Tiêu chuẩn iso 10360 12 2016

3.2 joint conne tion betwe n adjac nt element of an articulat ed arm CMM that alows a singlerotational degr e of fr edom betwe n these element Not e 1 t o entry: There are two ty es of j

Geometrical pr oduct specifications

Part 12:

S éc i fi cati on g ométri que des produi ts (G PS) — Es s ai s de

réc pti on et de véri fi cati on péri odi que des s ys tèmes de mes ur

tri di mens i on els (SMT)—

Partie 12: Machine s à me sur r tridimension e lle s à bras articulés

COPYRIGHT PROTECTED DOCUMENT

© ISO 2016, P blshed in Sw itz rlan

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written permis ion Permis ion c n be req esed from either ISO at the ad r es below or ISO’s member bod y in the c u try of

F reword i v

Introduction v

1 Sc ope 1

2 Nor mati ve r eferenc es 1

3 Terms and definitions 1

4 Symbols 6

5 Rated o eratin c onditio s 7

5.1 Envir onmental con itions 7

5.2 Operating con itions 8

6 Ac c eptanc e tests and r ever ification tests 8

6.1 General 8

6.2 Pr obing siz an form e r ors 8

6.2.1 Principle 8

6.2.2 Measuring eq ipment 8

6.2.3 Pr oc d re 8

6.2.4 De iv tion oftes r esult 1

6.3 A rticulated location e rors 1

6.3.1 Principle 1

6.3.2 Measuring eq ipment 1

6.3.3 Pr oc d re 1

6.3.4 De iv tion oftes r esult 1

6.4 Leng th measur ement e r ors 1

6.4.1 Principle 1

6.4.2 Measuring eq ipment 1

6.4.3 Pr oc d re 1

7 Complanc e with specificatio 16

7.1 A cc ptanc tests 1

7.1.1 A cc ptanc c ite ia 1

7.1.2 Data r eje tion and r epeated measur ements 1

7.2 Reve ification tests 1

8 A pplcatio s 17

8.1 A cc ptanc tes 1

8.2 Reve ification tes 1

8.3 Inte im che k 1

9 Indicatio in product documentatio and data she ts 19

A nne x A (informative)F rms 20 A nne x B (normative) A r tefacts that represent a cal brated test leng th 22 A nne x C (informative) A lig nment of artefacts 28 A nne x D (informative) Interim testing 29 A nne x E (normative) Testing a s anning pr obing system of an ar ticulated ar m CMM 31 A nne x F (normative)Leng th er ror me sur ement by c oncatenating test leng ths 32 A nne x G (informative) Optio al pr obing ar ticulated size and for ms error s 37 A nne x H (informative)Optio al repe tabiity r ang e of the leng th me sur ement er ror 38 A nne x I (informative)Relatio to the GPS matrix mo el 39 Biblog raphy 40

ISO (he Int ernational Org nization for Stan ardization) is a worldwidefede ation of national s an ards

b dies (ISO membe b dies) The work of pr p ring Int ernational Stan ards is normaly car ied out

through ISO t ech ical committ ees Each membe b dy int er st ed in a subje t for w hich a t ech ical

committ ee has be n es a lshed has the right t o be r pr sent ed on that committ ee Int ernational

org nizations, g ove nmental an non-g ove nmental, in laison with ISO, also take part in the work

ISO cola orat es closely with the Int ernational Ele trot ech ical C mmis ion (IEC) on al matt ers of

ele trot ech ical s an ardization

The proc d r s used t o develo this document an those int en ed for it furthe maint enanc ar

desc ibed in the ISO/IEC Dir ctives, Part 1 In p rticular the dife ent a pro al c it eria ne ded for the

dife ent ty es of ISO document should be not ed This document was draft ed in ac ordanc with the

edit orial rules of the ISO/IEC Dir ctives, Part 2 ( e www.iso.org dir ctives)

A tt ention is drawn t o the p s ibi ity that some of the element of this document ma be the subje t of

p t ent right ISO shal not be held r sponsible for identifying any or al such p t ent right Detais of

any p t ent right identified d ring the develo ment of the document wi be in the Introd ction an / r

on the ISO ls of p t ent de larations r c ived ( e www.iso.org p t ent )

Any trade name used in this document is information given for the convenienc of use s an does not

cons itut e an en orsement

For an ex lanation on the meaning of ISO spe ific t erms an ex r s ions r lated to conformity as es ment,

as wel as information a out ISO’s adhe enc t o the Wor ld Trade Org nization (WTO ) principles in the

Te h ical Bar ie s to Trade (TBT) se the folowing URL: www.iso.org/ iso/for word.html

The committ ee r sp nsible for this document is ISO/TC 2 3, Dimens io al a d geometric al produc t

s pec ific atio s a d ve ific atio

ISO 1 3 0 consis s of the folowing part , un e the g ene al title G eometric al Produc t s pec ific atio s

(GPS) — Ac c epta c e a d r ve ific atio tes ts fr c oordin te meas urin sys tems (CMS):

