JPS63109960A - Optional angle profile system in profile control - Google Patents

Abstract

PURPOSE:To prevent the accumulation of errors and perform profile control at an angle within a defined error by always giving an error correcting term to a following direction axis with a trace feed start position as a starting point when a surface copying at an optional angle is performed by means of a profile control device. CONSTITUTION:Velocity VT in the tangential direction and velocity VN in the normal direction of a model 1 are obtained by an operating part 11, and resolved into a velocity component VXY on an X-Y plane and a velocity component VZ on a Z axis by an operating part 12, and the velocity component VZ is inputted into a command operating part 14 and the velocity component VXY is inputted into an angle operating part 13. And, an axis with a larger moving quantity is defined as a main direction axis and an axis with a smaller moving quantity as a following direction axis. When the main direction axis is the X axis, the target values Xn, Yn of XY coordinates and the velocities VX, VY of each axis X, Y at this time are calculated according to a specific formula. Then, velocity commands VX, VY are inputted into the operating part 14 and given to a drive unit 5 as velocity commands DAX, DAY. And, in accordance with the movement of each of X and Y shafts, a detecting signal PS is fed back from the position detector 4 of a motor 3 to the operating part 14.

Description

Detailed Description of the Invention (Technical Field of the Invention) The present invention relates to an arbitrary angle scanning method (technology of the invention) in scanning control that prevents cumulative errors from occurring when a scanning control device performs surface scanning at an arbitrary angle. Background and problems) When performing arbitrary angle scanning by scanning the surface of a model using a scanning control device, conventionally, as shown in Fig. 5, for the target position (trace feed start position) po obtained at a certain point,
The next target position a P 1 is determined by a predetermined angle calculation, but this calculation is performed for each target position (P2.
P3. ...) If the calculations were repeated in sequence, the actual traveling direction RV would be accumulated as an error e with respect to the target traveling direction 0v due to the accumulation of calculation errors Δθ. This is the calculation formula for the velocity component VXY on the XY plane as shown in Figure 4.
In addition to decomposing the X-axis velocity component vX and the YfIII velocity component, the point Pn (Xo, Y,) is determined by It happens. A problem has been that the actual traveling direction nv gradually deviates greatly from the target traveling direction DV due to the accumulation of such calculation errors Δθ at each target position.

(Object of the Invention) The present invention was made in view of the above-mentioned circumstances, and an object of the present invention is to always perform calculations based on a reference point so as to avoid cumulative errors, and to perform scanning at arbitrary angles without errors. It is an object of the present invention to provide an arbitrary angle scanning method that can be scanned without any occurrence of curvature.

(Summary of the Invention) The present invention relates to an arbitrary-angle scanning method in scanning control, and when a scanning control device performs surface scanning at an arbitrary angle, the trace feed start position is always used as the starting point.
By inserting an error correction term in the slave direction axis, the accumulation of calculation errors is eliminated and scanning control can be performed at an angle within a two-dimensional error.

(Embodiment of the Invention) FIG. 1 shows an example of the configuration of an apparatus for realizing the method of the present invention, in which a tracer head 2 traces a model 1 via a stylus 28, and the displacement EX, E, , a, are manually inputted to the copying calculation unit 10, and the respective speed commands for each of the X and Y axes calculated by the copying calculation unit IO are inputted to the drive unit 5. , a tracer head 2 connected to a motor 3 traces the surface of the model 1. Further, a position detector 4 is connected to the motor 3 to detect the scanning position, and the position detection signal ps of the position detector 4 is manually inputted to the command calculation section 14 in the scanning calculation section 10. . Further, the tracing calculation unit 10 has calculation units 11 and 12, which will be described later, and further includes an angle calculation unit 13, the details of which are shown in FIG. 2, and a command calculation unit 14, which calculates speed commands DAX and DAY. There is. That is, the angle calculation section 13
As shown in FIG. 2, the main direction axis determination unit 131 and
is determined to be the main direction axis (in this case, the Y glaze is the subordinate direction axis), and when the Y axis is determined to be the main direction axis (in this case, the X axis is the subordinate direction axis). The target value calculation section 133 is configured to calculate the speed vX of the X axis and the speed vY of the Y axis.

