For our customer Bausch+Ströbel SE +Co. KG we have optimized the movement of a Scara application. The challenge here was to make the cycle as short as possible and to keep the forces and torques on the axes, joints and Scara arms as small as possible. Not only did the pick-up and deposit position have to be adhered to, but the track also had to be run with collision avoidance. Another difficulty for the optimization was that the Scara was not equipped with motors on the joints in the classic way, but these are integrated in the machine bed and the Scara arms are controlled via a belt drive and parallel kinematics.

Given all these boundary conditions, we decided to drive the axes, which are controlled by the motors via gears, directly using our patented Linear Splines, embedded as electric cams, in order to achieve the smoothest possible movement. In the video below, the movement can be seen as a simulation and the graphic illustrates the movement of the axes, scara arms and the tool center point position.

Scara Slow Motion	Exemplary Axis 1
Scara Arms	Tool Center Point

The entire algorithm was implemented on a Bucher Automation AG Motion Control system, where its powerful object-oriented programming language JetSym STX was able to play its trump cards.

We were able to achieve a cycle time of 1.2 seconds for the process, which is quite remarkable for an overhead Scara movement. The project was led to success in close cooperation and a trusting environment.

We are pleased to announce that the logiccloud SAP HANA Connector replaces the app SiMoLib2UPT, which was created by ExeQwork GmbH and us as a simple and consistent solution for high-sample-rate recording data from a Bosch Rexroth ctrlX OS device, sending them in batches to an SAP database.

The logiccloud SAP HANA Connector extends the scope by enabling recording from different sources and, if required, additionally preprocessing of values. And it is capable of running on many different controller or edge platforms. A VPN Client app may be used for connecting via Internet.

The logiccloud SAP HANA Connector therefore allows linking the OT and IT worlds seamlessly.

After having transferred desired data to an SAP HANA database, Machine Learning and AI diversity can be applied there with the help of the Universal Process Tool from ExeQwork GmbH and the SAP HANA Predictive Analysis Library (PAL), from condition monitoring to time series analysis to predictive maintenance algorithms.

Polynomials can be used to automatically generate countervibrations in order to damp an end effector vibration. Therefore we also provide our App Vibration Damping on the FLECS Marketplace.

Thereby the setup for the algorithms is as easy as possible and the input data might be acquired using only a Smartphone video functionality.

The User Interface illustrates how our optimization routines automatically detect a polynomial movement for the axis so that it is synchronized with the oscillation behavior of the end effector which thereby greatly attenuates. Thus it is achieved that at the same time at the end of the movement the axis and the end effector come to a standstill.

This method allows very flexible damping or even eliminating occurring vibrations, e.g. when handling liquids or generally elastic end effectors.

In addition, polynomials can be easily mapped to any standard motion control system as cams or tables, so no special operating system is necessary.

Together with our partner ExeQwork GmbH, we have created a simple and consistent solution to directly access data from a Bosch Rexroth ctrlX controller and send it to a SAP HANA database. Machine Learning and AI diversity can be applied there with the help of the Universal Process Tool from ExeQwork GmbH and the SAP HANA Predictive Analysis Library (PAL), from condition monitoring to time series analysis to predictive maintenance algorithms.

In addition to the analyzes and optimizations that our ctrlX apps can carry out directly on the controller, the newly developed ctrl-X app SiMoLib2UPT is able to access and send all data provided via the ctrlX Data Layer. The data to be recorded and the associated sample rates are easily configured via the ctrlX Data Layer. Like here, for example, the recording of an axis movement:

The data can be transferred to the SAP HANA database in-house or via the Internet. The Universal Process Tool from ExeQwork GmbH is outstanding for creating processes in the SAP system that can receive and process this data.

The SAP HANA Predictive Analysis Library (PAL) is particularly suitable for analyzing this data in a tailored manner, for example for anomalies, in order to be able to make timely decisions or to carry out machine maintenance in advance.

True to our motto Real Motion – Design – Size – Drive – Analysis – Optimize, we are adding another simple but powerful analysis module to ultimately optimize movement sequences so that less energy is consumed and/or less wear and tear occurs due to softer movements.

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With its digital automation strategy “Real Motion – Design – Size – Drive – Analyse – Optimize”, SIMON Modellierungen GmbH is now also a ctrlX World Partner. Thanks to the open ctrlX AUTOMATION platform, all SIMON Modellierungen software packages can be seamlessly integrated into the ctrlX OS respective the ctrlX CORE. In the case of motion applications, this enables them to be designed, simulated, analyzed and optimized directly on the controller.

Our partially patented motion processes with algorithms for kinematics and dynamics can be adapted to customer-specific applications and implemented with the integrated ctrlX MOTION​. As a result, with less wear and tear due to minimized forces and torques, longer life cycle times can be achieved and energy costs saved.

“By directly integrating the SIMON Modellierungen motion and optimization libraries into our ctrlX AUTOMATION platform, users save a lot of time because they can simulate machine movements and test them in the model before the system is completed” explains Hans Michael Krause, Head of Product Management ctrlX World at Bosch Rexroth.

“By merging the IT world, where the previous modeling, analysis and optimization took place, and the OT world of automation, we are coming a very big step closer to our vision of motion optimization from design over sizing to the real process, especially since we may now access real-time drive data on the controller, analyze it directly and optimize drive parameters there at the same time” adds Uwe Simon, Managing Director of SIMON Modellierungen GmbH.