— Part 1: Voc ab lary

— Part 2 : CMMs us ed fr meas urin lnear dimens io s

— Part 3 : CMMs w ith the ax i s o a rotar y ta le as the furth ax i s

— Part 4 : CMMs used in s c an in meas urin mode

— Part 5: CMMs us in s in le a d multiple s t ylus c ontac tin pro in sys tem

— Part 6 : Es timation o e rors in c omp tin o G aus s ia as s oc iated featur s

— Part 7: CMMs eq ip ed w ith ima in pro in sys tems

— Part 8: CMMs w ith o tic al di s ta c e s ens ors

— Part 9: CMMs w ith multiple pro in sys tems

— Part 10: L ser tracke s fr meas urin p int-to-p int di s ta c es

— Part 12 : Artic ulated arm c oordin te meas urin machines (CMM)

This p rt of ISO 1 3 0 is a g ene al GPS s an ard ( e ISO 146 8) F or mor detaied information a out

the r lation of this p rt of ISO 1 3 0 t o othe s an ardsan theGPS matrix model, se Annex I

This part of ISO 1 3 0 is inclu ed in the ISO/GPS Mast erplan given in ISO 146 8, w hich gives an

o e view of the ISO/GPS sy st em The fu damental rules of ISO/GPS given in ISO 8 1 a ply t o this

p rt of ISO 1 3 0 an the default de ision rules given in ISO 142 3-1 a ply t o spe ifications made in

ac ordanc with this p rt of ISO 1 3 0, unles othe wise in icat ed

The o je tive of this p rt of ISO 1 3 0 is t o pro ide a wel-defined t es ing proc d r t o

— ena le man factur rs of articulat ed arm CMMst o pro ide spe ification MP s, an

— ena le use st o t es articulat ed arm CMMs t o man factur r spe ifications using cal brat ed trac a le

r fe enc art efact

The benef it of these t es s ar that the measur d r sult has a dir ct trac a i ity t o the u it length, the

metr , an that they give information on how the articulat ed arm CMM wi pe form on simi ar length

measur ment

Geomet rical product specificat ions (GPS) — A ccept ance

and reverificat ion test s for coor dinate measuring

Part 12:

This p rt of ISO 1 3 0 spe if ies the ac eptanc t es s for ve ifying the pe formanc of an articulat ed

arm CMM b measuring calbrat ed t es lengths as s at ed b the man factur r It also spe ifies the

r ve if ication t es s that ena le the use t o pe iodical y r ve ify the pe formanc of the articulat ed arm

CMM It a ples t o articulat ed arm CMMs using tacti e pro es an o tionaly o tical dis anc sensors

(also r fe r d t o as lase lne scanne s or lase l ne pro es) Detaison t es sfor scan e ac es ories ar

given in An ex E

This p rt of ISO 1 3 0 does not spe ify how oft en or w hen t es ing is pe formed, if at al, nor does it

spe ify w hich p rty should bear the cos of t es ing

This part of ISO 1 3 0 spe if ies

— pe formanc r q ir ment that can be as igned b the man factur r or the use of the articulat ed

arm CMM,

— the man e of ex ecution of the ac eptanc an r ve if ication t es s t o demons rat e the s at ed

r q ir ment ,

— rules for pro ing conformanc , an

— a plcations for w hich the ac eptanc an r ve if ication t es s can be used

2 Normati ve r eferences

The folowing document , in w hole or in p rt, ar normatively r fe enc d in this document an ar

in ispensa le for it a pl cation F or dat ed r fe enc s, only the edition cit ed a pl es F or u dat ed

r fe enc s, the lat es edition of the r fe enc d document ( inclu ing any amen ment )a pl es

ISO 1 3 0-8:2 1 , G eometric al produc t s pec ific atio s (GPS) — Ac cepta c e a d r ve ific atio tes ts fr

c oordin te meas urin sys tems (CMS) — Part 8: CMMs w ith o tic al di s ta c e s ensors

ISO 1 3 0-9:2 1 , G eometric al produc t s pec ific atio s (GPS) — Ac c epta c e a d r verific atio tes ts fr

c oordin te meas urin sys tems (CMS) — Part 9: CMMs w ith multiple pro in sys tems

3 Terms and definitions

F or the purp ses of this document, the folowing t erms and def initions given in ISO 1 3 0-1 an the

folowing a ply

NOTE T e def initions in this section are inten ed t o concisely state the me ning of t erms For metrolo ical

characteristic that have n merical values, the complet e des ription of the proced re an derivation of t est

results in Clause 6 an An e E are t o b folowed in determining values

articulated arm co rdinate me suring machine

sy st em that measur s spatial co rdinat esan comprises

— an o en chain of f ix ed-length segment ,

— joint as embles int er on e ting the segment an the pro ing sy st em and at aching them t o the

s ationary environment, an

— a pro ing sy st em at the fr e end of the chain

Not e 1t o entry: T e pro ing system may comprise a rigid pro e or a sensing syst em such as a s an er

Not e 2 t o entry: R otary joint as emblies con ect ed t o the f ix ed-length se ments are eq ip ed with angular

encoder Cartesian co rdinat es of e ch me suring point are calculated from the me sured angles an se ment

lengths

3.2

joint

conne tion betwe n adjac nt element of an articulat ed arm CMM that alows a singlerotational degr e

of fr edom betwe n these element

Not e 1 t o entry: There are two ty es of joints: hing joints, which cause a hinging movement b tween adjacent

arm se ments, an swivel joints, which cause a rotary movement arou d the a is of the con ected arm se ment