In such a configuration, the XYZ data obtained by tracing the surface of the model l using the tracer head 2 or the stylus 2A
The shape of the model 1 and the contact situation between the stylus 2A and the model 1 can be identified from the displacement amounts EX, EY, and EZ. Therefore, the copying speed command V. The tangential direction velocity VT and normal direction velocity vN of the model 1 are determined by the 7-countable unit 11 in the tracing calculation unit 1O using as a reference. These speeds VT,
VN is the velocity component VXY and Z! on the XY plane calculated by the calculation unit 12.
It is decomposed into a velocity component v2 in the N1 direction, and a velocity component v2 in the Z-axis direction.
2 is manually inputted to the command calculation unit 14, the velocity component VXY on the XY plane is inputted manually to the angle calculation unit 13, and the main direction axis determination unit 131 determines the main direction axis. In this case, the axis with the larger amount of movement is determined to be the main direction axis, and the axis with the smaller amount of movement is determined to be the subordinate direction axis. For example, if the specified angle in the counterclockwise direction from X@ in arbitrary angle scanning is θ, then the X axis becomes the main direction axis and the Y/sleeve becomes the subordinate direction axis. Also, 45°〈θ≦135°, 225°〈θ≦315°...
......(2) At the time of (2), the Y-axis becomes the main direction axis and the X-axis becomes the subordinate direction axis. The main direction/glaze determination unit 131 determines the main direction axes according to equations (1) and (2) above.

For example, when the main direction axis is X/sleeve, the target value of the XY coordinates is ×. , Yn are calculated by the target value calculating section 132 according to the following. X again at this time
The speeds Vx, V, of each Y axis are calculated by the speed calculation unit 134 as follows. This is the trace feed start position P in FIG. (Xo, Yo) is the target position P. Yn - (Xn - Xo) tanθ for (Xn, Yn)...
...Based on having the relationship (5).

The speed commands VX and vY thus obtained are input to the command calculation section 14, and are given as speed commands DAX and I)AY to the drive unit 5 that drives each of the X and Y axes. In accordance with the movement of each of the X and Y axes, the position detection signal PS from the position detector 4 connected to the motor 3 is fed back to the command calculation unit 14, and is compared with the target values xrl and yI, and if there is an error, this signal is A component for canceling the error is calculated by the command calculation unit 14, and position control is performed such that the speed command is output as 8X and 0AY. In this way, even when scanning in any direction, the target value is always determined for the designated direction based on the trace feed start position P0, so that scanning control without accumulation of errors can be realized.

Furthermore, when the main direction axis determination section 131 of the angle calculation section 13 described above determines that the main direction axis is YitI[h and the X axis is set as the subordinate direction axis, the target value calculation section 133 performs the calculation of I will do it.

Note that the straight j-JDR in Fig. 3 indicates the target traveling direction, and by calculating the target point Pn with respect to the trace feed start position P0 using the above equation (3) or (6), the error can be accumulated. There's nothing to do.

(Effects of the Invention) As described above, according to the arbitrary angle scanning method of the present invention, since the error correction term is included in the slave direction axis, there is no accumulation of calculation errors, and scanning control is performed at an angle within a certain amount difference. becomes possible.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of a device for realizing the method of this invention, FIG. 2 is a block diagram showing details of the angle calculation section, and FIG. 3 is a diagram for explaining the principle of the method of this invention. FIG. 4 is a diagram showing a conventional angle calculation formula, and FIG. 5 is a diagram for explaining a conventional arbitrary angle scanning method. DESCRIPTION OF SYMBOLS 1...Model, 2...Tracer head, 3...Motor, 4...Position detector, 5...Drive unit, lO...Copy calculation section, 11.12...Calculation section, 1
3... Angle calculation section, 14... Command calculation section, 131.
...Main direction axis determination section, 132.133...Target value calculation section, 134...Speed calculation section. Applicant's representative Yasugata Yu 3tj brown 2 figures sheep 3 pages

Claims (1)

[Claims] When performing surface scanning at an arbitrary angle using a scanning control device, by always using the trace feed start position as the starting point and inserting an error correction term in the slave direction axis, it is possible to eliminate the accumulation of calculation errors and control scanning at an angle within a certain error. An arbitrary angle scanning method in scanning control, which is characterized in that it can perform