A translation/rotation error compensation amount creating device for creating, for a multi-axis machining apparatus having at least two rotation axes, a translation error compensation amount and a rotation error compensation amount both depending on the rotation axes, the translation/rotation error compensation amount creating device comprising:
- an assembly error setting section configured to preset an assembly error including at least an assembly error in a table surface or an assembly error in a spindle turning centerline in the multi-axis machining apparatus;
- a translation/rotation error compensation amount calculating section configured to calculate
- the translation error compensation amount by a first arithmetic expression based on the assembly error and positions of the two rotation axes, and
- the rotation error compensation amount by a second arithmetic expression for solving an equation based on
- a correct direction vector of the table surface or the spindle turning centerline based on the positions of the two rotation axes,
- the rotation error compensation amount,
- the assembly error, and
- an actual direction vector of the table surface or the spindle turning centerline based on the positions of the two rotation axes;
- and
- a translation/rotation error compensation amount input section configured to input the calculated translation error compensation amount and the rotation error compensation amount to a translation error compensation amount and rotation error compensation amount data table in a numerical controller controlling the multi-axis machining apparatus,
- wherein
- the multi-axis machining apparatus is a table rotating multi-axis machining apparatus having a rotary table,
- the translation/rotation error compensation amount creating device is configured to convert the assembly error in the table surface in the table rotating multi-axis machining apparatus into the translation error compensation amount and the rotation error compensation amount both depending on the rotation axes,
- the two rotation axes include an A axis and a C axis,
- the first arithmetic expression for calculating the translation error compensation amount (ΔXR, ΔYR, ΔZR) corresponding to a position (a) of the A axis and a position (c) of the C axis is as follows:
- [
- Δ
-
-
- X
-
-
- R
- Δ
-
-
- Y
-
-
- R
- Δ
-
-
- Z
-
-
- R
- ]
- =
-
- M
-
-
- a
- -
- T
- *
-
- {
- M
-
-
- c
- -
- T
- *
-
- (
- δ
-
-
- t
- -
- T
- -
- δ
-
-
- c
- -
- T
- )
- +
- δ
-
-
- c
- -
- T
- -
- δ
-
-
- a
- -
- T
- }
- +
-
- δ
-
-
- a
- -
- T
- =
-
- [
- (
- δ
-
-
- t
-
-
- x
- -
- T
- -
- δ
-
-
- c
-
-
- x
- -
- T
- )
-
- cos
-
- (
- c
- )
- +
- (
- δ
-
-
- t
-
-
- y
- -
- T
- -
- δ
-
-
- c
-
-
- y
- -
- T
- )
-
- sin
-
- (
- c
- )
- +
- δ
-
-
- c
-
-
- x
- -
- T
- {
- -
- (
- δ
-
-
- t
-
-
- y
- -
- T
- -
- δ
-
-
- c
-
-
- y
- -
- T
- )
-
- sin
-
- (
- c
- )
- +
- (
- δ
-
-
- t
-
-
- y
- -
- T
- -
- δ
-
-
- c
-
-
- y
- -
- T
- )
-
- cos
-
- (
- c
- )
- +
- δ
-
-
- c
-
-
- y
- -
- T
- -
- δ
-
-
- a
-
-
- y
- -
- T
- }
-
- cos
-
- (
- a
- )
- +
- (
- δ
-
-
- t
-
-
- z
- -
- T
- -
- δ
-
-
- a
-
-
- z
- -
- T
- )
-
- sin
-
- (
- a
- )
- +
- δ
-
-
- a
-
-
- y
- -
- T
- -
- {
- -
- (
- δ
-
-
- t
-
-
- y
- -
- T
- -
- δ
-
-
- c
-
-
- y
- -
- T
- )
-
- sin
-
- (
- c
- )
- +
- (
- δ
-
-
- t
-
-
- y
- -
- T
- -
- δ
-
-
- c
-
-
- y
- -
- T
- )
-
- cos
-
- (
- c
- )
- +
- δ
-
-
- c
-
-
- y
- -
- T
- -
- δ
-
-
- a
-
-
- y
- -
- T
- }
-
- sin
-
- (
- a
- )
- +
- (
- δ
-
-
- t
-
-
- z
- -
- T
- -
- δ
-
-
- a
-
-
- z