Not e 2t o entry: Each joint ordinarily inclu es an angle me suring device (rotary encoder)

3.3

joint as embly

as embly of two or mor joint betwe n two adjac nt element of an articulat ed arm CMM

Not e 1t o entry: Usual y, a joint as embly inclu es at le st a hing joint an a swivel joint

Not e 2 t o entry: In analo y t o the h man arm, the thre main joint as emblies are designat ed the shoulder, elb w,

an wrist

Not e 3 t o entry: C r ent machines have 2 or 3 de re s of fre dom e ch for shoulder (a, b), elb w (c, d), an wrist

(e, f, g), as shown in Figure 1 Conseq ently, articulated arm CMMs are refer ed to as either six or seven a is

machines

a) W ith six rotary axes

b) W ith seven rotary axes

Figure 1 — Articulated arm CMM

3.4

me suring rang e

diamet er of the sphe ical v lume within w hich an articulat ed arm CMM is ca a le of measuring

Note 1t o entry: T e me suring rang is specif ied by the man facturer

Note 2 to entry: T e me suring rang is twice the re ch of the articulated arm However, some of the re ions that

can b re ched by the articulated arm may not b within the me suring volume

3.5

me suring v lume

r gion in sp c o e w hich the man factur r spe if ies the pe formanc of the articulat ed arm CMM

Note 1 to entry: T e me suring volume is restrict ed by inac es ible zones specif ied by the man facturer For

e ample, there may b an inac es ible zone close to the vertical main a is

Note 2 t o entry: Man facturer may specify more than one me suring volume for a machine, e ch me suring

volume having a separat e performance specif ication

Note 3 to entry: Because of the pos ibility of bin ing u a joint when adjacent arm se ments are brought close

t og ther, the size of the me suring volume may depen on the direction of the pro e sty lus in relation t o the

outside of the me suring volume or inac es ible zones within the me suring volume T e man facturer may

specify one or more me suring volumes ac ording to the direction of the pro e stylus

l near the mal ex ansion coefficient of a mat erial at 2 °C

Not e 1 t o entry: T e a ove definition for C E do s not imply that a user is req ired t o make me surements at 2 °C

normal CTE material

mat erial with a CTE betwe n 8 × 1

me hanical seat nes )that r peata ly holds the c ntr of a sphe ical surfac in a f ix ed p sition in sp c

Not e 1 to entry: An e ample of a kinematic se t is a trihedral se t that inclu es thre hardened sp eres, e ch

sp ere placed on a cir le an separated from the other sp eres by nominaly 1 0° Each of the thre sp eres

contacts the surface of a larg er sp ere (or sp erical surface) so as t o permit repe ta le positioning of the centre

of the larg r sp ere in space

Not e 2 to entry: As used in this part of ISO 1 360, a kinematic se t provides constraint or 3 de re s of fre dom

rather than 6 de re s of fre dom

3.10

single-point articulation test

t es in w hich articulat ed arm CMM pro e is held within a kinematic seat w hi e the elb w location is

ia.5 5:Ar :Tac A rm

diamet er of the minimum cir umsc ibed sphe e encompas ing the p int that ar the c ntr s of the

five sphe es o tained from pe forming the articulat ed location t es w hen using a tacti e pro e

Not e 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation L

e ror of in ication w hen pe forming a bidir ctional point-t o-point dis anc measur ment

Not e 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation E

e ror of in ication w hen pe forming a u idir ctional point-t o-point dis anc measur ment

Not e 1t o entry: An e B dis us es u idirectional an bidirectional me surements

Not e 2t o entry: In the conte t of this part of ISO 1 360, the local a breviation E

e ror of in ication within w hich the rang e of Ga us ian radial dis anc s can be det ermined b a Gaus ian

(leas -sq ar s) fit of 2 p int measur d b a tactie pro e on a t es sphe e

Not e 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation P

F rm.Sp 1 2

is used

pro ing size er or, tactie

P

Size.Sp 1 2 :Tac A rm

e ror of in ication of the diamet er of a sphe ical mat erial s andard of siz as det ermined b a Ga us ian

(leas -sq ar s) fit of 2 p int measur d b a tactiepro e

Note 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation P

ia.5 5:Ar :Tac A rm,MP

extr me v lue of the articulat ed location e ror, tacti e, L

ia.5 5:Ar :Tac A rm

, pe mitt ed b spe ifications

Note 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation L

, pe mitt ed b spe ifications

Note 1t o entry: In the conte t of this part of ISO 1 360, the local a breviation E

rated operating co ditio

o e ating con ition that mus be fulf iled d ring measur ment in orde that a measuring ins rument or

measuring sy st em pe forms as designed

Note 1 to entry: Rated operating con itions g neral y specify intervals of values for a q antity b ing me sured

an for an influence q antity

[ SOURCE:ISO/IEC Guide 99:2 0 , 4 9]

Note 2t o entry: Within the ISO 1 360series, the t erm “as designed” me ns as specif ied by MP s

Note 3to entry: If an MP specif ication is thought of as a fu ction (where diferent MP values could b given for

diferent con itions),then the rated operating con itions def ine the domain of that u ction

