JPS60239804A - Correcting method of positional error - Google Patents
Correcting method of positional errorInfo
- Publication number
- JPS60239804A JPS60239804A JP9611884A JP9611884A JPS60239804A JP S60239804 A JPS60239804 A JP S60239804A JP 9611884 A JP9611884 A JP 9611884A JP 9611884 A JP9611884 A JP 9611884A JP S60239804 A JPS60239804 A JP S60239804A
- Authority
- JP
- Japan
- Prior art keywords
- movable part
- position error
- axis direction
- error
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical 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
- G05B19/182—Numerical 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 characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49195—Slide, guideway, robot arm deviation
Landscapes
- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は少なくとも２軸方向に移動制御される可動部の
位置誤差補正方法に係り、特にある軸方向の位置を該軸
に直角な軸方向現在位置に基づいて補正し、これにより
テーブルなどの可動部を案内するガイドレールのうねり
ゃガイドレールの取り付は誤差などに起因する位置誤差
を補正する位置誤差補正方法に関する。Detailed Description of the Invention <Industrial Application Field> The present invention relates to a method for correcting position errors of a movable part whose movement is controlled in at least two axes, and in particular, the present invention relates to a method for correcting a position error of a movable part whose movement is controlled in at least two axes, and in particular, the present invention relates to a method for correcting a position error of a movable part whose movement is controlled in at least two axes, and in particular, to The present invention relates to a position error correction method for correcting a position error caused by an error in the mounting of a guide rail that guides a movable part such as a table by correcting it based on the current position.
〈従来技術〉
数値制御工作機械においては位置決め、あるいは通路制
御時ピッチ誤差などにより位置誤差が発生ずる。このた
め数値制御装置は一般に位置誤差補正機能を有し、たと
えば以下の方法により位置誤差の補正を行っている。す
なわち、機械可動部の各軸毎にその移動範囲を複数の区
間に分割すると共に、たとえばＸ軸については移動範囲
をＡＸｉ（ｌ−１，２，３、・・・）に分割すると共に
、各区間に対応して補正量ＥＸｉ （ｉ ＝ １．２．
３、・・）を測定してメモリに記憶させておき、機械可
動部のＸ軸方向現在位置が所定の区間ＡＸｉに進入した
際、該区間に対応する前記補正量ＥＸｉを読み出し、該
補止量ＥＸｉと機械の移動方向（正方向、負方向）とに
基づいて機械可動部のＸ軸方向現在位置を補正する。<Prior Art> In numerically controlled machine tools, position errors occur due to pitch errors during positioning or path control. For this reason, numerical control devices generally have a position error correction function, and for example, position errors are corrected by the following method. That is, the movement range of each axis of the mechanical movable part is divided into a plurality of sections, and for example, for the X axis, the movement range is divided into AXi (l-1, 2, 3, ...), and each The correction amount EXi (i = 1.2.
3,...) is measured and stored in the memory, and when the current position of the mechanical movable part in the X-axis direction enters a predetermined section AXi, the correction amount EXi corresponding to the section is read out and the correction amount EXi is The current position of the machine movable part in the X-axis direction is corrected based on the amount EXi and the moving direction (positive direction, negative direction) of the machine.
このように従来の位置誤差補正方法においては、ある軸
方向の誤差補正量たとえばＸ軸方向の誤差補正量はＸ軸
方向の現在位置のみに依存し、Ｘ軸に直角な軸すなわち
Ｙ軸その他の軸方向現在位置には無関係であった。In this way, in the conventional position error correction method, the error correction amount in a certain axis direction, for example, the error correction amount in the X-axis direction, depends only on the current position in the X-axis direction, and It was unrelated to the current axial position.
〈従来技術の欠点〉
ところで、ワイヤ放電加工機などにおいては、可動部で
あるテーブルを案内するガイドレールのうねりや該ガイ
ドレールの取り付は誤差などに起因して、ある軸方向の
現在位置に応して該軸に直角な軸方向に位置誤差が発生
する。<Disadvantages of the prior art> By the way, in wire electrical discharge machines and the like, due to waviness of the guide rail that guides the table, which is a movable part, and errors in the installation of the guide rail, it is difficult to maintain the current position in a certain axial direction. Accordingly, a positional error occurs in the axial direction perpendicular to the axis.
