by physical layout of switches; switches co-operating with display; use of switches in a special way G05B19/106for selecting a programme, variable or parameter G05B19/108characterised by physical layout of switches; switches co-operating with display; use of switches in a special way G05B19/12using record carriers G05B19/122using cards, tapes or discs having conductive paths G05B19/128 takes precedence G05B19/124using tapes, cards or discs with optically sensed marks or codes G05B19/128, G05B19/14 take precedence G05B19/126using cards, tapes or discs having protuberances G05B19/128 takes precedence G05B19/128the workpiece itself serves as a record carrier, e.g. by its form, by marks or codes on it G05B19/14using punched cards or tapes G05B19/128 takes precedence G05B19/16using magnetic record carriers G05B19/128 takes precedence G05B19/18Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form G05B19/418 takes precedence G05B19/182characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control G05B19/21 - G05B19/40 take precedence G05B19/184Generation of cam-like surfaces G05B19/186Generation of screw- or gearlike surfaces G05B19/188characterised by special applications and not provided for in the relevant subclasses, (e.g. making dies, filament winding) G05B19/19characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous pathIn this group, the measuring system for an axis is used to measure the displacement along that axis. This measurement is used as position-feedback in the servo-control system. G05B19/195Controlling the position of several slides on one axis G05B19/21using an incremental digital measuring device G05B19/23for point-to-point control G05B19/231the positional error is used to control continuously the servomotor according to its magnitude G05B19/232with speed feedback only G05B19/234with current or torque feedback only G05B19/235with force or acceleration feedback only G05B19/237with a combination of feedback covered by G05B19/232 - G05B19/235 G05B19/238the positional error is only used to control speed in steps according to distance left, or to give a stop signal when error reaches zero G05B19/25for continuous-path control G05B19/251the positional error is used to control continuously the servomotor according to its magnitude G05B19/253with speed feedback only G05B19/255with current or torque feedback only G05B19/256with force or acceleration feedback only G05B19/258with a combination of feedback covered by G05B19/253 - G05B19/256 G05B19/27using an absolute digital measuring device G05B19/29for point-to-point control G05B19/291the positional error is used to control continuously the servomotor according to its magnitude G05B19/293with speed feedback only G05B19/295with current or torque feedback only G05B19/296with force or acceleration feedback only G05B19/298with a combination of feedback covered by G05B19/293 - G05B19/296 G05B19/31for continuous-path control G05B19/311the positional error is used to control continuously the servomotor according to its magnitude G05B19/313with speed feedback only G05B19/315with current or torque feedback only G05B19/316with force or acceleration feedback only G05B19/318with a combination of feedback covered by G05B19/313 - G05B19/316 G05B19/33using an analogue measuring device G05B19/35for point-to-point control G05B19/351the positional error is used to control continuously the servomotor according to its magnitude G05B19/353with speed feedback only G05B19/355with current or torque feedback only G05B19/356with force or acceleration feedback only G05B19/358with a combination of feedback covered by G05B19/353 - G05B19/356 G05B19/37for continuous-path control G05B19/371the positional error is used to control continuously the servomotor according to its magnitude G05B19/373with speed feedback only G05B19/375with current or torque feedback only G05B19/376with force or acceleration feedback only G05B19/378with a combination of feedback covered by G05B19/373 - G05B19/376 G05B19/39using a combination of the means covered by at least two of the preceding sub-groups G05B19/21, G05B19/27, and G05B19/33 G05B19/40Open loop systems, e.g. using stepping motor G05B19/401characterised by control arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes G05B19/19 takes precedence G05B19/4015going to a reference at the beginning of machine cycle, e.g. for calibration G05B19/402characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position G05B19/19 takes precedence G05B19/404characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia G05B19/19, G05B19/41 take precedence G05B19/406characterised by monitoring or safety G05B19/19 takes precedence G05B19/4061Avoiding collision or forbidden zones G05B19/4062Monitoring servoloop, e.g. overload of servomotor, loss of feedback or reference G05B19/4063Monitoring general control system G05B19/4062 takes precedence G05B19/4065Monitoring tool breakage, life or condition G05B19/4067Restoring data or position after power failure or other interruption G05B19/4068Verifying part programme on screen, by drawing or other means G05B19/4069Simulating machining process on screen G05B19/4068 takes precedence G05B19/408characterised by data handling or data format, e.g. reading, buffering or conversion of data G05B19/4083Adapting programme, configuration G05B19/4086Coordinate conversions; Other special calculations G05B19/409characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panelcharacterised by control panel details, by setting parameters G05B19/408, G05B19/4093 take precedence G05B19/4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine G05B19/40931concerning programming of geometry G05B19/40932Shape input G05B19/40933Selecting figure