mechanical
mechanical
7.15 A CNC error
error distribution
distribution
machine associated
associated
tool table with
is poweredwith the
by athe axis. This
axis. Thisball
servomotor, canscrew,
can be written
be written as encoder.
as
and optical
The ball screw has a pitch = 6.0 mmRe and=
Re {3s
=is{3s
connected to the motor shaft with a gear (7.21)
ratio
of 16:1 (16 turns of the motor for each turn of the screw). The optical encoder is connected
whereto
where Rethe=
Re repeatability,
=ball
repeatability, mm (in).
mm (in).
screw and generates 120 pulses/rev of the screw. The table must move a distance
of 250 mm at a feed rate = 300 mm>min. (a) Determine the pulse count received by the
control system to verify that the table has moved exactly 250 mm. Also, what are (b) the
pulse rate and (c) motor speed that correspond to the specified feed rate?
Ea
EXAMPLE 7.3
EXAMPLE 7.3 Control
Control Resolution,
Resolution, Accuracy,
Accuracy, and
and Repeatability
Repeatability in
in NC
NC
7.16 A DC servomotor coupled to a leadscrew with a 4:1 gear reduction is used to drive one
Suppose
of theSuppose the
table axesthe mechanical
of a mechanical
CNC inaccuracies
inaccuracies
milling machine. in the
in the has
The leadscrew open-loop
open-loop positioning
positioning
1.5 threads/cm. sys-
An optical
s
temattached
tem
encoder of Example
of Example 7.1 are
7.1 are described
to the leadscrew described by aa normal
by normal
emits 100 pulses/rev. distribution
distribution
The motor with
with
rotates at standard
a maximum
Ea yEn
speeddeviation
of 800 rev/min.
deviation = Determine
0.005
= 0.005 mm. The
mm. (a) range
The the control
range of the
of theresolution
worktable
worktableof the
axissystem,
axis is 1,000
is 1,000expressed
andinthere
mm, and
mm, lin-
ear travel
are distance
are 16
16 bits of
bits in the
in the table
the binary axis and
binary register(b) the
register used frequency
used byby the of the
the digital pulse train
digital controller emitted
controller toto storethe
by the
optical encoder
programmed when the
programmed position. servomotor
position. Other operates
Other relevant at maximum
relevant parameters speed.
parameters fromfrom Example
Example 7.17.1 are the
7.17 A milling operation
following:
following: pitch
pitch = =is 6.0
performed
6.0 mm,
mm, geargearonratio
a between
ratio CNC machining
between motor
motor shaftcenter.
shaft andTotal
and screw travel
screw = 5.0,
syE gin
distance
and = 430
and number mm
number of in a
of step direction
step angles
angles in parallel
in the to one
the stepper of
stepper motor the
motor = axes
= 48. of the worktable.
48. Determine
Determine thetheCutting
(a) con-
speedtrol
= 1.25
trol m>sec and
resolution,
resolution, (b)chip
(b) load = and
accuracy,
accuracy, 0.05 (c)
and mm. The end milling
(c) repeatability
repeatability of cutter
of the has four teeth
the positioning
positioning and
system.
its diameter = 20.0 mm. The axis uses a DC servomotor whose output shaft is coupled to a
Solution:
Solution: (a)
(a) Control
leadscrew with a 5:1resolution
Control resolution
gear reductionis
is the
the greater
greater
(five of CR
ofthe
turns of 11 and CR
and for
CRmotor 22 as
CReach as defined
defined
turn by Equations
byleadscrew).
of the Equations
ng eer
(7.17)
(7.17) and
The leadscrew (7.18).
andpitch
(7.18).
is 6.0 mm. An optical encoder which emits 80 pulses per revolution is
attached to the leadscrew. Determine (a) feed rate and time to complete the cut, (b) rota-
ine ing
tional speed of the motor, and (c) pulse pp rate 6.0 of
6.0the encoder at the feed rate indicated.
