WO2006002842A1 - Werkzeugmaschine mit dynamischem beschleunigungsprofil sowie steuerverfahren und computerprogramm dafür - Google Patents
Werkzeugmaschine mit dynamischem beschleunigungsprofil sowie steuerverfahren und computerprogramm dafür Download PDFInfo
- Publication number
- WO2006002842A1 WO2006002842A1 PCT/EP2005/006872 EP2005006872W WO2006002842A1 WO 2006002842 A1 WO2006002842 A1 WO 2006002842A1 EP 2005006872 W EP2005006872 W EP 2005006872W WO 2006002842 A1 WO2006002842 A1 WO 2006002842A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- coordinate
- machining head
- along
- machine tool
- acceleration
- Prior art date
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
- G05B19/416—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 control of velocity, acceleration or deceleration
-
- 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
- G05B2219/43—Speed, acceleration, deceleration control ADC
- G05B2219/43061—Maximum acceleration deceleration lookup table as function of distance
Definitions
- Machine tool with dynamic acceleration profile and control method and computer program for it
- the present invention relates to a machine tool having a machining head movable along at least two coordinates, whose positioning accuracy with respect to the first coordinate depends on its position with respect to the second coordinate, and a control unit which controls the movement of the machining head and a method for controlling the movement of a
- Acceleration and acceleration changes of a machining head that can be moved along two coordinates are critical factors for the dynamics of a machine tool.
- the dynamics have a significant influence on the productivity of the machine tool.
- acceleration and acceleration changes are set according to the engine structure, load case, engine characteristic, curve and process technology.
- the positioning accuracy of the machining head with respect to the one coordinate is often dependent on its position with respect to the other coordinate.
- This object is achieved with respect to the method according to the invention in that the possible along the first coordinate acceleration of the machining head and / or their change depending on the position of the machining head with respect to the second coordinate to maximum values are limited, which decrease along the second coordinate in the direction in which the positioning accuracy of the machining head with respect to the first coordinate decreases.
- the dynamic force of the machining head is changed by continuously adapting its maximum possible acceleration and acceleration change along the first coordinate, whereby a positioning accuracy of the machining head independent of its position along the first coordinate can be achieved ("dynamic acceleration profile").
- the travel path of the machining head along the second coordinate is subdivided into a plurality of zones and one zone is assigned a single maximum value for the acceleration or for its change.
- the lengths of the zones along the second coordinate may decrease in the direction in which the positioning accuracy of the machining head with respect to the first coordinate decreases.
- a limiting device which limits the acceleration of the machining head and / or its change depending on the position of the machining head relative to the second coordinate to maximum values along the second coordinate Decrease direction in which the positioning accuracy of the machining head with respect to the first coordinate decreases.
- the limiting device is integrated in the control unit.
- the limiting or control unit is set up in such a program-technical manner that it can execute the method according to the invention.
- the maximum values can be stored as a function of the position of the machining head with respect to the second coordinate.
- the machining head is movably guided along an arm guided along the first coordinate along the second coordinate.
- the arm can be guided on both sides as a portal or on one side as a boom.
- the maximum values for the acceleration of the arm and its change in the first case decrease on both sides with decreasing distance of the machining head to the center of the arm and in the second case with increasing distance of the machining head from the one-sided guidance of the arm.
- the machining head is movable by means of a scissors drive or rod drive or by means of a robot arm.
- the invention also relates to a computer program for carrying out the method described above, which is loaded into the machine control of the machine tool and runs there.
- FIGS. 2a, 2b show two different dependencies of the maximum x
- FIGS. 4a, 4b a second embodiment of an inventive
- FIG. 5 shows a third exemplary embodiment of a device according to the invention
- the machine tool 1 shown in FIG. 1 has a jib arm 3 that can be moved along the x-axis or x-coordinate in a one-sided guide 2, a drive (not shown) for moving the cantilever arm 3 along the x-coordinate, a machining head 4 movably guided on the cantilever arm 3 along the y-axis or y-coordinate, a drive (not shown) for moving the machining head 4 along the y coordinate and a control unit 5, which controls the movement of the two drives for a desired xy position of the machining head 4.