しかし、従来の誤差補正方法でばかかる位置誤差を補正
する乙とができず高精度の位置決め制御あるいは通路制
御ができなかった。However, conventional error correction methods cannot correct such positional errors, making it impossible to perform highly accurate positioning control or path control.
〈発明の目的〉
本発明の目的はテーブルを案内するガイドレールのうね
りやガイドレールの取り付は誤差などに起因する位置誤
差を補正して高精度の位置決め、通路制御ができる位置
誤差補正方法を提供することである。<Object of the Invention> The object of the present invention is to provide a position error correction method that can perform highly accurate positioning and path control by correcting position errors caused by waviness of the guide rail that guides the table and errors in the installation of the guide rail. It is to provide.
本発明の別の目的は所定軸方向の現在位置に基づいて、
該所定軸に直角な軸方向の位置を補正する位置誤差補正
方法を提供することである。Another object of the present invention is to, based on the current position in a predetermined axial direction,
It is an object of the present invention to provide a position error correction method for correcting a position in an axial direction perpendicular to the predetermined axis.
〈発明の概要〉
本発明の位置誤差補正方法は、所定軸方向への一定移動
距離Δｌ毎に該所定軸に直角な軸方向に発生する位置誤
差量を予めメモリに記憶させておき、可動部が前記所定
軸方向に前記一定距離移動する毎に、メモリから所定の
位置誤差量を読み出し、該位置誤差量に基づいて所定軸
に直角な方向の可動部位置を補正する。この方法によれ
ば、ガイドレールのうねりやガイドレールの取り付は誤
差に起因する直角方向誤差を補正することができ高精度
の位置決め制御及び通路制御ができる。<Summary of the Invention> The position error correction method of the present invention stores in advance the amount of position error that occurs in the axial direction perpendicular to the predetermined axis for every fixed movement distance Δl in the predetermined axis direction, and Each time the movable portion moves the predetermined distance in the direction of the predetermined axis, a predetermined positional error amount is read from the memory, and the position of the movable portion in the direction perpendicular to the predetermined axis is corrected based on the positional error amount. According to this method, it is possible to correct the orthogonal direction error caused by the waviness of the guide rail and the error in the installation of the guide rail, and it is possible to perform highly accurate positioning control and path control.
〈実施例〉
第２図は誤差曲線であり、所定軸（Ｘ軸）方向の可動部
の位置Ｘに応じたＹ軸方向の位置誤差Ｅを示している。<Example> FIG. 2 is an error curve, which shows the positional error E in the Y-axis direction depending on the position X of the movable part in the predetermined axis (X-axis) direction.
Ｘ軸方向に可動部を移動させるとガイドレールのうねり
やガイドレールの取り付は誤差などに起因して、Ｙ軸方
向に第１図の誤差曲線で示す位置誤差が発生する。When the movable part is moved in the X-axis direction, a position error as shown by the error curve in FIG. 1 occurs in the Y-axis direction due to the waviness of the guide rail and errors in the installation of the guide rail.
従って、本発明においては所定軸の全ストロークを一定
移動距離Δｌて分割すると共に、各分割領域Ａ、（ｉ＝
１．２、・・・）と位置誤差変化分△Ｐ１との対応関係
を予め測定してメモリに記憶させておき、可動部が各分
割点を通過する毎に所定の位置誤差変化分ΔＰ１をメモ
リから読み出し、該位置誤差変化分だけ直角方向の位置
を補正するようにしている。尚、位置誤差変化分△Ｐ、
（ｉ＝１．２、・・弓は、可動部が領域Ａ１い＝１．２
、・・・）に位置するときの直角方向位置誤差をＥ。Therefore, in the present invention, the entire stroke of a predetermined axis is divided by a constant movement distance Δl, and each divided area A, (i=
1.2,...) and the position error change ΔP1 is measured in advance and stored in the memory, and each time the movable part passes through each division point, the predetermined position error change ΔP1 is calculated. The position is read from the memory and the position in the orthogonal direction is corrected by the change in position error. In addition, the position error change △P,
(i=1.2,...The bow has a movable part in area A1=1.2
,...), the perpendicular position error is E.
