Relationship Between ISO 230-2/-6 Test Results And .
appliedsciencesArticleRelationship between ISO 230-2/-6 Test Results andPositioning Accuracy of Machine ToolsUsing LaserTRACERHau-Wei Lee *, Jr-Rung Chen † , Shan-Peng Pan † , Hua-Chung Liou † and Po-Er HsuCenter for Measurement Standards, Industrial Technology Research Institute, Hsinchu 30011, Taiwan;jrrungchen@itri.org.tw (J.-R.C.); panshanpeng@itri.org.tw (S.-P.P.); pascal liou@itri.org.tw (H.-C.L.);samhsu@itri.org.tw (P.-E.H.)* Correspondence: boomas@ms42.hinet.net; Tel.: 886-958-405-199† These authors contributed equally to this work.Academic Editor: Chien-Hung LiuReceived: 30 December 2015; Accepted: 29 March 2016; Published: 12 April 2016Abstract: To test the positioning accuracy and repeatability of the linear axes of machine tools,ISO (International Standards Organization) 230-2 and ISO 230-6 are usually adopted. Auto-trackinglaser interferometers (ATLI) can perform the testing for the positioning accuracy and the repeatabilityincluding x-, y- and z-axes according to ISO 230-2 as well as xy, xz, yz, and xyz diagonal lines followingISO 230-6. LaserTRACER is a kind of ATLI. One of the steps of the ISO 230-2 and -6 tests usingLaserTRACER is to determine the coordinate of the LaserTRACER with respect to the home point ofthe machine tool. Positioning accuracy of the machine tool causes the coordinate determined error,which might influence the test result. To check on this error, this study performs three experiments.The experiment results show that the positioning error appears on the testing results.Keywords: machine tool; LaserTRACER; ISO 230; positioning accuracy; repeatability1. IntroductionThere are 21 terms of error motion effecting spatial positioning accuracy of machine tools [1].To improve the positioning accuracy and repeatability of machine tools, calibration and geometric errorcompensation are necessary. However, it is time consuming, and not all controllers suppose geometricerror compensation, such as squareness, straightness, angular error motion and so on. The mostbasic CNC (computer (or computerized) numerical control) controller only provides linear positioningerror compensation for machine tool performance improvement, but the improvement is limited.The procedure and method for linear axis positioning accuracy and repeatability measurement canbe referred to ISO 230-2 and ISO 230-6 [2,3]. According to the ISO 230-2 and -6 standards, the linearpositioning accuracy and the repeatability of x-, y- and z-axes as well as xy, xz, yz and xyz diagonallines can be found. Note that we called the above-mentioned test the “seven lines test” in this study.To perform the seven lines test, two instruments are preferred, a laser interferometer and anauto-tracking laser interferometer (ATLI). For the seven lines test, the spending time by means ofa laser interferometer is about three times that of ATLI. To reduce the time required, multi-DOF(degree of freedom) measurement systems could be considered [4]. Although multi-DOF measurementsystems can distinctly decrease the test time, the measurable range is usually smaller than a meter.Laser Tracker [5,6] and LaserTRACER [7–9] both belong to a kind of ATLI. The comparison of themeasurement accuracy/uncertainty for different types of ATLIs is shown in Table 1. From the table,we can see that LaserTRACER is more suitable to apply to positioning accuracy and repeatabilitymeasurements for machine tools than others because of its smaller measurement uncertainty andAppl. Sci. 2016, 6, 105; doi:10.3390/app6040105www.mdpi.com/journal/applsci
Appl. Sci. 2016, 6, 1052 of 15smaller ranging errors [10]. For LaserTRACER, the target spatial position can be determined bymultilateration [3,11,12]. To perform multilateration, multiple LaserTRACERs are needed. Combinedwith time sharing method [13] single LaserTRACER can also perform multilateration. Althoughthe measurable distance of LaserTRACER (15 m) is smaller than Laser Tracker (over than 20 m),it is currently sufficient for general machine tools test. There are some other auto-tracking spatialmeasurement methods, such as that proposed by Lee et al. [14] using a Kinect to tracking a humanbody, as well as triangulation measurement method with dual modulated laser diodes and singledetector [15,16]. Based on the concept of sphere surface refection, Lee et al. [17] propose a steel spherecenter alignment device according to Michelson interference