JPS61150009A - Position correcting method - Google Patents

Position correcting method

Info

Publication number
JPS61150009A
JPS61150009A JP27168984A JP27168984A JPS61150009A JP S61150009 A JPS61150009 A JP S61150009A JP 27168984 A JP27168984 A JP 27168984A JP 27168984 A JP27168984 A JP 27168984A JP S61150009 A JPS61150009 A JP S61150009A
Authority
JP
Japan
Prior art keywords
load
weight
correction value
work table
drive source
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
Application number
JP27168984A
Other languages
Japanese (ja)
Inventor
Yasumi Okubo
大久保　靖美
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Amada Co Ltd
Original Assignee
Amada Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Amada Co Ltd filed Critical Amada Co Ltd
Priority to JP27168984A priority Critical patent/JPS61150009A/en
Priority to US06/811,368 priority patent/US4703143A/en
Priority to GB8531712A priority patent/GB2169536B/en
Priority to DE3546130A priority patent/DE3546130C2/en
Priority to FR858519259A priority patent/FR2575096B1/en
Priority to IT8523393A priority patent/IT1214495B/en
Publication of JPS61150009A publication Critical patent/JPS61150009A/en
Priority to GB8802512A priority patent/GB2201263B/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
    • B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
    • B23H7/02—Wire-cutting
    • B23H7/06—Control of the travel curve of the relative movement between electrode and workpiece
    • B23H7/065—Electric circuits specially adapted therefor
    • 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
    • G05B19/401—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 arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes
    • G05B19/4015—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 arrangements for measuring, e.g. calibration and initialisation, measuring workpiece for machining purposes going to a reference at the beginning of machine cycle, e.g. for calibration
    • 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
    • G05B19/41—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 interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37612—Transfer function, kinematic identification, parameter estimation, response
    • 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
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41123—Correction inertia of servo
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45221—Edm, electrical discharge machining, electroerosion, ecm, chemical
    • 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
    • G05B2219/49164—Corner, making corner

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Manufacturing & Machinery (AREA)
  • Human Computer Interaction (AREA)
  • Theoretical Computer Science (AREA)
  • Computing Systems (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Manipulator (AREA)
  • Control Of Conveyors (AREA)
  • Control Of Position Or Direction (AREA)

Abstract

PURPOSE:To keep positioning against fluctuation in weight or load by storing in advance the positioning accuracy in response to the weight of a mobile object and the load of a drive source and correcting the position in response to the actual weight and load at movement. CONSTITUTION:A ball screw 1 is driven by a drive source motor 5 to move unidirectionally a work table 3. A load input device 11 measures the weight of a work on the work table 3 and the load of the ball screw 1 and inputs the result to a comparator 13. The comparator 13 reads the correction value in response to the said weight and load from a correction storage device 9 and gives it to a controller 7. The controller 7 corrects the stop timing of a motor 5 based on the correction value supplied therefrom and stops the work table 3 at an accurate position.

Description

【発明の詳細な説明】 ［発明の技術分野］ この発明は、産業機械、工作機械、ロボット等の機械一
般の位置補正方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a position correction method for general machines such as industrial machines, machine tools, and robots.

［発明の技術的背景及びその問題点］ 一般工作機械、産業機械、ロボット等の機械の駆動方法
は、閉ループ、セミ閉ループ、あるいは開ループ制御方
法による。そして、移動物体の位置決め精度を向上させ
るために移動物体の移動制御装置にバックラッシュ補正
や送りねじピッチ誤差補正機能を付加している。このよ
うな位置制御方法では移動物体の位置決め精度を向上さ
せることはできるが、移動物体、例えばテーブル上にワ
ークが載せられる場合、そのワークの重量が変更された
ような時には、駆動軸に対する駆動源の負荷は上昇する
にも拘らず、その負荷の変動に対して一律の補正を与え
るものであり、負荷に応じた補正を行なうといった方法
はとられていない。そのために、負荷の変動によって位
置決め精度が変化するといった問題があった。[Technical Background of the Invention and Problems Therewith] Machines such as general machine tools, industrial machines, and robots are driven by closed-loop, semi-closed-loop, or open-loop control methods. In order to improve the positioning accuracy of a moving object, backlash correction and feed screw pitch error correction functions are added to the movement control device for the moving object. Although this position control method can improve the positioning accuracy of a moving object, when a moving object, such as a workpiece, is placed on a table, when the weight of the workpiece changes, the drive source for the drive shaft Despite the fact that the load increases, a uniform correction is applied to changes in the load, and no method is used to make corrections according to the load. Therefore, there is a problem in that positioning accuracy changes due to changes in load.