（ｌ−１，２、・・・）とすれば次式 ６式％（１） で表現される。If (l-1, 2, ...), then the following formula 6 formula% (1) It is expressed as
すなわち、本発明では第３図に示すように可動部の所定
軸方向（たとえばＸ軸方向）の現在位置をＸ１現在位置
より原点側に最も近接している分割点の位置をｘＩ、、
換言すれば現在位置が属する領域Ａ１の原点側分割点の
位置座標値をＸ とするとき、（ａ）可動部が＋Ｘ方向
に移動している場合において、（Ｘ−ｘＯ）が６１以上
になる毎に、換言すれば領域Ａ１＋、に進入する毎にΔ
Ｐｉ ＋ ＋の補正を行い（ΔＰ１＋、に相当する数の
補正パルスを発生）、かつｘ、、を領域Ａ、＋、の分割
点位置に変更し、又可動部が負方向に移動している場合
において、ＸがＸ。以下になる毎に、換言すれば領域
Ａニー＋に進入する毎にΔＰ１の補正を行い、かつＸ、
を領域Ａ＝、の分割点位置に変更する。That is, in the present invention, as shown in FIG. 3, the current position of the movable part in a predetermined axis direction (for example, the X-axis direction) is defined as
In other words, when the positional coordinate value of the dividing point on the origin side of area A1 to which the current position belongs is defined as In other words, each time it enters the area A1+, Δ
Pi + + is corrected (a number of correction pulses equivalent to ΔP1+ are generated), and x, is changed to the division point position of area A, +, and the movable part is moved in the negative direction. In the case that X is Each time below, in other words, the area
Each time it enters A knee +, it corrects ΔP1, and
is changed to the dividing point position of area A=.
第１図は本発明の位置誤差補正方法を実現する装置のブ
ロック、第４図は位置誤差補正の処理の流れ図である。FIG. 1 is a block diagram of an apparatus for implementing the position error correction method of the present invention, and FIG. 4 is a flowchart of the position error correction process.
第１図において、１１は数値制御装置、１２はＮＣテー
プ１３からＮＣデータを読み取るＮＣデータ読取装置、
１４はパルス分配器、１５は補正パルス発生回路、１６
ｘはパルス分配器からのＸ軸方向の分配パルスｘ２と補
正パルス発生口＃１１５からのＸ軸方向の補正パルスｘ
ｃを合成する合成回路、１６ＹはＹ軸方向の分配パルス
Ｙ。In FIG. 1, 11 is a numerical control device, 12 is an NC data reader that reads NC data from an NC tape 13,
14 is a pulse distributor, 15 is a correction pulse generation circuit, 16
x is the distribution pulse x2 in the X-axis direction from the pulse distributor and the correction pulse x in the X-axis direction from the correction pulse generation port #115
16Y is the distribution pulse Y in the Y-axis direction.
と補正パルス発生回路１５から発生するＹ軸方向の補正
パルスＹｃを合成する合成回路、１７Ｘ、１７Ｙはサー
ボ回路、１８Ｘ、１８Ｙはモータ、１９Ｘ、１９Ｙはボ
ールネジ、２０はテーブルなどの可動部である。17X and 17Y are servo circuits, 18X and 18Y are motors, 19X and 19Y are ball screws, and 20 is a movable part such as a table. .
（ａ）予めＸ軸方向へ可動部を移動させると共に、一定
移動距離Δｐ毎のＹ軸方向位置誤差Ｅ、を測定し、該誤
差Ｅ１を用いて位置誤差補正方法Ｐ。(a) A position error correction method P in which the movable part is moved in the X-axis direction in advance, and the Y-axis direction position error E is measured for every fixed movement distance Δp, and the error E1 is used.