fringe deviation.Table 1. Comparison of measurement uncertainty for different auto-tracking laser interferometers(ATLIs) (the value is from manufacturer catalogs). (Note: ADM Absolute Distance Measurement;IFM Interferometer; AIFM Absolute Distance Measurement Interferometer).Distance AccuracyIFMModeWorking Range (m)Angular AccuracyLeica AT960Leica AT930Leica AT901Leica AT402Leica AT401Leica LTD600API Tracker3API RadianAPI Omnitrac2FARO IONFARO Vantage40/16016050/1603203204030/80/ 12040/100/ 160160/20030/40/5530/60/80 15 µm 6 µm/m 15 µm 6 µm/m 15 µm 6 µm/m 15 µm 6 µm/m 15 µm 6 µm/m 25 µm3.5 µm/m3.5 µm/m3.5 µm/m20 µm 5 µm/m20 µm 5 µm/m 10 µm 10 µm 10 µm 25 µm 15 µm 10 µm 15 µm16 µm 0.8 µm/m16 µm 0.8 µm/m 0.4 µm 0.3 µm/m 10 µm 0.5 µm/mwhthin 0.5 µm/mwhthin 0.5 µm/m4 µm 0.8 µm/m-EtalonLaserTRACER0.2–20--0.2 µm 0.3 µm/m(Measuring Uncertainty, k 2)ADM 0.5 µm/m (AIFM)(1) To reduce the measurement error due to bearing run-out error and mirror offset, LaserTRACERuses a steel sphere instead [18]. As seen in Figure 2a, when the laser head is rotated, the bearingrun-out error affects the length difference. When a lens and a steel sphere are used instead,the run-out error can be eliminated, as shown in Figure 2b.(2) The target spatial coordinate, which is measured by Laser Tracker, is determined by the followingEquation [19]: ’& dx x “ pd dq cos pβ βq cos pα αq(1)dy y “ pd dq cos pβ βq sin pα αq’% d z “ pd dq sin pβ βqzwhere d represents the measured distance between the target and the Laser Trackers; α andβ represent the angular position of θz and θy, respectively; and d, α and β represent thedeviations of d, α and β (i.e., the error sources), respectively.(3) LaserTRACER adopts multilateration for spatial coordinate measuring, as shown in Figure 3.The measurement equation is as below [12]:lij loj wij “ sjb xi x0j 2 pyi y0j q2 pzi z0j q2(2) where pxi , yi , zi q is the coordinate of the i-th measurement point; x0j , y0j , z0j is the position ofthe j-th LaserTRACER; lij is the measured length when the target stops at the i-th measurementpoint; l0j is the initial distance between the target and the j-th LaserTRACER; s j is the scale factorfor j-th LaserTRACER, which can be determined through calibration; and wij is the residual error.
Appl. Sci. 2016, 6, 1053 of 15Appl. Sci. 2016, 6, 1053 of 15Figure 1 shows illustration of the basic structure of LaserTRACER. As seen in the figure, the laserbeampoint;is focusedon initialthe centerof thesteelthespherethrough the lensdistancebetweentargetafterand passingthe j‐th LaserTRACER;the reflectedscale factorby thel 0 j is thes j isandsteel forspheresurface.The differencebetweenLaserthroughTackersand LaserTRACERareresidualas follows:Appl.2016, 6, 1053error.of 15j‐th Sci.LaserTRACER,which can bedeterminedcalibration;and wij is thepoint; l0 j is the initial distance between Cat'stheEyetarget and the j‐th LaserTRACER; s j is the scale factorReflectorfor j‐th LaserTRACER, which can be determined through calibration; and wij is the residual error.Cat's EyeReflectorQuadrant DetectorBSPBS 1/4λ Wave Plate PolarizerLaser InterferometerPBSDetectors 1/4λ Wave PlateLensQuadrant DetectorLaser SourceBSLens PolarizerLaser HeadLaser InterferometerBearingDetectorsSteel SphereLaser SourceMotorLaser HeadBearingSteel SphereSteel SphereMotorBearingSteel SphereBearingMotorMotorBasedBasedFigure1. Illustrationof ofthethebasicwhichreflectedis focusedFigure1. Illustrationbasicstructurestructure ofof LaserTRACERLaserTRACER ininwhichthethereflectedlightlightis focusedon onthe spherecenterlens.(Note:BSBS BeamBeam Splitter;BeamSplitter).the spherecenterby bythethelens.(Note:Splitter;PBSPBS Polarizing PolarizingBeamSplitter).Figure 1. Illustration of the basic structure of LaserTRACER in which the reflected light is focused onthe sphere center by the lens.(Note:BS Beam Splitter; PBS PolarizingBeam Splitter).Corner CubeCornerCubeBeamSplitterLaser HeadBeamSplitterBearingLaser er CubeCorner CubeRun-out Error ofDiode(a)the BearingRun-outError ofthe Bearing(a)Corner CubeL1- LL1- LL2 LDiodeBearingL2 LL1DetectorRun-out ErrorBeamErrorofRun-outthe BearingBeamSplitterof theBearing( L)SplitterLaser( L)LaserDiodeLensBearingLLaser HeadLLaser HeadPhotoPhotoDetectorL2L2LLL1Corner re(b)(b)Figure 2. Illustration for optical path difference because of run-out error of bearing: (a) Laser Trackeruses a mirror to reflect the laser beam; and (b) LaserTRACER uses a steel sphere to reflect the laser beam.