Ma imum permis ible er or for multiple sy stem pro

-ing form er or (b sed on ISO 1 360-9)

a

a

The t ai n q alf ier, “.A rm”, in ic tes that his metologic l chara teris ic as defined in the relevant ISO 1036 par

is tes ed with an ar iculatin arm CMM

b

These symbols relate to met ologic l chara teris ics for which spe if ic tion an tes in are optional (not normative)

Glo al symb ls L cal a br viations Te m

Ma imum permis ible er or for multiple system pro

-ing size er or (b sed on ISO 1 360-9)

Ma imum permis ible er or for multiple system pro

-ing location er or (b sed on ISO 1 360-9)

Ma imum permis ible er or for the repe ta ility rang

of u idirectional length me surement er or

Ma imum permis ible er or for the repe ta ility rang

of bidirectional length me surement er or

The t ai n q alf ier, “.A rm”, in ic tes that his metologic l chara teris ic as defined in the relevant ISO 1036 par

is tes ed with an ar iculatin arm CMM

b

These symbols relate to met ologic l chara teris ics for which spe ific tion an tes in are optional (not normative)

L cal a br viations ar used in this p rt of ISO 1 3 0 for the sake of simplcity; howeve , local

a br viations used in dife ent part (s) of ISO 1 3 0 ma not be the same, i.e the same a br viation

ma r fe t o dife ent complet e symb ls Use of a br viat ed symb ls is not r commen ed out ide the

ex clusive cont ext of this p rt of ISO 1 3 0

5 Rated operating conditions

5.1 En vir onmental c onditions

Limit for pe mis ible environmental con itions such as t empe atur con itions, air pr s ur , h midity

an vibration at the sit e of ins alation that influenc the measur ment shal be s at ed b

— theman factur r, in the case of ac eptanc t es s, an

— theuse , in the case of r ve if ication t es s

In both cases, the use is fr e t o cho se the environmental con itions un e w hich the t es ing wi be

pe formed within the s at ed l mit (F orm 1 in Annex A show s an ex mple method for s ating these

con itions ) The man factur r shal pro ide at a single location in publ shed lt eratur MP v lues and

o e ating con itions u de w hich the MP v lues ar v ld

If the use wishes t o ha e t es ing pe formed un e environmental con itions othe than the ambient

con itions of the t es sit e (e.g at an elev t ed or lowe ed t empe atur ), a r ement between p rties

r g rding w ho bears the cos of environmental con itioning should be o tained

Table 1 (c ontin ed)

5.2 Operating conditions

The articulat ed arm CMM shal be o e at ed b an a pro riat ely trained and ski led o e at or using the

proc d r s given in the man factur r’s o e ating man al w hen con ucting the t es s given in Cla use 6

Spe if ic ar as in the man factur r’s man al t o be adhe ed t o ar , for ex mple,

a) machine s art-up/warm-up cycles,

b) machine compensation proc d r s,

c) location, ty e and n mbe of environmental sensors,

d) location, ty e and n mbe of the mal workpie e sensors, an

e) mou ting cons raint

6 Acc eptanc e tests and reverification tests

A cc ptanc t es s ar ex ecut ed ac ording t o the man factur r’ s spe if ications an proc d r s

R eve ification t es s ar ex ecut ed ac ording t o the use ’ s spe ifications and the man factur r’s

proc d r s

Each e ror o tained in an ac eptanc t es of this p rt of ISO 1 3 0 shal be comp r d t o the MP v lue

or v lues s at ed b the man factur r for thes y lus conf iguration used in the t es

Optionaly, a t es r p rt ma inclu e a plot of the measur ment e rors an the cor esp n ing MP v alues

NOTE For an articulated arm CMM, it is ofen the case that a single MP value is valid throughout the entire

me suring volume

6.2 Probing size and for m error s

6.2.1 Pr inciple

The principle of this t es proc dur is t o measur the siz an form of a t es sphe e b pro ing 2

p int on the surfac of the sphe e A Gaus ian (leas -sq ar s) sphe e fit of the 2 p int is ex mined

for the e rors of in ication for form an siz This analy sis yields the form e ror, P

6.2.2 Me sur ing equipment

The mat erial s an ard of siz , i.e the t es sphe e, shal ha e a diamet er not les than 1 mm an not

gr at er than 5 mm

Not e 1 The u certainty in the calibrated size value of the test sp ere an the form er or of the test sp ere

contribut e t o the t est value u certainty

Not e 2 A t est sp ere smaler than 2 mm may b diff icult t o pro e without encou tering interference

pro lems from a sp ere su port

6.2.3 Proc edure

S t up an q alfy the pro ing sy st em of the articulat ed arm CMM in ac ordanc with the man factur r’s

normal proc d r s Cho se two locations for the t es sphe e anyw he e in the measuring v lume

taking int o conside ation the dir ction of the s y lus d ring the t es ( e NOTE 3 of 3.5) By default, one

location is near the ve tical main a is of the articulat ed arm CMM, and the othe location is near the

out er surfac of the measuring v lume

The t es sphe e an articulat ed arm CMM shal be mou t ed rigidly, b th in ivid aly an with r spe t

t o one anothe , t o minimiz e rors d e t o ben ing

Measur an r cord 2 p int without rotating the s y lus or changing the dir ction of the s y lus The

p int shal be a pro imat ely evenly dis ribut ed o e at leas a hemisphe e of the t es sphe e Their

p sitions shal be at the disc etion of the use and, if not spe ified, the folowing pro ing patt ern is

r commen ed ( e Figur 2):