を（１）式よりめ、位置誤差変化分ΔＰ１と領域Ａ、の
番号ｌとの対応関係を不揮発性メモＩＪ１１ａに記憶さ
せておく。又、同様にＹ軸方向への一定移動距離毎にＸ
軸方向位置誤差を測定して位置誤差変化分を不揮発性メ
モＩＪ １１ ａに記憶させておく。From equation (1), the correspondence between the positional error change ΔP1 and the number l of area A is stored in the nonvolatile memo IJ11a. Similarly, for every fixed movement distance in the Y-axis direction,
The axial position error is measured and the change in position error is stored in the non-volatile memo IJ 11a.
（ｂ）この状態て可動部を原点復帰させ、しかる後操作
パネル上のスタート釦を押圧すればプロセッサｌｌｂは
、１→ｌとすると共に、Ｎｃデータ読取装置１２をして
ＮＣテープ１３から１ブロック分のＮＣデータを読み取
らす。(b) In this state, if the movable part is returned to its origin and the start button on the operation panel is pressed, the processor llb will change from 1 to l, and the NC data reader 12 will read one block from the NC tape 13. Read the NC data for the minute.
（ｃ）プロセッサｌｌｂはＲＯＭ１１ｃに記憶されてい
る制御プログラムの制御により読み取ったＮＣデータが
プログラムエンドを示すＭＯ２であるかをどうかを判別
し、ＭＯ２であればＮＣ処理を終了する。(c) Under the control of the control program stored in the ROM 11c, the processor llb determines whether the read NC data is MO2 indicating the end of the program, and if it is MO2, ends the NC process.
（ｄ）一方、プロセッサ１１ｂは読み取ったＮＣデータ
がプログラムエンドを示すＭＯ２てなく位置決め指令あ
るいは通路指令データであれば以下の通路制御処理を実
行する。すなわち、各軸のインクリメンタル値（２軸制
御であればＸ ｉ 、 Ｙｉ）をめ、ついで該インクリ
メンタル値と指令送り速度とから所定の短い時間へＴの
間に各軸方向へ移動すべき移動量ΔＸ１△Ｙをめ、これ
らΔＸ１ΔＹをΔＴ毎にパルス分配器１４に入力する。(d) On the other hand, if the read NC data is not MO2 indicating the program end but is positioning command or path command data, the processor 11b executes the path control process described below. In other words, determine the incremental value of each axis (X i , Yi in case of two-axis control), and then calculate the amount of movement to be made in each axis direction during a predetermined short period of time T from the incremental value and the command feed rate. ΔX1ΔY, and these ΔX1ΔY are input to the pulse distributor 14 every ΔT.
パルス分配器１４は入力データ（ΔＸ１△Ｙ）に基づい
−（パルス分配演算を行って各軸分前パルスＸ、、Ｙ、
を発生し、該分配パルスをサーボ回路１７Ｘ、１７Ｙに
入力し、モータ１８Ｘ、１８Ｙを回転させる。これによ
り、ボールネジ１９ｘ１１９Ｙが回転し、可動部２０は
ボールネジの回転方向に応じた方向に移動する。The pulse distributor 14 performs -(pulse distribution calculation) based on the input data (ΔX1ΔY) to generate the previous pulses X, Y,
The distributed pulses are input to the servo circuits 17X and 17Y, and the motors 18X and 18Y are rotated. As a result, the ball screw 19x119Y rotates, and the movable part 20 moves in a direction corresponding to the rotational direction of the ball screw.