Appl. Sci. 2016, 6, 1054 of 15Figure 2. Illustration for optical path difference because of run‐out error of bearing: (a) Laser Trackeruses a mirror to reflect the laser beam; and (b) LaserTRACER uses a steel sphere to reflect the laserAppl. beam.Sci. 2016, 6, 1054 of sitionof thethewhere Point 1 to Point 4 represent the target points 1 to 4, LT1 to LT4 represent the position ofLaserTRACERNo.No.11totoNo.No.4.4.LaserTRACERThe error terms of machine tool can be measured by multilateration combined with error modelThe errortermsofofthemachinetoolcan[20,21].be measuredcombinedwith error(or errormapping)machinetoolThere isbya multilaterationcondition that shouldbe edforusingmultilateration and LaserTRACER to measure the spatial coordinate of the target [13,22]:multilateration and LaserTRACER to measure the spatial coordinate of the target [13,22]:5ˆm 3ˆn ď mˆn(3)5 m 3 n m n(3)where mm representedrepresented thethe numbernumber ofof usedused LaserTRACERLaserTRACER andand nn representedrepresented thethe numbernumber ofof lyonly rementpointsshouldbeindependentofeachother.m 4 and n 20. Please note that the measurement points should be independent of each other.ISO 230-2thethetest testresultresultshouldbe correctedaccordingto the measurementuncertainty.ISO230‐2 statesstatesthatthatshouldbe correctedaccordingto the measurementISO 230-9 alsodetailedexplanationISO tainty.ISOshows230‐9aalsoshowsa detailed andexplanationISOtwo230‐2gives ment uncertainties come from the measuring instrument, the compensation of the machinethe environmentaltemperaturevariationerror, and variationthe misalignmentof theinstrument.tooltemperature, theenvironmentaltemperatureerror, andthemeasuringmisalignmentof theFor example,if the travelingof theifaxisup to 2000rangemm, themeasuringinstrument.For rangeexample,theis travelingof expandedthe axis measurementis up to 2000uncertaintymm, the(k 2) of themean positioningdeviationis of[3]:the mean positioning deviation is [3]:expandedmeasurementuncertainty(k 2)U pMq “b222222 1Uinstrument 2Umisalignment Um,machine Um,instrument 2222 Ue,machine2 Ue,instrument2U M U instrument U misalignment U m,machine U m,instrument U e,machine U e,instrument U EVE1 210 UEVE(4)(4)10where Uinstrument is the expanded uncertainty due to measuring instrument, which can be determinedwhere U instrument is the expanded uncertainty due to measuring instrument, which can be determinedby measurement instrument calibration; Umisalignment is the misalignment of measuring instrument tobymeasurementinstrumentcalibration;of measuringtoU misalignme nt ismachineaxis undertest; Um,machineand Um,instrumentarethethemisalignmentexpanded uncertaintydue toinstrumentmeasurementmachineaxis undertest;andare the expandeduncertaintyU m,machinetoolof temperatureof edueandtoUmeasurementm, instrumente,instrument forthemachinetoolandthemeasurementof temperature of the machine tool and the instrument, respectively; U e,machine and U e, instrument are and Um,instrumentis theuncertaintyduetheto environmentalexpandedexpansioncoefficientfor expandedthe machinetool atUcanbezeroifUincludesthe uncertaintym,instrumentinstrument uncertaintyinstrument, respectively; and U EVE anddue toU m, instrument is the expandeddue to the temperature measurement of the measurement instrument. Generally, misalignment ofenvironmental variation error (e.g., drifting). Note that U m, instrument can be zero if U instrument includeslaser interferometer is smaller than 1 mm. Thus, if the machine axis under test is over than 300 mm,thedueto the temperaturemeasurementof betheignored.measurement instrument. Generally,the uncertaintymeasurementuncertaintyof misalignmentcan an1mm.Thus,the machineaxisusesundertestisLaserTRACER can work on two modes calibration and ISO d.four LaserTRACERs or one LaserTRACER with time sharing (i.e., multilateration method) and errormapping to compute the 21 terms of error motion compensation for three-axis machine tools [20,23].Moreover, LaserTRACER can be applied to calibrate the rotary axes of machine tools [24] and canbe applied to extra-small machine tool volumetric error compensation [25]. When LaserTRACER