— one p int on the p le (defined b the dir ction of the s y lus shaf) of the t es sphe e;

— four p int (eq aly spac d)2 ,5° below the pole;

— eight p int (eq aly sp c d) 45° below the p le an rotat ed 2 ,5° r lative t o the pr viousgroup;

— four p int (eq aly spac d)6 ,5° below the p le and rotat ed 2 ,5°r lative t o the pr vious group;

— eight p int (eq al y sp c d) 90° below the pole ( i.e on the eq at or) an rotat ed 2 ,5° r lative t o

thepr vious group

Key

A pole

Figure 2 — L cation of pro ing points

6.2.4 Der i vatio of test results

F or each of the firs an se on locations, using al 2 measur d p int , comput e the Gaus ian (leas

-sq ar s)as ociat ed sphe e Subtract the cal brat ed diamet er, D

Ref, from the calculat ed diamet er, D

Me s,

of the Gaus ian (leas -sq ar s) as ociat ed sphe e t o g et P

Size.Sp 1 2

= D

Me s– D

R ef The a solut e v lue

of the pro ing siz e ror at each location shal be comp r d t o the MP v lue or v lues spe if ied b the

man factur r

F r each of the firs an se on locations, using al 2 measur d p int , comput e the Gaus ian (leas

-sq ar s) as ociat ed sphe e F or each of the 2 measur d p int , calculat e R, the dis anc from the

measur d point t o the Gaus ian (leas -sq ar s) sphe e c ntr ( i.e the Ga us ian radial dis anc )

Calculat e the pro ing form e ror b taking the rang eof Gaus ian radial dis anc s: P

The pro ing form e ror at each location shal be comp r d t o the MP v lue or v lues spe if ied

b the man factur r

NOTE The term Gaus ian (le st-sq ares)radial distance is def ined in ISO 1 360-1

6.3 A rticulated location error s

6.3.1 Pr inciple

The principle of 6.3 an 6.4 is t o inclu e al of the articulation joint of the articulat ed arm CMM in

a pe formanc ev luation of this part of ISO 1 3 0 The ev luation desc ibed in 6.4 inclu es al

articulation joint ex cept the wris joint as embly, w hich inclu es the fif h swivel joint, the sixth hing e

joint, an the seventh ( if a ai a le) swivel join the ev luation in 6.3 focuses on the ev luation of this

joint as embly The t es proc d r is t o pro e the surfac of a t es sphe e in a manne that ext ensively

articulat es the wris b measuring with f ive orthog onal s y lus orientations articulat ed at the wris F or

each of the f ive orientations, the t es sphe e is pro ed with f ive p int an a Gaus ian (leas -sq ar s)

sphe e c ntr location is calculat ed The set of the five sphe e c ntr s, w hich idealy should ha e the

same co rdinat es, is used t o ev luat e the articulat ed location e ror, L

ia.5 5:Ar

If the articulat ed arm CMM is eq ip ed with a swivel joint on a seventh a is, the s y lus ma be rotat ed

b an arbitrary angle betwe n each of the five sphe e c ntr measur ment

If the articulat ed arm CMM is eq ip ed with multiple s y li, e.g “clust er s y li” , then the multiple s y li

t es in ISO 1 3 0-5 should also be pe formed

6.3.2 Me sur ing equipment

Thet es sphe e, calbrat ed for siz an form, shal ha e a diamet er not les than 1 mm an not gr at er

than 5 mm

NOTE 1 The u certainty in the size of the test sp ere an form er or of the t est sp ere contribut e t o the test

value u certainty

NOTE 2 A t est sp ere smaler than 2 mm may b diff icult t o pro e without encou tering interference

pro lems from a sp ere su port

6.3.3 Proc edure

S t up an q alfy the pro ing sy st em on the articulat ed arm CMM in ac ordanc with the man factur r’s

normal proc d r s Cho se two locations for the t es sphe e anyw he e in the measuring v lume taking

int o conside ation the dir ction of the s y lus d ring the t es ( e NOTE 3 of 3.5)

The t es sphe e an articulat ed arm CMM shal be mou t ed rigidly, b th in ivid aly an with r spe t

t o one anothe , t o minimiz e rors d e t o ben ing

Measur on the t es sphe e each of the five p le p int asshown in Figur 3a) In this figur , four of the

five p lep int ar plac d on four q adrant of an eq at orial plane of the t es sphe e, an the fif h pole

is plac d on the t es sphe e so as t o be symmetrical with r spe t t o the othe four F or each p le point,

measur on the sphe e four ad itional point without changing the dir ction of the s y lus or rotating

the s y lus, as shown in Figur 3 b) F or a given s y lus dir ction, the five measur d p int ar sp c d

a pro imat ely evenly o e a hemisphe e of the t es sphe e Howeve , the ful set of 2 p int ma not be

evenly dis ribut ed o e the sphe e ( i.e point from dife ent set ma be close t o one anothe )

a) Five sty lus directions b) Five points with commo sty lus direction

Figure 3 — Pole points

6.3.4 Deri vatio of test results

F or each of the f irs an se on locations, comput e a Ga us ian (leas -sq ar s) as ociat ed sphe e for

each of the f ive set of five point t o fin the five sphe e c ntr s C lculat e the articulat ed location e ror