又、プロセッサｌｌｂは６１秒毎に各軸方向の現在位置
Ｘ１ｙを次式
％式％（２）
（３）
により更新し、更に各軸の残移動量Ｘ１、ｙ、を次Ｘ−
ΔＸ−＋ｘ、−・・ （４）
ｙ、−△Ｙ→ｙ１・・・ （５）
により更新しく Ｘｒ ％ Ｙ ｒの初期値は各軸イン
クリメンタル値である）、次式
％式％（６）
が成立するかどうかを判別する。尚、Ｘｚ’Ｊｚ Ｘ、
、ｙｌはＲＡＭ１１ｄに記憶されている。In addition, the processor llb updates the current position X1y in each axis direction every 61 seconds using the following formula % formula % (2) (3), and further updates the remaining movement amount X1, y of each axis by the next X-
ΔX-+x, -... (4) y, -△Y→y1... (5) Xr % Y The initial value of r is an incremental value for each axis), the following formula % formula % (6) Determine whether it holds true. Furthermore, Xz'Jz
, yl are stored in the RAM 11d.
（６）式が満たされれば、現ブロックのパルス分配処理
が終了したものとして次のブロックのＮＣデータを読み
取らせ該ＮＣデータに基づいて上記処理を繰り返す。If the formula (6) is satisfied, it is assumed that the pulse distribution processing of the current block has been completed, and the NC data of the next block is read and the above processing is repeated based on the NC data.
（ｅ）一方、（６）式が満たされていなければ、プロセ
ッサｌｌｂは以下の処理を行う。尚、以下においては可
動部がＸ軸方向へ移動している場合におけるＹ軸方向の
位置誤差補正について説明するが、可動部がＹ軸方向へ
移動している場合におけるＸ軸方向の位置誤差補正も同
様に行われる。(e) On the other hand, if equation (6) is not satisfied, processor llb performs the following processing. In addition, in the following, we will explain position error correction in the Y-axis direction when the movable part is moving in the X-axis direction, but position error correction in the X-axis direction when the movable part is moving in the Y-axis direction will be explained. is also done in the same way.
さて、（６）式が満たされていなければプロセッサ１１
ｂは次式
ｘ−ｘ≧０・・・・・ （７）
が成立するかどうかを判別する。尚、Ｘ−よ第３図に示
すように現在位置Ｘより原点側に最も近接している分割
点のＸ軸方向位置座標値、換言すれば現在位置Ｘが属す
る領域をＡ、の原点側分割点のＸ軸方向位置座標値であ
る。Now, if equation (6) is not satisfied, the processor 11
b determines whether the following formula x-x≧0 (7) holds true. As shown in Figure 3, X- is the X-axis position coordinate value of the dividing point closest to the origin side than the current position X, in other words, the area to which the current position X belongs is divided into the origin side of This is the position coordinate value of the point in the X-axis direction.
（ｆ）（７）式が満たされていない場合には、可動部２
０が−Ｘ方向に移動して分割点を通過したものとしてプ
ロセッサｌｌｂは不揮発性メモリ１１ａから領域番号ｌ
に対応する位置誤差変化分ΔＰ、を読み出し、該位置誤
差変化分△Ｐ、に相当する数の補正パルスＹｃをＹ軸所
定方向に出力することを補正パルス発生回路１５に指示
する。又、プロセッサｌｌｂは次式
％式％（８）
（９）
によりｌとＸ を更新し、パルス分配処理を続行する。(f) If formula (7) is not satisfied, the movable part 2
Assuming that 0 has moved in the -X direction and passed the dividing point, processor llb retrieves area number l from nonvolatile memory 11a.
, and instructs the correction pulse generation circuit 15 to output a number of correction pulses Yc corresponding to the position error change ΔP in a predetermined Y-axis direction. In addition, processor llb updates l and
尚、補正パルスの方向（符号）は以下のように決定され
る。すなわち、位置誤差変化分ΔＰ１が正で、移動方向
が＋Ｘ方向であればＹ軸方向補正パルスＹｃの符号をマ
イナス、移動方向が−Ｘ方向であれば補正パルスＹＣの
符号をプラス、又位置誤差変化分△Ｐ１が負で、移動方
向が＋ＸＸ回向あれば補正パルスＹｃの符号をプラス、
移動方向が−Ｘ方向であれば補正パルスＹｃの符号をマ
イナスにする。Note that the direction (sign) of the correction pulse is determined as follows. That is, if the position error change ΔP1 is positive and the moving direction is +X direction, the sign of the Y-axis correction pulse Yc is negative, and if the moving direction is -X direction, the sign of the correction pulse YC is positive, and the position error is If the change △P1 is negative and the moving direction is +XX turns, add the sign of the correction pulse Yc,
If the moving direction is the -X direction, the sign of the correction pulse Yc is made negative.
