公开(公告)号：US12124864B2

公开(公告)日：2024-10-22

申请号：US16481940

申请日：2018-07-17

申请人： SIEMENS INDUSTRY SOFTWARE LTD.

发明人： Moshe Hazan ,  Yael Barak ,  Guy Barak ,  Gal Snir ,  Rahav Madvil ,  Gilles Velay

IPC分类号： G06F9/455 ,  G06F8/60 ,  G06F8/70

CPC分类号： G06F9/455 ,  G06F8/70 ,  G06F8/60

摘要： A robotic program of an industrial robot is simulated. Inputs on a robotic program of a robot are received. The robotic program of the robot is represented with a neutral representation modeled with a neutral language. Specific code portions of the robotic program in the neutral representation are mapped with corresponding specific code portions of a native representation modeled with a native language of the at least one robot. The robot program in simulated in one of the neutral representation and the native representation. Corresponding code portions of the neutral representation and of the native representation of the robotic program are synchronized via the mapping.

公开(公告)号：US20220004159A1

公开(公告)日：2022-01-06

申请号：US17289842

申请日：2018-10-29

申请人： Siemens Industry Software Ltd.

发明人： Guy Barak ,  Moshe Hazan ,  Werner Herla ,  Gilad Milman ,  Johannes Ottermann ,  Gal Snir ,  Robert Winter

IPC分类号： G05B19/05

摘要： A method synchronizes first and second simulation systems, each operating in a free running operation thereby exchanging data to run the simulation systems. The method includes: a) providing the first simulation system (PLCSIM) being enabled to run in cycles at a linear speed determined by repeatably setting a scaling factor (sn); b) providing the second simulation system (Process Simulate) to run in cycles at different speeds; c) the second simulation system requests at the end of a cycle a virtual time stamp from the first simulation system; d) calculating on the basis of the virtual time stamp a virtual duration time Atnfs and on the basis of the virtual time stamp after completion of the cycle of the second simulation system a virtual duration time Atnss; and e) calculating an update sn+1 for the scaling factor according the most recent scaling factor sn multiplied by Atnss/Atnfs.

公开(公告)号：US12117790B2

公开(公告)日：2024-10-15

申请号：US17289842

申请日：2018-10-29

申请人： Siemens Industry Software Ltd.

发明人： Guy Barak ,  Moshe Hazan ,  Werner Herla ,  Gilad Milman ,  Johannes Ottermann ,  Gal Snir ,  Robert Winter

IPC分类号： G05B19/05

CPC分类号： G05B19/056 ,  G05B19/052 ,  G05B2219/13063 ,  G05B2219/13174 ,  G05B2219/15126

摘要： A method synchronizes first and second simulation systems, each operating in a free running operation thereby exchanging data to run the simulation systems. The method includes: a) providing the first simulation system (PLCSIM) being enabled to run in cycles at a linear speed determined by repeatably setting a scaling factor (sn); b) providing the second simulation system (Process Simulate) to run in cycles at different speeds; c) the second simulation system requests at the end of a cycle a virtual time stamp from the first simulation system; d) calculating on the basis of the virtual time stamp a virtual duration time Atnfs and on the basis of the virtual time stamp after completion of the cycle of the second simulation system a virtual duration time Atnss; and e) calculating an update sn+1 for the scaling factor according the most recent scaling factor sn multiplied by Atnss/Atnfs.

公开(公告)号：US20230070378A1

公开(公告)日：2023-03-09

申请号：US17793704

申请日：2020-01-20

申请人： Siemens Industry Software Ltd.

发明人： Moshe Hazan ,  Gilad Milman ,  Ilanit Shavit ,  Gal Snir ,  Gilles Velay

IPC分类号： B25J9/16

摘要： Systems and a method for facilitating a concurrent simulation of multiple tasks of a plurality of robots in a virtual environment, wherein at least one virtual robot is foreseen to concurrently simulate one robotic motion task and a set of robotic logic tasks by concurrently executing one corresponding robotic motion program and a set of corresponding robotic logic programs on a set of operands. During a concurrent execution of the plurality of robotic motion programs and the plurality of sets of robotic logic programs of the plurality of robots, the execution of at least one given logic program is suspended and resumed by repetitively: executing a run of the given logic program; collecting a subset of operands used in the executed run; if none of the collected operands is modified in the execution run, suspending the execution of the given logic program and resuming its execution when one of the collected operands is modified.