Title:
METHOD OF RETURNING ROTARY SHAFT TO REFERENCE POINT
Document Type and Number:
WIPO Patent Application WO/1986/002470
Kind Code:
A1
Abstract:
A work coordinate system constituting a programming reference is determined with respect to a mechanical coordinate system, and NC program data, which include at least NC data for determining an angle r between the origin (WR) in the work coordinate system and the reference point (MR) in the mechanical coordinate system, and radial positioning data based on the work coordinate system, are prepared, the position-controlling of the rotary shaft being done on the basis of the NC program. The present positions Pm, Pw in the mechanical coordinate system and work coordinate system of a fixed point Q on the rotary shaft (11) are altered in accordance with the rotation of the rotary shaft, and an angle a which satisfies the following formula: Pm = 360.n+a, Pw = 360.n+a-r, is determined in accordance with a reference point returning instruction. The rotary shaft is then turned by ao to return the fixed point Q to the reference point (MR) in the mechanical coordinate. The present positions Pm, Pw in the mechanical and work coordinate systems are then altered in accordance with the following formulae: Pm-360.n$(1,4)$Pm, Pw-360.n$(1,4)$Pw. The rotary shaft (11) is then returned to the reference point (MR) within one revolution thereof, and the mechanical and work coordinate systems are returned to the original positions (Pm = O, Pw =-r).
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Inventors:
KIYA NOBUYUKI (JP)
Application Number:
PCT/JP1985/000586
Publication Date:
April 24, 1986
Filing Date:
October 18, 1985
Export Citation:
Assignee:
FANUC LTD (JP)
International Classes:
G05B19/401; G05D3/12; (IPC1-7): G05B19/18
Foreign References:
| JPS50119181A | 1975-09-18 | |||
| JPS561780B2 | 1981-01-16 | |||
| JPS5926401Y2 | 1984-08-01 | |||
| JPS51116484A | 1976-10-13 |
Other References:
See also references of EP 0200788A4
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