- the control unit 5 is connected via control lines, not shown, with the two drives.
- the entire xy working range of the machining head 4 is denoted by 6.
- the machining head 4 may be, for example, a laser cutting head of a laser cutting machine or a machining tool of any machine tool.
- a main criterion for the machining quality of the machine tool 1 is the positioning accuracy of the machining head 4 under dynamic forces.
- dynamic forces i. Accelerations ax and acceleration changes jx, act
- the x-positioning accuracy of the machining head 4 is dependent on its y-position.
- the distance L of the machining head 4 to the one-sided guide 2 of the cantilever arm 3 is minimal, in Fig. 1c, however, maximum, while in Fig. 1b, an intermediate position of the machining head 4 is shown.
- the greater the distance L of the machining head 4 to the one-sided guide 2 the smaller the x-positioning accuracy of the machining head 4 under dynamic forces.
- the dynamic force of the machining head 4 is changed by continuously adapting its maximum possible acceleration and acceleration change along the x-coordinate ("dynamic acceleration profile") achieved by limiting the x-acceleration ax of the machining head 4 and its change jx depending on the y-position of the machining head 4 to maximum values ax max , jxm a x, which decrease along the y-coordinate in the direction in which the x-positioning accuracy of the machining head 4 decreases.
- the maximum values axm a ⁇ , jx ma ⁇ for the x-acceleration of the machining head and their change with the distance L of the machining head 4 to the one-sided Guide 2 of the boom 3 from.
- a limiting device 7 is integrated into the control unit 5, which limits the acceleration ax and acceleration change jx of the boom 3 accordingly.
- the acceleration characteristic may be implemented, for example, as a continuous continuous function or as a step function.
- the maximum values of the x-acceleration ax ma are constantly adapted as a function of the current y-position of the machining head 4.
- the working region 6 of the machining head 4 is subdivided into a plurality of acceleration zones along the y-coordinate, wherein in each case one zone is assigned a single maximum value axmax for the x-acceleration.
- the working area 6 corresponding to the metal sheet 8 is divided along the y-coordinate into ten acceleration zones z1 to z10, to each of which a different maximum value ax max is assigned.
- the y-lengths of the ten acceleration zones z1 to z10 gradually decrease in the y-direction, ie, with increasing distance L to the one-sided guide 2 of the extension arm 3.
- the dynamics are set according to the valid acceleration and acceleration change for the respective acceleration zone in which they are arranged. If the line, curve or contour extends over several acceleration zones, two strategies are possible: a) the dynamics are set according to the zone with the lower maximum value for the acceleration; b) The line, curve or contour will be divided into individual zones
- Segments split and set for each segment the corresponding maximum value for the acceleration.
- the machining head 4 is slidably guided along the y-coordinate on an arm which is guided on its two sides along the x-coordinate.
- the maximum values ax max , jx ma ⁇ for the x-acceleration of the machining head 4 and their change from both guided sides of the arm each decrease with the distance of the machining head 4 to the center of the arm.
- FIG. 4a shows a machine tool 10 with a one-sided scissor drive 11
- FIG. 4b shows a machine tool 10 'with a two-sided scissor drive 11' for moving the machining head 4 along the x and y coordinates.
- the scissor drive 11, 11 ' has two guide elements 13, which are displaceable in a guide 12 along the x-coordinate, and by means of which the extension and movement of the scissor elements 14, 14' and thus the xy movement of the machining head 4 are controlled.
- the positioning accuracy of the machining head 4 is dependent on the distance of the machining head 4 to the guide 12, ie the x-distance of the guide elements 13 to each other.
- the 5 shows a machine tool 20 with a bar drive 21 for moving the processing head 4 along the x, y and z coordinates.