elements from a menu table G05B19/40935Selection of predetermined shapes and defining the dimensions with parameter input G05B19/40936Defining geometry with a high level language G05B19/40937concerning programming of machining or material parameters, pocket machining G05B19/40938Tool management G05B19/4097characterised by using design data to control NC machines, e.g. CAD/CAM G05B19/4093 takes precedence; CAD in general G06F30/00 G05B19/4099Surface or curve machining, making 3D objects, e.g. desktop manufacturing G05B19/41characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path G05B19/25, G05B19/31, G05B19/37, G05B19/39, G05B19/40 take precedence G05B19/4103Digital interpolation G05B19/4105Analog interpolation G05B19/414Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller G05B19/4141characterised by a controller or microprocessor per axis G05B19/4142characterised by the use of a microprocessor G05B19/4141 takes precedence G05B19/4144characterised by using multiplexing for control system G05B19/4145characterised by using same processor to execute programmable controller and numerical controller function [CNC] and PC controlled NC [PCNC] G05B19/4147characterised by using a programmable interface controller [PIC] G05B19/4148characterised by using several processors for different functions, distributed (real-time) systems G05B19/4141 takes precedence G05B19/4155characterised by programme execution, i.e. part programme or machine function execution, e.g. selection of a programme G05B19/416characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence G05B19/4163Adaptive control of feed or cutting velocity without NC B23Q15/12 G05B19/4166Controlling feed or in-feed G05B19/4163 takes precedence G05B19/418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] G05B19/41805characterised by assembly G05B19/4181characterised by direct numerical control [DNC] G05B19/41815characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell G05B19/4182manipulators and conveyor only G05B19/41825machine tools and manipulators only, machining centre G05B19/4183characterised by data acquisition, e.g. workpiece identification G05B19/41835characterised by programme execution G05B19/4184characterised by fault tolerance, reliability of production system G05B19/41845characterised by system universality, reconfigurability, modularity G05B19/4185characterised by the network communication G05B19/41855by local area network [LAN], network structure G05B19/4186by protocol, e.g. MAP, TOP G05B19/41865characterised by job scheduling, process planning, material flow G05B19/4187by tool management G05B19/41875characterised by quality surveillance of production G05B19/4188characterised by CIM planning or realisation G05B19/41885characterised by modeling, simulation of the manufacturing system G05B19/4189characterised by the transport system G05B19/41895using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00 G05B19/42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine G05B19/4202preparation of the programme medium using a drawing, a model G05B19/4205in which a drawing is traced or scanned and corresponding data recorded G05B19/4207in which a model is traced or scanned and corresponding data recorded G05B19/421Teaching successive positions by mechanical means, e.g. by mechanically-coupled handwheels to position tool head or end effector G05B19/423 takes precedence G05B19/423Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path G05B19/425Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector G05B19/427Teaching successive positions by tracking the position of a joystick or handle to control the positioning servo of the tool head, master-slave control G05B19/423 takes precedence G05B19/43fluidic G05B19/44pneumatic G05B19/46hydraulic G05B21/00Systems involving sampling of the variable controlled G05B13/00 - G05B19/00 take precedence; transmission systems for measured values G08C; electronic switching or gating H03K17/00 G05B21/02electric G05B23/00Testing or monitoring of control systems or parts thereof monitoring of programme-control systems G05B19/048, G05B19/406 G05B23/02Electric testing or monitoring G05B23/0205by means of a monitoring system capable of detecting and responding to faults G05B23/0208characterized by the configuration of the monitoring system G05B23/021adopting a different treatment of each operating region or a different mode of the monitored system, e.g. transient modes; different operating configurations of monitored system G05B23/0213Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols G05B23/0216Human interface functionality, e.g. monitoring system providing help to the user in the selection of tests or in its configuration G05B23/0218characterised by the fault detection method dealing with either existing or incipient faults G05B23/0221Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods G05B23/0224Process history based detection method, e.g. whereby history implies the availability of large amounts of data G05B23/0227Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions G05B23/0229knowledge based, e.g. expert systems; genetic algorithms G05B23/0232based on qualitative trend analysis, e.g. system evolution G05B23/0235based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold G05B23/0237based on parallel systems, e.g. comparing signals produced at the same time by same type systems and detect faulty ones by noticing differences among their responses G05B23/024Quantitative history assessment, e.g. mathematical relationships between available data; Functions therefor; Principal component analysis [PCA]; Partial least square [PLS]; Statistical classifiers, e.g. Bayesian networks, linear regression or correlation