［発明の目的］ この発明は、このような従来の問題に鑑みてなされたも
のであって、移動物体の重量が変動し、駆動装置の駆動
負荷が変化するような場合であっても停止位置の補正を
的確に行なうことにより正確な位置決めを行なえる位置
補正方法を提供することを目的とする。[Object of the Invention] The present invention has been made in view of such conventional problems.Even when the weight of a moving object fluctuates and the driving load of the driving device changes, the stopping position can be maintained. It is an object of the present invention to provide a position correction method that enables accurate positioning by accurately correcting the position.

［発明のＲＳ］ この発明は、一般工作機械、産業機械、ロボット等にお
ける移動対象物の重量と該移動対象物を移動させる時の
駆動源の負荷とを測定するとともに移動対象物の重量と
駆動源の負荷に応じた位置決め精度を測定して補正値を
予め求め、それを記憶装置に記憶させ、現在の移動対象
物の重量と駆動源の負荷とに相応した補正値を記憶装置
より選定し、この選定した補正値に基いて移動対象物の
移動停止時における位置補正を行なうことを特徴とする
位置補正方法であって、例えばワークテーブルのように
移動対象物の１ｆｆｌがワークの重ωによって変動する
ような場合にもその変動した重量に相応した補正値を記
憶装置より選定し、移動対象物の移動停止時における位
置補正を行ない、正確な位置において停止させることが
できるようにするものである。[RS of the invention] This invention measures the weight of a moving object in a general machine tool, industrial machine, robot, etc. and the load on a drive source when moving the moving object, and also measures the weight of the moving object and the drive source. A correction value is obtained in advance by measuring the positioning accuracy according to the load of the drive source, and it is stored in the storage device, and a correction value corresponding to the current weight of the moving object and the load of the drive source is selected from the storage device. , is a position correction method characterized by correcting the position of a moving object when it stops moving based on the selected correction value. Even if the weight fluctuates, a correction value corresponding to the fluctuating weight is selected from the storage device, and the position of the moving object is corrected when the object stops moving, so that it can be stopped at an accurate position. be.

［発明の実施例］ 図面はボールねじ１により移動対象物としてのワークテ
ーブル３を一軸方向において制御する工作機械における
実施例を示すものである。ボールねじ１は駆動源として
のモータ５によって回転され、そのボールねじ１の回転
によりワークテーブル３が一軸方向に移動する。[Embodiment of the Invention] The drawing shows an embodiment of a machine tool in which a work table 3 as a moving object is controlled in one axis direction by a ball screw 1. The ball screw 1 is rotated by a motor 5 as a driving source, and the rotation of the ball screw 1 causes the work table 3 to move in a uniaxial direction.

モータ５の回転制御は、制御ｌ装置７によって行なわれ
る。この制御装置７は閉ループ、セミ閉ループ、開ルー
プ制御いずれの方式をとるものであってもよく、限定さ
れることはない。The rotation of the motor 5 is controlled by a control device 7. This control device 7 may be of any closed-loop, semi-closed-loop, or open-loop control type, and is not limited to any one of them.

制御装置７に対して補正値記憶装置９、負荷入力装置１
１、比較装置１３が接続されている。A correction value storage device 9 and a load input device 1 for the control device 7
1. A comparison device 13 is connected.

補正値記憶装置９は、ワークテーブル３上に載置するワ
ークの重さ、および駆動軸としてのボールねじ１の負荷
に対応する停止位置補正値を記憶しているものである。The correction value storage device 9 stores stop position correction values corresponding to the weight of the workpiece placed on the work table 3 and the load on the ball screw 1 as a drive shaft.

そしてこの補正値記憶装置９には、ワークテーブル３上
に載置するワークの重さを段階的に変えて停止位置を測
定し、その誤差を精密測定機で測定し、記憶させるので
ある。The correction value storage device 9 measures the stop position by changing the weight of the workpiece placed on the worktable 3 in stages, and measures the error using a precision measuring device, and stores the resultant value.

負荷入力装置１１はキーボードのような主導入力装置で
あってもよく、またワークテーブル３のｍｌを自動的に
検出する自動計測装置であってもよい。この負荷入力装
置１１はワークテーブル３上に載置されるワークの重さ
を入力するものである。The load input device 11 may be an active input device such as a keyboard, or may be an automatic measuring device that automatically detects the ml of the work table 3. This load input device 11 is used to input the weight of a workpiece placed on the worktable 3.