補正パルス発生回路１５は数値制御装置１１から補正パ
ルス発生指示（補正軸、その方向、補正パルス数）があ
れば所定の符号付き補正パルスＹを指示された数発生す
る。この補正パルスＹ。は合成回路１６Ｙを介してサー
ボ回路１７Ｙに入力され、これにより可動部のＹ軸方向
位置はΔＰ１だけ補正される乙とになる。When the correction pulse generation circuit 15 receives a correction pulse generation instruction (correction axis, its direction, and number of correction pulses) from the numerical control device 11, it generates the specified number of predetermined signed correction pulses Y. This correction pulse Y. is input to the servo circuit 17Y via the synthesis circuit 16Y, whereby the position of the movable part in the Y-axis direction is corrected by ΔP1.
（う）一方、（７）式が満１こされている場合にはプロ
セッサｌｌｂは次式
％式％（１０）
が満たされているかどうかを判別する。(C) On the other hand, if the expression (7) is satisfied, the processor llb determines whether the following expression % (10) is satisfied.
（ｈ）（１０）式が満たされていなければ上記パルス分
配処理を繰り返す。(h) If equation (10) is not satisfied, repeat the pulse distribution process.
（ｉ）一方、（１０）式が満たされていれば可動部が＋
Ｘ方向に移動して領域Ａ、の分割点を通過したものとし
て、プロセッサｌｌｂは次式％式％（１１）
により１を更新し、不揮発性メモ＋Ｊ １１ ａから領
域番号１に対応する位置誤差補正方法Ｐ、を読み出し、
補正パルス発生回路１５にＹ軸所定方向にΔＰ、に相当
する数の補正パルスＹ。を出力する乙とを指示すると共
に、次式
％式％（１２）
によりＸ、を更新し、上記通路制御処理を繰り返す尚、
補正パルス発生回路１５は数値制御装置１１からの補正
パルス発生指示により所定数の補正パルスＹ を合成回
路１６Ｙに出力し、Ｙ軸方向の位置誤差を補正する。(i) On the other hand, if equation (10) is satisfied, the movable part is +
Assuming that it has moved in the X direction and passed through the dividing point of area A, processor llb updates 1 using the following formula % formula % (11), and calculates the position error corresponding to area number 1 from the nonvolatile memo +J 11 a. Read the correction method P,
A number of correction pulses Y corresponding to ΔP are supplied to the correction pulse generation circuit 15 in a predetermined direction of the Y axis. At the same time as instructing B to output , X is updated using the following formula % formula % (12), and the above passage control process is repeated.
The correction pulse generation circuit 15 outputs a predetermined number of correction pulses Y to the synthesis circuit 16Y in response to a correction pulse generation instruction from the numerical control device 11, thereby correcting the position error in the Y-axis direction.
以上実施例では（２）、（３）式で与えられるＸあるい
はｙを用いて分割点を通過したかいなかを判別しｔコが
、可動部の実際の位置を検出し、該位置を用いて分割点
を通過したかどうかを判別してもよい。又、各領域Ａ１
の領域番号ｌに対応させプ７ｔ’ｙｉｉｌ傾至亦ＪＩ／
徘へｐ ん言ν債す＾温をｔこついて説明したが、△Ｐ
１に代えて（１）式のＥｌを記憶させ、プロセッサをし
て（１）式の演算を行わせて△Ｐ１を算出するようにす
ることもてきる。In the above embodiment, X or y given by equations (2) and (3) is used to determine whether the dividing point has been passed or not, and the controller detects the actual position of the movable part and uses this position to determine whether the dividing point has been passed or not. It may also be determined whether the dividing point has been passed. Also, each area A1
7t'yiil inclination 亦JI/
I tried to explain to him that I had to talk to him, but △P
It is also possible to store El in equation (1) instead of 1 and have the processor perform the calculation in equation (1) to calculate ΔP1.