L

ia.5 5:Ar

b fin ing the diamet er of the minimum cir umsc ibed sphe e that encomp s es the f ive

sphe e c ntr s The articulat ed location e ror at the firs an se on locationsshal be comp r d t o the

MP v lue or v lues spe if ied b the man factur r, L

ia.5 5:Ar ,MP

NOTE Two ad itional parameter may b of interest: the form an size er or of the resulting 5 × 5

point sp ere A user may wish t o use these paramet er as a reflection of point me surement capa ility when

articulating t o ac es diferent points An e G contains ad itional details re arding the calculation of these

parameter

6.4 Leng th me surement error

6.4.1 Principle

The principle of the length e ror as es ment is t o use a calbrat ed t es length, trac a le t o the metr ,

t o es a l sh w hethe the articulat ed arm CMM is ca a le of measuring within the s at ed ma imum

pe mis ible e ror of length measur ment pro ided b the man factur r The man factur r ma cho se

t o pro ide spe ifications for the ma imum pe mis ible e ror of u idir ctional length measur ment,

E

Uni,MP

, the ma imum pe mis ible e ror of bidir ctional length measur ment, E

Bi,MP, or b th The

length measur ment e ror shal be compar d t o the MPE v lue or v lues spe ified b the man factur r

for thes y lus con guration used in the t es

The as es ment shal be pe formed b comparison of the in icat ed v lues of five dife ent calbrat ed

t es lengths, each measur d thr e times, r lative t o their calbrat ed v lues The in icat ed v lues ar

calculat ed b point-t o-p int length measur ment proje t ed ont o the algnment dir ction

Each of the thr e r peat ed measur ment is t o be ar ang ed in the folowing man e : if one en of the

cal brat ed t es length is la eled “A” an the othe en “ B” then the measur ment seq enc is eithe

1, B

2A

2, A

3B

3 Othe seq enc s such as A

1A

2A

3, B

1B

2B

3

ar not pe mitt ed

F or articulat ed arm CMMs without workpie e the mal ex ansion compensation, the u cor e t ed

dife ential the mal ex ansion betwe n the articulat ed arm CMM an the calbrat ed t es length can

prod c a significant e ror; henc this p rt of ISO 1 3 0 also r q ir s the disclosur of the t es length

CTE F or articulat ed arm CMMs with workpie e the mal ex ansion compensation, this the maly

in uc d e ror is gr atly r d c d F or these articulat ed arm CMMs, a significant p rtion of the r sid al

the mal e ror is d e t o the u c rtainty in the t es length CTE ( i.e r sulting in impe fe t the mal

ex ansion cor e tion); henc this p rt of ISO 1 3 0 r q ir s the disclosur within the man factur r’s

spe ifications of the ex an ed u c rtainty in the CTE of the t es length

F or some articulat ed arm CMMs, the the mal cor e tion sy st em r q ir s the use t o input v lues of the

art efact’s CTE and t empe atur as p rt of it a ut omatic the mal compensation sy st em as desc ibed in

it o e ating documentation This is pe mitt ed pro ided it is the articulat ed arm CMM sof war that

pe forms the the mal compensation Man al the mal compensation b the use is not pe mitt ed

6.4.2 Me sur ing equipment

A trac a le r fe enc length ma be r al z d in a n mbe of way s, inclu ing nes b rs, kinematic seat

(nes s) mou t ed on wals or fr es an ing s ructur s, use of a rai-an -car iag e sy st em, g ug e blocks,

b l b rs, st ep g ug e b rs, et c Suita le art efact ar discus ed furthe in Annex B

A calbrat ed t es length shal be a normal CTE mat erial u les the man factur r’ s spe if ications

ex lcitly s at e othe wise In eithe case, the alowa le CTE rang e is part of the rat ed o e ating

con itions The man factur r shal spe ify the ma imum pe mitt ed ex an ed ( k = 2) unc rtainty of the

CTE of the calbrat ed t es length The man factur r ma calbrat e the CTE of a calbrat ed t es length

The man factur r ma s at e l mit on the CTE of the calbrat ed t es length If the spe if ication of the

calbrat ed t es length does not inclu e a normal CTE mat erial, then the cor esp n ing E

Uni,MP

an / r

E

Bi,MP

v lues ar designat ed with an ast erisk ( )an an ex lanat ory not e shal be pro ided desc ibing

the CTE of the calbrat ed t es length

If the man factur r’s spe if ication s at es that the calbrat ed t es length wi l be a non-normal CTE

mat erial an the CTE isles than 2× 1

Five calbrat ed t es lengths ar measur d along each of seven measur ment lnes, as desc ibed below

The five calbrat ed t es lengths ma comprise a single art efact or multiple art efact The long es of

the f ive t es lengths shal be at leas 6 % of the measuring rang e The five t es lengths shal be wel

dis ribut ed

NOTE An e ample of f ive wel distributed test lengths (for the case of f ive distinct lengths)over a one metre

me surement line is: 1 0mm, 2 0mm, 40 mm, 60 mm, an 8 0 mm

An ex B desc ibes calbrat ed t es lengths suita le for use in unidir ctional an bidir ctional t es ing