比較装Ｒ１３は前記負荷入力装置１１がらのワークテー
ブル３のｉ！、ボールねじ１の負荷を、補正値記憶装置
９からワークの重量やボールねじ１の負荷に同等か近似
しているところの補正値を選びだして制御装置７に与え
る。The comparison device R13 is connected to the i! of the work table 3 of the load input device 11. For the load on the ball screw 1, a correction value that is equal to or similar to the weight of the workpiece or the load on the ball screw 1 is selected from the correction value storage device 9 and is applied to the control device 7.

制御装置７は比較装置１３からの補正値を演算し、停止
指令に対して補正漬方を上乗せあるいは差っ引くことに
より目的の位置においてワークテーブル３が正確に停止
されるようモータ５を制御する。The control device 7 calculates the correction value from the comparison device 13 and controls the motor 5 so that the work table 3 is accurately stopped at the target position by adding or subtracting the correction value from the stop command. .

尚、モータ５の負荷も自動的に継続し負荷入力装置１１
に入力するようにすることもできる。Note that the load on the motor 5 is automatically continued and the load input device 11
It is also possible to input .

上記のように構成した位置補正装置による位置補正方法
を次に説明する。ワークテーブル３上にある重さのワー
クが載置された時、そのワークの重さを負荷入力装置１
１に入力し、あるいは負荷入力装置１１によって自動的
に検出し、比較装置１３に与える。比較装置１３におい
ては補正値記憶装置９に記憶されているワークの重さ、
モータ５の負荷より同等か近似しているところの補正値
を選定し、その補正値を制御装置７に与える。制御装置
７では与えられた補正値をもとにモータ５の停止タイミ
ングを補正し、正確な位置においてワークテーブル３が
停止できるようモータ５を制御する。A position correction method using the position correction device configured as described above will be described next. When a work of a certain weight is placed on the work table 3, the weight of the work is input to the load input device 1.
1 or automatically detected by the load input device 11 and provided to the comparison device 13. In the comparison device 13, the weight of the workpiece stored in the correction value storage device 9,
A correction value that is equal to or similar to the load of the motor 5 is selected, and the correction value is given to the control device 7. The control device 7 corrects the stop timing of the motor 5 based on the given correction value, and controls the motor 5 so that the work table 3 can be stopped at an accurate position.

尚、上記実施例は一軸制御方式を持つ工作機械の実施例
について説明したが、この発明は上記の場合に限定され
るものではない。ＸＹ二軸制御の場合において各軸に対
し上記実施例と同様の位置補正方式を採用し・、ＸＹ両
軸に対して位置補正を行なうことができる。またロボッ
トその他の産業機械においても移動する各部分の停止位
置を制御する場合、その移動対象物の重量と駆動源の負
荷とを測定して移動対象物の重量と駆動源の負荷に応じ
た位置決め精度を測定して補正値を記憶し、移動対象物
の実際の電量と駆動源の負荷とに対応した補正値を選び
だしてその補正値に基いて移動対象物の停止位置を補正
し、正確な位置決めを行なうことができる。Incidentally, although the above embodiment describes an embodiment of a machine tool having a single-axis control system, the present invention is not limited to the above case. In the case of XY two-axis control, a position correction method similar to that of the above embodiment is adopted for each axis, and position correction can be performed for both the XY axes. In addition, when controlling the stopping position of each moving part of a robot or other industrial machine, the weight of the moving object and the load of the driving source are measured and positioning is determined according to the weight of the moving object and the load of the driving source. Measure the accuracy and store the correction value, select a correction value that corresponds to the actual amount of electricity of the moving object and the load of the drive source, and correct the stopping position of the moving object based on the correction value to ensure accuracy. positioning can be performed.

［発明の効果１ この発明は、移動対象物の重量と移動対象物を移動させ
る時の駆動源の負荷とを測定すると共に移動対象物の重
量と駆動源の負荷に応じた位置決め精度を測定して補正
値を予め求めて記憶させ、移動対象物の実際の重Ｑと駆
動源の負荷とに相応した補正値を記憶装置より選定し、
その選定した補正値に基いて移動対象物の移動停止位置
を補正するものである。従って、移動対象物の重量が変
動するような場合でも、その実際の移動対象物の重量に
応じて移動停止位置を補正することができ、正確な位置
決めが実現できる。[Effects of the Invention 1] This invention measures the weight of a moving object and the load on a driving source when moving the moving object, and also measures the positioning accuracy according to the weight of the moving object and the load on the driving source. determine and store a correction value in advance, and select a correction value from the storage device that corresponds to the actual weight Q of the object to be moved and the load of the driving source;
The movement stop position of the moving object is corrected based on the selected correction value. Therefore, even if the weight of the object to be moved varies, the movement stop position can be corrected according to the actual weight of the object to be moved, and accurate positioning can be achieved.