〈発明の効果〉
以上説明したように本発明によれば、所定軸方向の現在
位置に応じて該所定軸に直角な方向の位置誤差を補正す
るように構成したから、ガイドレールのうねりやガイド
レールの取り付は誤差などに起因する位置誤差をなくす
乙とができ高精度の。 位置決めあるいは通路制御を行
うことができる。<Effects of the Invention> As explained above, according to the present invention, since the position error in the direction perpendicular to the predetermined axis is corrected according to the current position in the predetermined axis direction, the waviness of the guide rail and the guide rail are corrected. The rail installation can be performed with high precision to eliminate positional errors caused by errors. Positioning or path control can be performed.
第１図は本発明方法を実現する装置のブロック図、第２
図は誤差曲線図、第３図は補正方法の説明図、第４図は
本発明にかかる位置誤差補正方法の処理の流れ図である
。
１１・・・数値制御装置、ｌｌａ・・・不揮発性メモリ
、１］ｂ・・・プロセッサ、１４・・・パルス分配器、
１５・・・補正パルス発生回路、１６Ｘ、１６Ｙ・・・
合成回路、１７Ｘ、１７Ｙ・・・サーボ回路、１８Ｘ、
１８Ｙ・・・モータ、１９Ｘ、１９Ｙ・・・ボールネジ
、２０・・・可動部
特許出願人 ファナック株式会社
代理人 弁理士 齋藤千幹
第１図
第２図
第３図
第４図Fig. 1 is a block diagram of an apparatus for implementing the method of the present invention;
This figure is an error curve diagram, FIG. 3 is an explanatory diagram of the correction method, and FIG. 4 is a flowchart of processing of the position error correction method according to the present invention. 11... Numerical control device, lla... Nonvolatile memory, 1]b... Processor, 14... Pulse distributor,
15... Correction pulse generation circuit, 16X, 16Y...
Composite circuit, 17X, 17Y...servo circuit, 18X,
18Y...Motor, 19X, 19Y...Ball screw, 20...Movable part Patent applicant Fanuc Corporation representative Patent attorney Chiki Saito Figure 1 Figure 2 Figure 3 Figure 4
Claims (3)
置誤差補正方法において、所定軸方向への一定移動距離
△ｌ毎に他の軸方向に発生する位置誤差量を記憶させて
おき、可動部が所定軸方向へ前記一定距離移動する毎に
前記位置誤差量に基いて他の軸方向の位置を補正するこ
とを特徴どする位置誤差補正方法。 ゛(1) In a position error correction method for a movable part whose movement is controlled in at least two axial directions, the amount of position error occurring in other axial directions is memorized for each fixed movement distance Δl in a predetermined axial direction, and the movable part is A position error correction method, comprising: correcting a position in another axis direction based on the position error amount each time the part moves the predetermined distance in the predetermined axis direction.゛
を補正すると共に、位置誤差量が正の場合には、所定軸
正方向へ可動部が移動するとき補正パルスの符号を負と
し、負方向へ移動するとき正とし、又前記位置誤差量が
負の場合には、所定軸正方向へ可動部が移動するとき補
正パルスの符号を正とし、負方向へ移動するとき負とす
ることを特徴とする特許請求の範囲第（１）項記載の位
置誤差補正方法。(2) A correction pulse is generated to correct the position error in the other axis direction, and if the position error amount is positive, the sign of the correction pulse is set to be negative when the movable part moves in the positive direction of the predetermined axis. , the sign of the correction pulse is positive when moving in the negative direction, and when the position error amount is negative, the sign of the correction pulse is positive when the movable part moves in the positive direction of the predetermined axis, and negative when moving in the negative direction. A position error correction method according to claim (1).
