CN103219930A - Method used for enabling dual-motor driving shaft to move back to origin point - Google Patents
Method used for enabling dual-motor driving shaft to move back to origin point Download PDFInfo
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- CN103219930A CN103219930A CN2012100165838A CN201210016583A CN103219930A CN 103219930 A CN103219930 A CN 103219930A CN 2012100165838 A CN2012100165838 A CN 2012100165838A CN 201210016583 A CN201210016583 A CN 201210016583A CN 103219930 A CN103219930 A CN 103219930A
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Abstract
The invention relates to a method used for enabling a dual-motor driving shaft (Gantry shaft) to move back to an origin point. The method used for enabling the dual-motor driving shaft to move back to the origin point mainly solves the problem that in the prior art, repeatability and accuracy are poor in the process that the dual-motor driving shaft moves back to the original point. The method used for enabling the dual-motor driving shaft to move back to the original point includes the following steps: the Gantry shaft is powered on, and count values of two encoders, namely a left encoder and a right encode, are reset; the same motion instruction is applied on two motors, namely a left motor and a right motor, for carrying out opposite motion control, and after a negative limit is triggered, the two motors stop moving; captured values of index points of the left encoder and the right encoder, are returned to original values, the same instruction is applied on the left motor and the right motor for carrying out forward motion control, the two motors stop moving until the two index points are captured, and an IND-left value and an IND-right value (as shown in 2 and 3 in Figure1) are recorded; the left motor and the right motor are configured to be in an encoder cross-coupled Gantry shaft control mode; the values of the left motor encoder and the right motor encoder are reset; and an original point searching process is finished. The method used for enabling the dual-motor driving shaft to move back to the origin point well solves the problem that the repeatability and the accuracy are poor in the process that the Gantry shaft moves back to zero, and can be used in the field of synchronous control of gantry structures.
Description
Technical field
The present invention relates to a kind of method that Dual-motors Driving axle (Gantry axle) returns initial point that is used for, relate to dual linear motor driving shaft (gantry structure) Synchronization Control field.
Background technology
Bi-motor driven in synchronism (Gantry) structure is because advantages such as energy balanced load, acquisition high acceleration are widely used in high-precision equipment, adopting the continuous variation of the alliance precision of gantry structure is a big factor that influences the Gantry structure function, the gantry structure is because repeatability and the accuracy that the attitude Different Effects of crossbeam makes zero when powering on, and then constantly influences the positional precision of system.
Chinese patent CN202017118U discloses style machine initial point controlling organization, comprising: X to initial point induction mechanism and Y to the initial point induction mechanism; Described X comprises to the initial point induction mechanism: an X who is fixed on the machine is to the initial point magnetic inductor, and an X is fixedly mounted on X on line slideway to the mounting groove seat; Described X is fixed on the machine to line slideway; Described Y comprises to the initial point induction mechanism: one is fixed on the Y of Y on the stepping motor seat to the initial point magnetic inductor, and a Y who is connected with stepping motor is to driving shaft; Described Y is fixed on the machine to the stepping motor seat; The beneficial effects of the utility model are: because the initial point inductor is the Magnetic Induction device, when metal object during near inductor, inductor will produce signal; Again since the initial point inductor itself screw thread is arranged, can freely adjust when being connected with the inductor frame and inductor between the gap, make its induction rapid, sensitive, be not subject to the influence of operational environment.This invention and unexposed Dual-motors Driving axle return the method for initial point.
Two motors adopted the gantry axle return-to-zero mode of increment type grating chi as feedback element simultaneously about the present invention had introduced in a kind of gantry structure, had improved the repeatability and the accuracy that make zero, and experimental verification is made zero repetition and accuracy all in 10um.