LaserTRACER can work on two modes calibration and ISO test. Calibration mode uses morethan four LaserTRACERs or one LaserTRACER with time sharing (i.e., multilateration method) anderror mapping to compute the 21 terms of error motion compensation for three‐axis machine toolsAppl. Sci.Moreover,2016, 6, 105 LaserTRACER can be applied to calibrate the rotary axes of machine tools [24]5 andof 15[20,23].can be applied to extra‐small machine tool volumetric error compensation [25]. When LaserTRACERoperated in ISO test mode, positioning accuracy of the machine tool causes measurementoperated in ISO test mode, positioning accuracy of the machine tool causes measurement uncertaintyuncertainty because of misalignment. Since the behavior of misalignment of LaserTRACER isbecause of misalignment. Since the behavior of misalignment of LaserTRACER is different than laserdifferent than laser interferometers, for instance the angle between measurement axis and laserinterferometers, for instance the angle between measurement axis and laser light is a function oflight is a function of measurement length for LaserTRACER, this study was performing threemeasurement length for LaserTRACER, this study was performing three experiments to evaluatingexperiments to evaluating the influence of the test results due to misalignment which is caused bythe influence of the test results due to misalignment which is caused by positioning accuracy of thepositioning accuracy of the machine tools.machine tools.2.2. ExperimentsExperiments2.1.2.1. ToTo Simulate the Error MotionInsectionofof230‐2and230-6ISO Tests230‐6UsingTestsUsing LaserTRACER,wetheshowthat theIn sectionSOSO230-2and ISOLaserTRACER,we show ermany)coordinatedeterminederror(etalon AG, Braunschweig, Germany) coordinate determined error causes measurement themeasuredpointvery closing toIntheIn thisdifference whenthe measuredveryclosing tothe isLaserTRACER.thisLaserTRACER.section, our questionsection,ourquestionis, couldtheofpositioningerror beof machinetoolsfoundandby ISO230‐2and though‐6 testsis, couldthepositioningerrormachine toolsfound byISObe230-2-6 erTRACERcoordinatedeterminederror.Thus,wethe positioning error causes the LaserTRACER coordinate determined error. Thus, we performedperformedthe nextthree experiments.To decreasethe influenceerror motionthe testedmachinethe next threeexperiments.To decreasethe influenceof errorofmotionof these experiments were carried out by means of a CMM (coordinate measuring machine).2.2. CoordinateCoordinate OffsetOffset2.2.The firstfirst experimentexperiment isis toto simulatesimulate thethe machinemachine tooltool movedmoved withwith a fixed (constant) positioningpositioningTheerror. ToTo simulatesimulate thisthis situation,situation, wewe givegive allall measurementmeasurement pointspoints ofof aa constantconstant offset,offset, asas seenseen ininerror.Figure 4a,4a, wherewhere εx, εyεy andand εzεz representrepresent thethe amountsamounts ofof thethe givengiven coordinatecoordinate offset.offset. ToTo easily observeobserveFigurethe effect,effect,wewegavegavea alargeoffsetvalueall points.For example,asinseenin 2,Table2, wethelargeoffsetvaluefor forall points.For example,as seenTablewe gave 1gavemm 1 mmz-axis denoted“z-axis,Thecoordinateoriginal coordinateof the LaserTRACERoffsetforoffsetz‐axisfordenotedof “z‐axis,of 1mm”. 1Themm”.originalof the LaserTRACERis (653.60,is (653.60, 27.13,262.18)in unitof mm.Afterthewenon‐zerogave thecoordinatenon-zero coordinateoffset toaxes,different 27.13,262.18)in unitof mm.Afterwe gaveoffset to differenttheaxes, the determinedcoordinatedifferencesare inlistedin Table2. Fromresults,canseeseethatthat thethedeterminedcoordinatedifferencesare listedTable2. Fromthe theresults,wewecancoordinate differences are almost exactly equal to the offset values that werecoordinatewere given.given.zʹzyʹy ot1(x1, y1, z1)t1t1't1ʹ(x1ʹ, y1ʹ, z1ʹ)xx1ʹ x1 xy1ʹ y1 yz1ʹ z1 zxʹt2Original target pointt2't1' k t1t2' k t2：0.