CR
CR =
= =
= = 0.025
= 0.025 mm
mm
7.18 A DC servomotor drives the11 x-axis nnssrrggof a 4815.02
CNC
4815.02milling machine table. The motor is cou-
pled to a ball screw, whose pitch = 7.5 mm, using a gear reduction of 8:1 (eight turns
eri .ne
of the motor to one turn of the ball 1,000
1,000 screw). An 1,000
1,000
optical encoder is connected to the ball
CR
CR22 == 16 =
= = 0.01526
= 0.01526 mmmm
screw. The optical encoder emits 22 75--pulses
16 11 65,535
per revolution. To execute a certain pro-
65,535
grammed instruction, the table must move from point (x = 202.5 mm, y = 35.0 mm) to
ng t
point (x = 25.0 mm, y = CR CR =
250.0 Max50.025,
Max50.025,
=mm) in a straight0.015266
0.015266 =at0.025
line path= a feedmm
0.025 mm
rate = 300 mm>min.
For the x-axis, determine (a) the control resolution of the system, (b) rotational speed
of the(b)
(b) Accuracy
Accuracy
motor, is
and (c) given
given by
by Equation
is frequency Equation
of the pulse (7 .20):
(7.20):
train emitted by the optical encoder at the
.ne
desired feed rate. (d) How many pulses are emitted by the x-axis encoder during the move?
Ac
Ac = 0.510.0252 ++ 310.0052
= 0.510.0252 = 0.0275
310.0052 = 0.0275 mm
mm
(c)
(c) Repeatability
Repeatability Re = {310.0052
Re = = {0.015
{310.0052 = {0.015 mm
mm
t
Precision
Bài tập: of Positioning Systems
7.19 (A) A two-axis positioning system uses a bit storage capacity of 16 bits in its control mem-
7.5
7.5 NC
NC PART
PART PROGRAMMING
ory for each axis. To position the worktable, a stepper motor with step angle = 3.6° is
PROGRAMMING
connected to a leadscrew with a 6:1 gear reduction (six turns of the motor for each turn
NC
NC partof the
part leadscrew). consists
programming
programming The leadscrew
consists of pitch is and
of planning
planning 7.5 mm.
and The range the
documenting
documenting of the
the x-axis is of
sequence
sequence 600processing
of mm and
processing
steps the
to be range of the by
performed y-axis
an is 500
NC mm. Mechanical
machine. The part accuracy
programmerof the worktable
must have a can be repre-of
knowledge
steps to be performed by an NC machine. The part programmer must have a knowledge
sented by
machining a normal distribution with standard deviation = 0.002 mm for both axes. For
machining (or(or other
other processing
processing technology
technology for
for which
which thethe NC
NC machine
machine is is designed),
designed), as well as
each axis of the positioning system, determine (a) the control resolution, (b) accuracy, and
geometry
geometry and
and trigonometry.
trigonometry. The The documentation
documentation portion
portion ofof part
part programming
programming involves
involves the
(c) repeatability.
input
input medium used to transmit the program of instructions to the NC machine control unit.
medium used to transmit the program of instructions to the NC machine control
7.20 Stepper motors
The are used todating
drive the two axes first
of a component placement machine 1-in
usedwide
for
The traditional
traditional input
input medium
medium dating back back to
to the
the first NCNC machines
machines in in the
the 1950s
1950s isis
electronic assembly. A printed circuit board is mounted on the table and must be positioned
punched
punched tape.
tape. More
More recently,
recently, magnetic
magnetic tape,
tape, floppy
floppy disks,
disks, and portable
andRange
portable solid-state
solid-state memory
accurately for reliable insertion of components into the board. of each axis = 700 mm.
5. BàiThe
tậpleadscrew
giải bàiused
toántođộng
drive học
each ngược robot
of the two axeshai
hasbậc tự do
a pitch of 3.0 mm. The inherent
mechanical errors in table positioning can be characterized by a normal distribution with
6. Bàistandard deviation = 0.005 mm. If the required accuracy for the table is 0.04 mm, determine
tập giải thích các câu lệnh lập trình robot
(a) the number of step angles that the stepper motor must have, and (b) how many bits are
required in the control memory for each Downloaded
axis
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identify
From each control position.
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7. Tính toán số xe cần thiết giữa các vị trí làm việc
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