Summary of the invention
Technical problem to be solved by this invention is in the prior art, the repeatability that bi-motor driven in synchronism axle makes zero and the problem of poor accuracy.A kind of new method that the Dual-motors Driving axle returns initial point that is used for is provided, and this method has repeatability that bi-motor driven in synchronism axle makes zero and accurate high advantage.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows: a kind ofly be used for the method that the Dual-motors Driving axle returns initial point, comprise following several steps:
A) the Gantry spindle motor powers on and enables and the encoder to count value is resetted: FB_left=0; FB_right=0; Two motor values of feedback and original feedback shift value about the following formula record of foundation:
FB_left_offset?=?FB_left–FB_left_counter
FB_right_offset?=?FB_?right–?FB_?right?_counter
FB_left_counter wherein, FB_ right _ counter be board when powering on about the initial count value of two encoders;
B) to about two motors apply the same movement instruction and carry out opposite direction motion control simultaneously and bear spacing (1 position among Fig. 1) until triggering, stop the motion of two axles;
C) reset about two values of catching that index is ordered, and two motor positive directions motions stop behind two index points about catching about applying same movement instruction and driving, and write down the value (2,3 positions among Fig. 1) of IND_left and IND_right;
D) with about two motors be configured to two encoder cross-couplings Gantry control models;
E) be provided with about two motor encoder values:
FB_left=FB_left-(IND_left+IND_right)/2+(FB_right_counter-FB_left_counter)/2；
FB_?right=?FB_?right-(?IND_right-?IND_left)-?FB_left_counter；
F) seeking initial point finishes.
The Gantry structural arrangements can be bi-motor list encoder and bi-motor dual coding device feedback, owing to bi-motor list encoder can not be adjusted in real time in motion process middle cross beam attitude, so high accuracy gantry structure generally adopts bi-motor dual coding device form; If feedback element is selected the increment type feedback for use, the repeatability that makes zero depends on the attitude of the crossbeam that at every turn powers on, the method that makes zero that this patent proposed only uses the INDEX point signal of two light chi feedbacks about the gantry axle to make zero, carry out corresponding calculating by two INDEX point feedback numerical value about catching, from dynamic(al) correction crossbeam attitude, improve make zero repeatability and accuracy.
In the gantry structure among the present invention, about two motors adopt the gantry axle return-to-zero mode of increment type grating chi simultaneously as feedback element, improved the repeatability and the accuracy that make zero, experimental verification is made zero repetition and accuracy all in 10um.Repeatability and accuracy that the motor synchronous driving shaft makes zero significantly improve than prior art, have obtained better technical effect.
Description of drawings
Fig. 1 seeks the principle schematic of former point mode for the Gantry axle.
The invention will be further elaborated below by specific embodiment, but be not limited only to present embodiment.
Specific embodiment
[embodiment 1]
A kind ofly be used for the method that the Dual-motors Driving axle returns initial point, principle schematic comprises following several steps as shown in Figure 1:
A) the Gantry spindle motor powers on and enables and the encoder to count value is resetted: FB_left=0; FB_right=0; Two motor values of feedback and original feedback shift value about the following formula record of foundation:
FB_left_offset?=?FB_left–FB_left_counter
FB_right_offset?=?FB_?right–?FB_?right?_counter
FB_left_counter wherein, FB_ right _ counter be board when powering on about the initial count value of two encoders;
B) to about two motors apply the same movement instruction and carry out opposite direction motion control simultaneously and bear spacing (1 position among Fig. 1) until triggering, stop the motion of two axles;
C) reset about two values of catching that index is ordered, and two motor positive directions motions stop behind two index points about catching about applying same movement instruction and driving, and write down the value (2,3 positions among Fig. 1) of IND_left and IND_right;
D) with about two motors be configured to two encoder cross-couplings Gantry control models;
E) be provided with about two motor encoder values:
FB_left=FB_left-(IND_left+IND_right)/2+(FB_right_counter-FB_left_counter)/2；
FB_?right=?FB_?right-(?IND_right-?IND_left)-?FB_left_counter；
F) seeking initial point finishes.