analysis; Neural networks G05B23/0243model based detection method, e.g. first-principles knowledge model G05B23/0245based on a qualitative model, e.g. rule based; if-then decisions G05B23/0248Causal models, e.g. fault tree; digraphs; qualitative physics G05B23/0251Abstraction hierarchy, e.g. "complex systems", i.e. system is divided in subsystems, subsystems are monitored and results are combined to decide on status of whole system G05B23/0254based on a quantitative model, e.g. mathematical relationships between inputs and outputs; functions: observer, Kalman filter, residual calculation, Neural Networks G05B23/0256injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system G05B23/0259characterized by the response to fault detection G05B23/0262Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred G05B23/0264Control of logging system, e.g. decision on which data to store; time-stamping measurements G05B23/0267Fault communication, e.g. human machine interface [HMI] G05B23/027Alarm generation, e.g. communication protocol; Forms of alarm G05B23/0272Presentation of monitored results, e.g. selection of status reports to be displayed; Filtering information to the user G05B23/0275Fault isolation and identification, e.g. classify fault; estimate cause or root of failure G05B23/0278Qualitative, e.g. if-then rules; Fuzzy logic; Lookup tables; Symptomatic search; FMEA G05B23/0281Quantitative, e.g. mathematical distance; Clustering; Neural networks; Statistical analysis G05B23/0283Predictive maintenance, e.g. involving the monitoring of a system and, based on the monitoring results, taking decisions on the maintenance schedule of the monitored system; Estimating remaining useful life [RUL] preventive maintenance, i.e. planning maintenance according to the available resources without monitoring the system G06Q10/06 G05B23/0286Modifications to the monitored process, e.g. stopping operation or adapting control G05B23/0289Reconfiguration to prevent failure, e.g. usually as a reaction to incipient failure detection G05B23/0291Switching into safety or degraded mode, e.g. protection and supervision after failure G05B23/0294Optimizing process, e.g. process efficiency, product quality G05B23/0297Reconfiguration of monitoring system, e.g. use of virtual sensors; change monitoring method as a response to monitoring results G05B24/00Open-loop automatic control systems not otherwise provided for G05B24/02electric G05B24/04fluidic G05B99/00Subject matter not provided for in other groups of this subclass G05B2219/00 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 of the output signal is 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 addressassign 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 occurrence 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 datause 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 cablingcontrol 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 machinesCORBA, 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 stateslearning 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 microprocessor 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 frequency 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 occurrence 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 G05B2219/2658Heat 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 scriptsin 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 agvreadiness 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, accommodate 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 performanceuse 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 materialreuse 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 that an event has to be monitored before the event occurs 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 assuranceassure 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 G05B2219/33099Computer numerical control [CNC]Software control [SWC] 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 microinterpolation, 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 evaluation, threshold 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 threshold, 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 hardwareothers 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 G05B2219/37352Frequency 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, microassembly 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 G05B2219/40177Nanomanipulation 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 G05B2219/40193Micromanipulation 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 robotdisplay 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 micromanipulator 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 micromanipulator 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 microhand, 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, e.g. wrist and TCP 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 microslave 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 bininterlocked 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 linesone for drive controllers, other to communicate with central unit G05B2219/41297For cancelling magnetic field leakage generated by, e.g. voice coil motor 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 manufactureinterlock, 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 G05B2219/49016Desktop manufacturing [DTM]Solid freeform machining [SFM]Solid freeform fabrication [SFF] 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 G05B2223/00Indexing scheme associated with group G05B23/00 G05B2223/02Indirect monitoring, e.g. monitoring production to detect faults of a system G05B2223/04Detection of intermittent failure G05B2223/06Remote monitoring