The articulat ed arm CMM has a s an ing a is “ z” of the swivel joint “a ” as shown in Figur 1 F or the

purp se of car ying out the t es , the t est er cons ruct a r fe enc plane that inclu es the s an ing a is

“z” an a p int sele t ed arbitrariy b the use on the b se of the arm and a measur ment plane that

inclu es the s an ing a isan the c ntr of a calbrat ed t es length The azimuth angle for a p rticular

measur ment is defined as the angle betwe n the r fe enc plane an the measur ment plane, with the

angle measur d along a plane pe pen icular t o the s an ing a is

As shown in Ta le 2, the calbrat ed t es length should be plac d along seven measur ment lnes 1 t o 7

in horizontal, 45° diag onal, an ve tical dir ctions The azimuth angle is b default 0° in the ve tical

dir ction an 0 1 0 an 240° in the horizontal an 45° diag onal dir ctions

Table 2 — Me surement positio s

( )

As shown in Figur 4, the en p int of the larg es cal brat ed t es length shal le within a sphe ical

envelo e co e ing 6 % t o 1 0 % of the measuring rang e

Key

1 6 % of me suring rang e

2 calibrated test leng th

3 sp eres a out centr e

4 centre of articulated arm CMM

5 60% of me suring rang e

6 1 0 % of me suring rang e

Figure 4 — Placement of cal brated test length for positio s

6.4.3.2 Me sur ement proc ed re

S t up an q alfy the pro ing syst em in ac ordanc with the man factur r’s normal proc d r s

( e 5.2)

F or each of the f ive cal brat ed t es lengths, o tain thr e measur ment r sult R epeat for al seven

measur ment lnes t o o tain 1 5 measur ment r sult from the calbrat ed t es lengths

Each point ma be measur d with the elb w of the articulat ed arm CMM orient ed elb w lef (L), elb w

o er head (O), or elb w right R), as shown in Figur 5

Key

1 elb w lef (L)

2 elb w overhe d (O)

3 elb w right (R)

Figure 5 — Elbow p sitio s

Sinc each length measur ment inclu es st eps of measuring a f irs p int (as L, O, or R) an a se on

point on a cal brat ed t es length (as L, O, or R), the e ar nine p s ible combinations of elb w p sitions

pos ible in measuring the two p int of each calbrat ed t es length Using the a br viations, the nine

combinations ar LL, LO, LR, OL, OO, OR, RL, RO, an RR

E AMP E T e e ample me surement proced re given in Ta le 3 is to me sure the f ir t 3 lengths (6 × 5

lengths) by cycling through the combinations, with the thre repe ted me surements performed using the

identical combination as shown in Ta le 3 T e last f ive lengths, which ac ording t o Ta le 2 are for the calibrated

t est length in the vertical orientation, are car ied out with the elb w t o one side of the other (L or R ) Ordinarily

the articulated arm CMM is placed t o one side or the other of the vertical art efact so that the elb w can only b

b nt in one direction or the other T e user may cho se t o me sure using diferent elb w orientations or in a

diferent order

T able 3 — Example of alternating elb w orientatio s for me surement of fir t and seco d points

Length n mbe R epeat 1 R epeat 2 R epeat 3

than 2 × 1 −6 /°C (h s being a non-normal CTE), an ad itional measur ment shal be pe formed on a

normal CTE mat erial calbrat ed t es length The normal CTE mat erial t es length shal be a pro imat ely

0,5 m for articulat ed arm CMMs ha ing a measuring rang e gr at er than 0,7 m an gr at er than 5 %

of the measuring rang e for smale articulat ed arm CMMs The measur ment shal be pe formed onc

The man factur r ma calbrat e theCTE of the t es length

6.4.3.4 Deri vatio of test results

F or the 1 5 measur ment , an ( if r q ir d) the ad itional length measur ment ac ording t o 6.4.3.3,

calculat e the u idir ctional length measur ment e ror, E

b taking the dife enc betwe n the measur d ( in icat ed) v lue an the

cal brat ed v lue of the t es length The articulat ed arm CMM ma cor e t for the maly in uc d e rors

( inclu ing the mal ex ansion) in a cal brat ed t es length if it has ac es ory devic s for this purp se

Man al cor e tion of t es r sult t o r mo e the mal y in uc d e rors shal not be alowed w hen the

environmental con itions satis y 5.1

Table 3 (c ontin ed)

F or each of the 1 5 length measur ment e rors (E

UniE

Bi

v lue) an ( if r q ir d) the ad itional length

measur ment e ror ac ording t o 6.4.3.3, det ermine the cor esp n ing MP v lue ( E

Uni,MP, E

Bi,MP

v lue) b sed on the man factur r’s MP spe if ication

NOTE 1 For an articulated arm CMM, it is ofen the case that a single MP value is valid throughout the entire