Claims (1)
1. one kind is used for the method that the Dual-motors Driving axle returns initial point, comprises following several steps:
The Gantry spindle motor powers on and enables and the encoder to count value is resetted: FB_left=0; FB_right=0; Two motor values of feedback and original feedback shift value about the following formula record of foundation:
FB_left_offset?=?FB_left–FB_left_counter
FB_right_offset?=?FB_?right–?FB_?right?_counter
FB_left_counter wherein, FB_ right _ counter be board when powering on about the initial count value of two encoders;
To about two motors apply the same movement instruction and carry out opposite direction motion control simultaneously and bear spacing (1 position among Fig. 1) until triggering, stop the motion of two axles;
Two values of catching that index is ordered about resetting, and two motor positive directions motions stop behind two index points about catching about applying same movement instruction and driving, and write down the value (2,3 positions among Fig. 1) of IND_left and IND_right;
With about two motors be configured to two encoder cross-couplings Gantry control models;
Two motor encoder values about being provided with:
FB_left=FB_left-(IND_left+IND_right)/2+(FB_right_counter-FB_left_counter)/2；
FB_?right=?FB_?right-(?IND_right-?IND_left)-?FB_left_counter；
Seeking initial point finishes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100165838A CN103219930A (en) | 2012-01-19 | 2012-01-19 | Method used for enabling dual-motor driving shaft to move back to origin point |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100165838A CN103219930A (en) | 2012-01-19 | 2012-01-19 | Method used for enabling dual-motor driving shaft to move back to origin point |
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| CN103219930A true CN103219930A (en) | 2013-07-24 |
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| CN2012100165838A Pending CN103219930A (en) | 2012-01-19 | 2012-01-19 | Method used for enabling dual-motor driving shaft to move back to origin point |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0347705A1 (en) * | 1988-06-23 | 1989-12-27 | Siemens Aktiengesellschaft | Drive device for a portal traveller |
| US6163116A (en) * | 1997-03-10 | 2000-12-19 | Convolve, Inc. | Method and apparatus for the control of gantry machines |
| CN1778031A (en) * | 2003-04-22 | 2006-05-24 | 株式会社安川电机 | Twin synchronization control method |
| JP2007018439A (en) * | 2005-07-11 | 2007-01-25 | Juki Corp | Gantry xy positioning device |
| CN201418055Y (en) * | 2009-04-01 | 2010-03-03 | 公安部交通管理科学研究所 | Warehouse-frame double-motor synchronous drive positioning control mechanism |
| JP2010088193A (en) * | 2008-09-30 | 2010-04-15 | Juki Corp | Synchronous vibration proof controller for gantry type xy positioning device |
-
2012
- 2012-01-19 CN CN2012100165838A patent/CN103219930A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0347705A1 (en) * | 1988-06-23 | 1989-12-27 | Siemens Aktiengesellschaft | Drive device for a portal traveller |
| US6163116A (en) * | 1997-03-10 | 2000-12-19 | Convolve, Inc. | Method and apparatus for the control of gantry machines |
| CN1778031A (en) * | 2003-04-22 | 2006-05-24 | 株式会社安川电机 | Twin synchronization control method |
| JP2007018439A (en) * | 2005-07-11 | 2007-01-25 | Juki Corp | Gantry xy positioning device |
| JP2010088193A (en) * | 2008-09-30 | 2010-04-15 | Juki Corp | Synchronous vibration proof controller for gantry type xy positioning device |
| CN201418055Y (en) * | 2009-04-01 | 2010-03-03 | 公安部交通管理科学研究所 | Warehouse-frame double-motor synchronous drive positioning control mechanism |
Non-Patent Citations (1)
| Title |
|---|
| 袁博等: "基于Gantry 驱动的双直线电动机高速动态同步误差性能测试研究", 《制造技术与机床》 * |
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Application publication date: 20130724 |
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