- -
- T
- )
-
- cos
-
- (
- a
- )
- +
- δ
-
-
- a
-
-
- z
- -
- T
- ]
- ,
- and
- the second arithmetic expression for calculating the rotation error compensation amount (ΔIR, ΔJR, ΔKR) is as follows:
- [
- β
-
-
- t
- -
- T
-
- cos
-
- (
- c
- )
- -
- α
-
-
- t
- -
- T
-
- sin
-
- (
- c
- )
- +
- β
-
-
- c
- -
- T
-
- (
- 1
- -
- cos
-
- (
- c
- )
- )
- +
- α
-
-
- c
- -
- T
-
- sin
-
- (
- c
- )
- -
- β
-
-
- a
- -
- T
-
- (
- 1
- -
- cos
-
- (
- a
- )
- )
- -
- γ
-
-
- a
- -
- T
-
- sin
-
- (
- a
- )
- {
- -
- β
-
-
- t
- -
- T
-
- sin
-
- (
- c
- )
- -
- α
-
-
- t
- -
- T
-
- cos
-
- (
- c
- )
- -
- α
-
-
- c
- -
- T
-
- (
- 1
- -
- cos
-
- (
- c
- )
- )
- +
- β
-
-
- c
- -
- T
-
- sin
-
- (
- c
- )
- }
-
- cos
-
- (
- a
- )
- +
- sin
-
- (
- a
- )
- -
- {
- -
- β
-
-
- t
- -
- T
-
- sin
-
- (
- c
- )
- -
- α
-
-
- t
- -
- T
-
- cos
-
- (
- c
- )
- -
- α
-
-
- c
- -
- T
-
- (
- 1
- -
- cos
-
- (
- c
- )
- )
- +
- β
-
-
- c
- -
- T
-
- sin
-
- (
- c
- )
- }
-
- sin
-
- (
- a
- )
- +
- cos
-
- (
- a
- )
- ]
- =
-
- [
-
- -
- Δ
-
-
- K
-
-
- R
-
-
- sin
-
- (
- a
- )
- +
- Δ
-
-
- J
-
-
- R
-
-
- cos
-
- (
- a
- )
- sin
-
- (
- a
- )
- -
- Δ
-
-
- I
-
-
- R
-
-
- cos
-
- (
- a
- )
- Δ
-
-
- I
-
-
- R
-
-
- sin
-
- (
- a
- )
- +
- cos
-
- (
- a
- )
- ]
- where
- an error in a displaced table centerline At−T with respect to an original table centerline Ct−T is as follows:
- δtx−T, δty−T, δtz−T are an X component, a Y component, and a Z component, respectively, of a deviation distance between At−T and Ct−T observed when A=0 and C=0 and corresponding to Co−T that is an intersecting point between an original A axis rotation centerline Ca−T and an original C axis rotation centerline Cc−T,
- αt−T, βt−T, γt−T indicate that, when A=0 and C=0, At−T is tilted from Ct−T with a rotation error αt−T around an X axis, a rotation error βt−T around a Y axis, and a rotation error γt−T around a Z axis, respectively, and
- nT-T is a direction vector of At−T,
- an error in a displaced C axis rotation centerline Ac−T with respect to the original C axis rotation centerline Cc−T is as follows:
- δcx−T, δcy−T, δcz−T are the X component, Y component, and Z component, respectively, of a deviation distance between Ac−T and Cc−T observed when A=0 and corresponding to Co−T that is the intersecting point between the original A axis rotation centerline and the original C axis rotation centerline,
- αc−T, βc−T, γc−T indicate that, when A=0, Ac−T is tilted from Cc−T with a rotation error αc−T around the X axis, a rotation error βc−T around the Y axis, and a rotation error γc−T around the Z axis, respectively, and
- nC-T is a direction vector of Ac−T,
- an error in a displaced A axis rotation centerline Aa−T with respect to the original A axis rotation centerline Ca−T is as follows:
- δax−T, δay−T, δaz−T are the X component, Y component, and Z component, respectively, of a deviation distance between Aa−T and Ca−T corresponding to Co−T that is the intersecting point between the original A axis rotation centerline and the original C axis rotation centerline,
- αa−T, βa−T, γa−T indicate that Aa−T is tilted from Ca−T with a rotation error αa−T around the X axis, a rotation error βa−T around the Y axis, and a rotation error γa−T around the Z axis, respectively, and
- nA-T is a direction vector of Aa−T,
- Mc−T is a matrix that rotates, by −c, around the vector nC-T indicative of the direction of Ac−T observed when A=0, and
- Ma−T is a matrix that rotates, by −a, around the vector nA-T indicative of the direction of Aa−T.