(a).Target point withproportional erro(b)Figure 4. Illustration of the simulation for machine tool moved with positioning error: (a) coordinateFigure 4. Illustration of the simulation for machinetool moved with positioning error: (a) coordinate‰T Tá “o representsthe te:vectorozy orepresentsoffset; and (b) proportional error. (Note: vector o “ oox xoy othe coordinateoffset vector;z1ti representsthe i-th targetpoint;k representsthe proportionalvalue; and value;ti representsi-th targetti representsthe i‐thtargetpoint; k representsthe proportionaland t thevector;i ' rror).the i‐th target point with coordinate offset or proportional error). Because the coordinate difference is the negative of the given offset value, the coordinate offsetcan be cancelled. For example, assuming the actual position of the LaserTRACER is (100, 50, 30) mm,and the determined coordinate is (99, 50, 30) mm, when we give “z-axis, 1 mm”, the target points forx-axis testing will be: 99 k ˆ s sx εx σx ,50,30,(5)
Appl. Sci. 2016, 6, 1056 of 15where k ( 1, 2, . . . , n, n represents the number of target points that is to be measured) denote themeasurement point number, and; s denotes the interval distance of each point; sx denotes an offsetdistance along x-axis that was applied to avoid the re
ISO (International Standards Organization) 230-2 and ISO 230-6 are usually adopted. Auto-tracking laser interferometers (ATLI) can perform the testing for the positioning accuracy and the repeatability including x-, y- and z-axes according to ISO 230-2 as well as xy, xz, yz, and xyzdiagonal lines following
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Taurus 120 12 450 230 3 Meteor CSI 20 17 160 230 3 Mariner CSI 40 17 270 230 3 Sirius CSI 80 12 320 230 3 Titan CSI 100 12 410 230 3 Taurus CSI 120 12 450 230 3 Altus 50 RTS 6/17 6 17 90 230 5 Altus 50 RTS 10/17 10 17 120 230 5 Altus 50 RTS 15/17 15 17 140 230 5 Altus 50 RTS 25/17 25 17 170 230 5
ISO 10381-1:2002 da ISO 10381-2:2002 da ISO 10381-3:2001 da ISO 10381-4:2003 da ISO 10381-5:2001 da ISO 10381-6:1993 da ISO 10381-7:2005 ne ISO 10381-8:2006 ne ISO/DIS 18512:2006 ne ISO 5667-13 da ISO 5667-15 da Priprema uzoraka za laboratorijske analize u skladu s normama: HRN ISO 11464:2004 ne ISO 14507:2003 ne ISO/DIS 16720:2005 ne
ISO 10771-1 ISO 16860 ISO 16889 ISO 18413 ISO 23181 ISO 2941 ISO 2942 ISO 2943 ISO 3724 ISO 3968 ISO 4405 ISO 4406 ISO 4407 ISO 16232-7 DIN 51777 PASSION TO PERFORM PASSION TO PERFORM www.mp ltri.com HEADQUARTERS MP Filtri S.p.A. Via 1 Maggio, 3 20060 Pessano con Bornago (MI) Italy 39 02 957
ISO 18400-107, ISO 18400-202, ISO 18400-203 and ISO 18400-206, cancels and replaces the first editions of ISO 10381-1:2002, ISO 10381-4:2003, ISO 10381-5:2005, ISO 10381-6:2009 and ISO 10381-8:2006, which have been structurally and technically revised. The new ISO 18400 series is based on a modular structure and cannot be compared to the ISO 10381
The DIN Standards corresponding to the International Standards referred to in clause 2 and in the bibliog-raphy of the EN are as follows: ISO Standard DIN Standard ISO 225 DIN EN 20225 ISO 724 DIN ISO 724 ISO 898-1 DIN EN ISO 898-1 ISO 3269 DIN EN ISO 3269 ISO 3506-1 DIN EN ISO 3506-1 ISO 4042 DIN
Abe, Genki 064 31798 001 039 230 86/05/05 Abendroth, Walter 100 325769 001 001 230 86/11/03 Aberg, Einar 105 009428 001 155 230 86/16/05 Abetz, Otto 100 004219 001 022 230 86/11/06 Abjanic, Theodore 105 253577 001 132 230 86/16/01 Abrey, Richard See Sovloot (100-382419) Abs, Hermann J. 105 056532 001 167 230 86/16/06 Abualy, Aldina 105 007801 001 183 230 86/17/02 Abwehr 065 37193 001 122 230 .
ISO 8402 was published in 1986, with ISO 9000, ISO 9001, ISO 9002, ISO 9003 and ISO 9004 being published in 1987. Further feedback indicated that there was a need to provide users with application guidance for implementing ISO 9001, ISO 9002 and ISO 9003. It was then agreed to re-number ISO 9000 as ISO 9000-1, and to develop ISO 9000-2 as the .