【図面の簡単な説明】[Brief explanation of drawings]

図面はこの発明の一実施例を使用した位置補正装置のブ
ロック図である。 １・・・ボールねじ　　　３・・・ワークテーブル５・
・・モータ　　　　　７・・・制御装置９・・・補正値
記憶装置The drawing is a block diagram of a position correction device using an embodiment of the present invention. 1... Ball screw 3... Work table 5.
...Motor 7...Control device 9...Correction value storage device

Claims (1)

【特許請求の範囲】[Claims] 移動対象物の重量と該移動対象物を移動させる時の駆動
源の負荷とを測定すると共に移動対象物の重量と駆動源
の負荷に応じた位置決め精度を測定して補正値を予め求
め、それを記憶装置に記憶させ、現在の移動対象物の重
量と駆動源の負荷とに相応した補正値を記憶装置より選
定し、この選定した補正値に基いて移動対象物の移動停
止時における位置補正を行なうことを特徴とする位置補
正方法。Measure the weight of the object to be moved and the load on the drive source when moving the object, measure the positioning accuracy according to the weight of the object to be moved and the load on the drive source, and obtain a correction value in advance. is stored in the storage device, a correction value corresponding to the current weight of the moving object and the load of the drive source is selected from the storage device, and the position of the moving object is corrected when the movement of the object stops based on the selected correction value. A position correction method characterized by performing the following.
JP27168984A 1984-12-25 1984-12-25 Position correcting method Pending JPS61150009A (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP27168984A JPS61150009A (en) 1984-12-25 1984-12-25 Position correcting method
US06/811,368 US4703143A (en) 1984-12-25 1985-12-20 Wire EDM method for preventing wire lagging during machining of an angular corner and workpiece position control
GB8531712A GB2169536B (en) 1984-12-25 1985-12-23 A method of and apparatus for controlling a wire cut electrical discharge machine
DE3546130A DE3546130C2 (en) 1984-12-25 1985-12-24 Process for controlling machining in an electrical discharge machine with a wire electrode
FR858519259A FR2575096B1 (en) 1984-12-25 1985-12-26 METHOD AND APPARATUS FOR CONTROLLING A WIRE ELECTROEROSION MACHINING OR CUTTING MACHINE
IT8523393A IT1214495B (en) 1984-12-25 1985-12-27 PROCESS OF CONTROL OF THE PROCESSING TO THE MACHINE TOOL FOR ELECTRIC DISCHARGE MACHINE WITH CUTTING WIRE.
GB8802512A GB2201263B (en) 1984-12-25 1988-02-04 A method of and apparatus for controlling movement of a moveable member in a machine tool

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP27168984A JPS61150009A (en) 1984-12-25 1984-12-25 Position correcting method

Publications (1)

Publication Number Publication Date
JPS61150009A true JPS61150009A (en) 1986-07-08

Family

ID=17503474

Family Applications (1)

Application Number Title Priority Date Filing Date
JP27168984A Pending JPS61150009A (en) 1984-12-25 1984-12-25 Position correcting method

Country Status (1)

Country Link
JP (1) JPS61150009A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1989002624A1 (en) * 1987-09-19 1989-03-23 Fanuc Ltd Method of controlling robot depending upon load conditions

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS52112963A (en) * 1976-03-19 1977-09-21 Hitachi Ltd External force compensation control system
JPS5650403A (en) * 1979-09-29 1981-05-07 Shin Meiwa Ind Co Ltd Position control unit
JPS56152004A (en) * 1980-04-03 1981-11-25 Heidenhain Gmbh Dr Johannes Method of automatically compensating deviation voltage in numerical control machine
JPS58143985A (en) * 1982-02-20 1983-08-26 日本電信電話株式会社 Control system of multiple freedom-degree kinetic mechanism
JPS58223583A (en) * 1982-06-21 1983-12-26 三菱電機株式会社 Control apparatus of industrial robot
JPS594730A (en) * 1982-06-29 1984-01-11 Hitachi Constr Mach Co Ltd Running control oil-pressure circuit for construction vehicle

Patent Citations (6)

* Cited by examiner, † Cited by third party
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