- the bar drive 21 has three linearly movable rod elements 22, via which the spatial movement of the machining head 4 is controlled.
- the spatial positioning accuracy of the machining head 4 depends on how far the rod elements 22 are extended along the x1, x2 and x3 coordinates.
- the machining head 4 is attached to a robot arm.
- the spatial positioning accuracy of the machining head 4 depends on how far the machining head is from the base of the robot arm. In this case, the possible accelerations of the machining head and their changes are limited to decreasing maximum values, which decrease with increasing distance of the machining head from the base of the robot arm.
- the described method of limiting the acceleration as a function of the position of the machining head 4 can be implemented in a program for generating a control program that runs in the control unit 5 of the machine tool, or directly in the control unit 5.
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- 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
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP05755296A EP1763708A1 (de) | 2004-07-02 | 2005-06-25 | Werkzeugmaschine mit dynamischem beschleunigungsprofil sowie steuerverfahren und computerprogramm dafür |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/882,285 | 2004-07-02 | ||
US10/882,285 US7383098B2 (en) | 2004-07-02 | 2004-07-02 | Machine tool acceleration |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2006002842A1 true WO2006002842A1 (de) | 2006-01-12 |
Family
ID=34971275
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2005/006872 WO2006002842A1 (de) | 2004-07-02 | 2005-06-25 | Werkzeugmaschine mit dynamischem beschleunigungsprofil sowie steuerverfahren und computerprogramm dafür |
Country Status (3)
Country | Link |
---|---|
US (1) | US7383098B2 (de) |
EP (1) | EP1763708A1 (de) |
WO (1) | WO2006002842A1 (de) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102007027503A1 (de) * | 2007-06-14 | 2009-01-08 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Verfahren zur optimierten Bewegungskoordination von Mess- oder Werkzeugmaschinen mit redundanten translatorisch wirksamen Achsen |
JP5739480B2 (ja) * | 2013-06-21 | 2015-06-24 | ファナック株式会社 | 飛散防止カバーを有する工作機械 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0240570A1 (de) * | 1985-09-11 | 1987-10-14 | Fanuc Ltd. | Beschleunigungs- und geschwindigkeitsabnahmesteuerungssystem für roboter mit waagerechtem gelenk |
JPH08123531A (ja) * | 1994-10-24 | 1996-05-17 | Hitachi Ltd | 軌道の制御方法 |
US6294755B1 (en) * | 1997-12-02 | 2001-09-25 | Lacent Technologies, Inc. | Gantry-mounted laser nozzle and method for controlling laser positioning |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3662799B2 (ja) * | 2000-03-09 | 2005-06-22 | 三菱電機株式会社 | 数値制御装置及び数値制御方法 |
-
2004
- 2004-07-02 US US10/882,285 patent/US7383098B2/en active Active
-
2005
- 2005-06-25 WO PCT/EP2005/006872 patent/WO2006002842A1/de active Application Filing
- 2005-06-25 EP EP05755296A patent/EP1763708A1/de not_active Withdrawn
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0240570A1 (de) * | 1985-09-11 | 1987-10-14 | Fanuc Ltd. | Beschleunigungs- und geschwindigkeitsabnahmesteuerungssystem für roboter mit waagerechtem gelenk |
JPH08123531A (ja) * | 1994-10-24 | 1996-05-17 | Hitachi Ltd | 軌道の制御方法 |
US6294755B1 (en) * | 1997-12-02 | 2001-09-25 | Lacent Technologies, Inc. | Gantry-mounted laser nozzle and method for controlling laser positioning |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN vol. 1996, no. 09 30 September 1996 (1996-09-30) * |
Also Published As
Publication number | Publication date |
---|---|
US20060004480A1 (en) | 2006-01-05 |
EP1763708A1 (de) | 2007-03-21 |
US7383098B2 (en) | 2008-06-03 |
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