Lost motion correction system and lost motion correction method for numerical control machine tool

A lost motion correction system for a numerical control machine tool for correcting a lost motion error of a mechanical transmission system including a first mechanical element to be operated in accordance with a control command from a control program and a second mechanical element for positioning a control object to target positions, the lost motion correction system comprising:

• a first detector configured to detect an operated amount of the first mechanical element;
• a second detector configured to detect an operated position of the second mechanical element;
• a recognizer configured to recognize from the control program that the control object stops at a first target position and to recognize from the control program that the control object changes a moving direction at a second target position;
• a calculator to calculate a stationary lost motion error as a lost motion error along a motion stop of the mechanical transmission system upon a positioning of the control object to the first target position, based on the operated amount of the first mechanical element and the operated position of the second mechanical position and to calculate a dynamic lost motion error as a lost motion error along a continuous motion of the mechanical transmission system upon a positioning of the control object to the second target position, based on the operated amount of the first mechanical element and the operated position of the second mechanical position;
• a setter configured to set a first lost motion correction value for canceling the stationary lost motion error and to set a second lost motion correction value for canceling the dynamic lost motion error;
• and
• a corrector configured to correct, by first lost motion correction value, a first control command for positioning the control object to the first target position and to correct, by the second lost motion correction value, a second control command for positioning the control object to the second target position.

A lost motion correction value setting method for a numerical control machine tool of a hybrid control system for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to periodically input the machine position signals and the motor position signals;
• performing an arc interpolation or a linear reciprocal axis control by the test program;
• calculating differences between the machine position signals and the motor position signals to determine errors;
• calculating a difference between an average value on an advance side and an average value on a return side of the errors;
• holding the difference as a dynamic lost motion correction value;
• and
• calculating the lost motion correction value to be held for each feed axis.

A lost motion correction value setting method for a numerical control machine tool of a hybrid control system for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to perform a reciprocal pitch feed including
• an advance pitch feed accompanying advance stops at a plurality of command positions to read a plurality of first scale values corresponding to machine positions of the advance stops, and
• a return pitch feed accompanying return stops at the plurality of command positions to read a plurality of scale values corresponding to machine positions of the return stops;
• calculating, for each command position, a scale value difference between
• a corresponding first scale value and
• a corresponding second scale value;
• and
• calculating an average of scale value differences of the plurality of command positions as a stationary lost motion correction value for each command position.

A computer readable recording medium for recording a program for executing on a computer a lost motion correction value setting method for a numerical control machine tool of a hybrid control system for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to periodically input the machine position signals and the motor position signals;
• performing an arc interpolation or a linear reciprocal axis control by the test program;
• calculating differences between the machine position signals and the motor position signals to determine errors;
• calculating a difference between an average value on an advance side and an average value on a return side of the errors;
• holding the difference as a dynamic lost motion correction value;
• and
• calculating the lost motion correction value to be held for each feed axis.

A numerical control machine tool of a hybrid control system having a computerized numerical controller for executing a lost motion correction value setting method for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to periodically input the machine position signals and the motor position signals;
• performing an arc interpolation or a linear reciprocal axis control by the test program;
• calculating differences between the machine position signals and the motor position signals to determine errors;
• calculating a difference between an average value on an advance side and an average value on a return side of the errors;
• holding the difference as a dynamic lost motion correction value;
• and
• calculating the lost motion correction value to be held for each feed axis.

A lost motion correction method for a numerical control machine tool for correcting a lost motion error of a mechanical transmission system including a first mechanical element to be operated in accordance with a control command from a control program and a second mechanical element for positioning a control object to target positions, the lost motion correction method comprising:

• detecting an operated amount of the first mechanical element;
• detecting an operated position of the second mechanical element;
• recognizing from the control program that the control object stops at a first target position;
• calculating a stationary lost motion error as a collective lost motion error due to a backlash and a winding along a motion stop of the mechanical transmission system upon a positioning of the control object to the first target position, based on the operated amount of the first mechanical element and the operated position of the second mechanical position;
• setting a first lost motion correction value for canceling the stationary lost motion error;
• and
• correcting, by the first lost motion correction value, a first control command for positioning the control object to the first target position.

A lost motion correction method for a numerical control machine tool for correcting a lost motion error of a mechanical transmission system including a first mechanical element to be operated in accordance with a control command from a control program and a second mechanical element for positioning a control object to target positions, the lost motion correction method comprising:

• detecting an operated amount of the first mechanical element;
• detecting an operated position of the second mechanical element;
• recognizing from the control program that the control object changes a moving direction at a second target position;
• calculating a dynamic lost motion error as a collective lost motion error due to a backlash and a winding along a continuous motion of the mechanical transmission system upon a positioning of the control object to the second target position, based on the operated amount of the first mechanical element and the operated position of the second mechanical position;
• setting a second lost motion correction value for canceling the dynamic lost motion error;
• and
• correcting by the second lost motion correction value, a second control command for positioning the control object to the second target position.

A computer readable recording medium for recording a program for executing on a computer a lost motion correction value setting method for a numerical control machine tool of a hybrid control system for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to perform a reciprocal pitch feed including
• an advance pitch feed accompanying advance stops at a plurality of command positions to read a plurality of first scale values corresponding to machine positions of the advance stops, and
• a return pitch feed accompanying return stops at the plurality of command positions to read a plurality of scale values corresponding to machine positions of the return stops;
• calculating, for each command position, a scale value difference between
• a corresponding first scale value and
• a corresponding second scale value;
• and
• calculating an average of scale value differences of the plurality of command positions as a stationary lost motion correction value for each command position.

A numerical control machine tool of a hybid control system having a computerized numerical controller executing a lost motion correction value setting method for performing a positional loop control by using machine position signals output from a position detecting scale for detecting a machine position and motor position signals output from a rotary encoder for detecting a rotation angle of a driving servo motor, the lost motion correction value setting method comprising:

• executing a test program to perform a reciprocal pitch feed including
• an advance pitch feed accompanying advance stops at a plurality of command positions to read a plurality of first scale values corresponding to machine positions of the advance stops, and
• a return pitch feed accompanying return stops at the plurality of command positions to read a plurality of scale values corresponding to machine positions of the return stops;
• calculating, for each command position, a scale value difference between
• a corresponding first scale value and
• a corresponding second scale value;
• and
• calculating an average of scale value differences of the plurality of command positions as a stationary lost motion correction value for each command position.