, or b th An e H contains ad itional details re arding

the calculation of this paramet er

7 Compl anc e with specification

, is not gr at er than the r lev nt ma imum pe mis ible

e ror for pro ing form, tactie, P

Size.Sp 1 2 ,MP

, as spe ified b the man factur r an taking int o

ac ou t the t es v lue u c rtainty, an

— the a solut e v lue of the pro ing siz e ror, tactie, P

Size.Sp 1 2

, is not gr at er than the r lev nt

ma imum pe mis ible e ror for pro ing siz , tactie, P

Size.Sp 1 2 ,MP

, as spe if ied b the

man factur r and taking int o ac ount the t es v lue u c rtainty

Thearticulation pe formanc of the articulat ed arm CMM is ve if ied if

— the articulat ed location e ror, tactie, L

ia.5 5:Ar

, is not gr at er than the r lev nt ma imum

pe mis ible e ror of articulat ed location e ror, tactie, L

ia.5 5:Ar ,MP

, as spe if ied b the

man factur r and taking int o ac ount the t es v lue u c rtainty of measur ment

Thelength measuring pe formanc of thearticulat ed arm CMM is ve if ied if

— the man factur r spe if ies at leas one of a ma imum pe mis ible e ror for u idir ctional E

Uni,MP

an a ma imum pe mis ible e ror for bidir ctional length, E

Bi,MP,

— the a solut e v lue of length measur ment e rors, unidir ctional, E

Uni

ar within the ma imum

pe mis ible e ror for u idir ctional length, E

Uni,MP, if spe ified b the man factur r, taking int o

ac ou t the t es v lue u c rtainty, an

— the a solut e v lue of length measur ment e rors, bidir ctional, E

Bi

ar within the ma imum

pe mis ible e ror for bidir ctional length, E

Bi,MP, if spe ified b the man factur r, taking int o

ac ou t the t es v lue u c rtainty

7.1.2 Data rejection and repe ted me sur ements

7.1.2.1 Probing form er r or and probing size er r or

If the pe formanc of pro ing form e ror or pro ing siz e ror is not ve if ied for b th locations of the

t es , the pro ing eq ipment shal be che ked for the fault that could be influencing the measur ment

r sult Any fault shal be cor e t ed an the r lev nt t es (at b th locations) r peat ed onc only The

original measur ment r sult shal be discarded

No ad itional r peat ed measur ment shal be pe formed

7.1.2.2 A r ticulated locatio error

If the pe formanc of articulat ed location e ror is not ve ified b the t es , the pro ing eq ipment shal

be che ked for the fa ult that could beinfluencing the measur ment r sult Any fault shal be cor e t ed

an the r lev nt t es r peat ed onc only (at b th sphe e locations inclu ed in the t es ), an the original

measur ment r sult shal be discarded

No ad itional r peat ed measur ment shal bepe formed

7.1.2.3 Leng th me surement error

A ma imum of five of the 3 set of thr e r peat ed measur ment ma ha e one (an no mor than one)

of the thr e v lues of the length measur ment e ror fai the ac eptanc c it eria

Each such faied measur ment shal be r measur d thr e times at he r lev nt p sition

If al the v lues of the e rors of in ication of the calbrat ed t es lengths from the thr e r peat ed

measur ment ar within the man factur r’ s spe if ications taking int o ac ount the t es v lue

unc rtainty, then the pe formanc of the articulat ed arm CMM is ve if ied at that p sition

No ad itional r peat ed measur ment shal bepe formed

7.2 Reverification tests

As in 7.1, but spe if ications ar made b the use (folowing man factur r proc dur s)

8 A ppl cations

8.1 Ac c eptanc e test

In a contractual situation betwe n a man factur r an a use such as that desc ibed in a

— pur hasing contract,

— maint enanc contract,

— r pair contract,

— r no ation contract, or

— upgrading contract, et c

the ac eptanc t es spe if ied in this p rt of ISO 1 3 0 ma be used as a t es for ve ifying the

pe formanc of the articulat ed arm CMM used for measuring lnear dimensions in ac ordanc with

the spe ification for the s at ed ma imum pe mis ible e rors, P

upon b the man factur r an the use , o tional spe if ications R

a ply for any location an orientation in the

measuring volume of the articulat ed arm CMM

8.2 Reverification test

In an org nization int ernal q al ty as uranc sy st em, the pe formanc ve ification desc ibed in this

p rt of ISO 1 3 0 can be used as a r ve if ication t es t o ve ify the pe formanc of the articulat ed arm

CMM used for measuring lnear dimensions in ac ordanc with the spe ification for the ma imum

b the use The use is pe mitt ed t o s at e the v lues of, an t o spe ify detaied lmitations a plca le t o,

NOTE 1 The tester ac ou ts for the t est value u certainty; ac ordingly a reverif ication t est (where ty ical y

the test er is the user)may have a diferent conformance zone than in an ac eptance t est

NOTE 2 In ac eptance testing, the conformance zone is derived from the man facturer’ s specif ications In

reverif ication testing, the reverif ication limits may b derived from the user’ s metrolo ical ne ds

8.3 Interim check

In an org nization int ernal q alty as uranc sy st em, a r d c d pe formanc verif ication ma be used

pe iodicaly t o demons rat e the pro a i ity that the articulat ed arm CMM conforms with spe ified

r q ir ment r g rding the ma imum pe mis ible e rors an ma imum pe mis ible l mit , P

ve if ication as desc ibed in this p rt of ISO 1 3 0 ma be r d c d b using fewe measur ment an

positions

An efe tiveint erim t es is thesingle p int articulation t es , desc ibed in gr at er detai in Annex D

NOTE This part of ISO 1 360 is primarily concerned with ac eptance an reverif ication testing Int erim

t esting is of en as ociated with q ality as urance