、全ストロークをΔｌで分割し、現在位置から原点側に
最も近い分割点の位置をＸ とする時、 ｘ＜ｘ、になったとき負方向移動に基づく補正パルスを
発生すると共に、次式 ％式％ によりＸ。を更新し、 ｘ−ｘＯ）Δｌζこなった時正方向移動に基づく補正パ
ルスを発生すると共に、次式 ％式％ によりＸ、を更新する乙とを特徴とする特許請求の範囲
第（２）項記載の位置誤差補正方法。(3) When the current position of the movable part in the predetermined axis direction is X, the entire stroke is divided by Δl, and the position of the dividing point closest to the origin from the current position is X, then x<x. When this occurs, a correction pulse is generated based on the movement in the negative direction, and X is calculated using the following formula. Claim (2) is characterized in that x-xO)Δlζ is changed, a correction pulse is generated based on the movement in the positive direction, and X is updated by the following formula %. Position error correction method described in section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9611884A JPS60239804A (en) | 1984-05-14 | 1984-05-14 | Correcting method of positional error |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9611884A JPS60239804A (en) | 1984-05-14 | 1984-05-14 | Correcting method of positional error |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS60239804A true JPS60239804A (en) | 1985-11-28 |
Family
ID=14156465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9611884A Pending JPS60239804A (en) | 1984-05-14 | 1984-05-14 | Correcting method of positional error |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60239804A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6337402A (en) * | 1986-08-01 | 1988-02-18 | Mitsui Seiki Kogyo Co Ltd | Method for correcting three-dimensional position in numerically controlled machine tool |
| JPS6457309A (en) * | 1987-08-27 | 1989-03-03 | Kiriu Machine Mfg | Method for correcting traveling of numerical controller |
| JPH0432906A (en) * | 1990-05-23 | 1992-02-04 | Makino Milling Mach Co Ltd | Pitch error correcting method of multi-axial numerically controlled machine |
-
1984
- 1984-05-14 JP JP9611884A patent/JPS60239804A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6337402A (en) * | 1986-08-01 | 1988-02-18 | Mitsui Seiki Kogyo Co Ltd | Method for correcting three-dimensional position in numerically controlled machine tool |
| JPS6457309A (en) * | 1987-08-27 | 1989-03-03 | Kiriu Machine Mfg | Method for correcting traveling of numerical controller |
| JPH0432906A (en) * | 1990-05-23 | 1992-02-04 | Makino Milling Mach Co Ltd | Pitch error correcting method of multi-axial numerically controlled machine |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR880002554B1 (en) | Numerially controlled cutting method | |
| KR101485932B1 (en) | Method and device for generating tool path | |
| US5237509A (en) | Method and apparatus for compensating positional errors | |
| US4649252A (en) | Wire-cut electric discharge machining method | |
| CN100480917C (en) | Method and apparatus for driving numerically controlled machine to execute space circular arc interpolation process | |
| US4963805A (en) | Numerical control apparatus for machining non-circular workpieces | |
| EP0068027B1 (en) | Shape correcting system for wire cut electric discharge machining | |
| US5031107A (en) | Numerical control apparatus for machining non-circular workpieces | |
| JP3552753B2 (en) | Wire squareness control method | |
| JPS60239804A (en) | Correcting method of positional error | |
| US4521721A (en) | Numerical control method | |
| KR0161010B1 (en) | Modification method of moving path in accordance with diameteral change of work | |
| EP0413825B1 (en) | Involute-interpolation speed control method | |
| EP0451795A2 (en) | Numerical control unit with compensation for offset error | |
| US3731175A (en) | Servo system for velocity and position control | |
| JPS6234754A (en) | Surface machining method | |
| JPS6234753A (en) | Surface machining method | |
| US4276792A (en) | Method for continuous path control of a machine tool | |
| JPS60230203A (en) | Position error correcting method | |
| JPS6154528B2 (en) | ||
| JPS6337402A (en) | Method for correcting three-dimensional position in numerically controlled machine tool | |
| JPH02156308A (en) | Numerical controller | |
| JPS62130411A (en) | Numerical control method | |
| JPH04176516A (en) | Second cut machining method and second cut machining controller in wire electric discharge machining | |
| JPS62130412A (en) | Numerical control method |