CN101046396A - Specific coder - Google Patents
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- CN101046396A CN101046396A CN 200610168414 CN200610168414A CN101046396A CN 101046396 A CN101046396 A CN 101046396A CN 200610168414 CN200610168414 CN 200610168414 CN 200610168414 A CN200610168414 A CN 200610168414A CN 101046396 A CN101046396 A CN 101046396A
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Abstract
The present invention is to achieve multi-distinguishability with an absolute encoder, which detects absolute position corresponding to rotation angle of the rotation body, wherein, an absolute position output unit outputting signal representing the absolute position, a calculating unit outputting position information of said rotation body based on the output signal of the absolute position output unit are arranged, the invention is characterized in that said calculating unit corrects calculation based on signal outputted by the absolute position detection unit according to the first detection distinguishability, and outputs the relative value in the second distinguishability corresponding to the detection value by adopting the first distinguishability.
Description
Technical field
The present invention relates to have the absolute encoder of multiple resolution.
Background technology
Now, as the technology of " accomplish not use the location of initial point, absolute rotary encoder is set ", existing following motion: " after the absolute rotary encoder installation and being connected on the servo motor, send the initial point reset signal at origin position.If this signal exists, then detect this signal, with the binary data of storer 10 maintenances with respect to this anglec of rotation constantly with initial point reset signal testing circuit 14.After, deducting the save value of this storer by output from Gray code/binary code translation circuit 7 and many revolution meters 9, just can detect apart from the anglec of rotation of the origin position that sets.』
[patent documentation 1] spy opens flat 6-129875 communique (summary)
But, in present absolute encoder, do not carry out the location of initial point, can be with position arbitrarily as detecting a kind of of initial point, the resolution that can realize with 1 absolute encoder is limited in certain kind.
Summary of the invention
The objective of the invention is to, can realize the resolution of multiple class with 1 absolute encoder.
Relevant absolute encoder of the present invention is the absolute encoder that is provided with lower unit, and these unit are:
According to predefined the 1st detection resolution, detect absolute position, the absolute position output unit of the signal of this absolute position of output expression corresponding to the anglec of rotation of rotary body; And
Based on signal with the output of above-mentioned absolute position output unit, export the arithmetic element of the positional information of above-mentioned rotary body, it is characterized in that:
The signal that above-mentioned arithmetic element is exported based on above-mentioned the 1st detection resolution according to above-mentioned absolute position detection unit carries out the computing correction,
Output is corresponding to the analog value detected value that uses above-mentioned the 1st detection resolution, in the 2nd detection resolution.
In addition, absolute encoder of the present invention is characterised in that: have the storage unit of mapping table of the respective value of storage output valve of above-mentioned the 1st detection resolution and above-mentioned the 2nd detection resolution,
Above-mentioned arithmetic element is when the respective value of above-mentioned 1st detection resolution of output in above-mentioned the 2nd detection resolution, with reference to exporting respective value behind the above-mentioned mapping table that is stored in said memory cells.
In addition, absolute encoder of the present invention is characterised in that, the signal of the detection initial point of the absolute position of the above-mentioned rotary body of above-mentioned arithmetic element reception indicative of settings,
In the moment that receives this signal, the position corresponding with the output signal of above-mentioned absolute position output unit set as new detection initial point.
Again, absolute encoder of the present invention is characterised in that: above-mentioned arithmetic element when the signal of the detection initial point of the absolute position that receives the above-mentioned rotary body of indicative of settings,
In the moment that receives this signal, position that will be corresponding with the output signal of above-mentioned absolute position output unit is as new detection initial point, the value of rewriting above-mentioned mapping table.
Again, absolute encoder of the present invention is characterised in that: when above-mentioned arithmetic element is carried out above-mentioned computing correction, and the information of the value of the resolution that the said memory cells storage representation will use as above-mentioned the 2nd detection resolution,
In the value of the value of the resolution of this information representation and above-mentioned the 1st detection resolution not simultaneously, above-mentioned arithmetic element is carried out above-mentioned computing correction.
Again, absolute encoder of the present invention is characterised in that: the signal of the information of the value of the above-mentioned resolution of above-mentioned arithmetic element reception indicative of settings also deposits said memory cells in,
Receiving indication will export the signal of this information the time, reading this information and output by said memory cells.
Again, absolute encoder of the present invention is characterised in that: the structure of above-mentioned absolute position output unit constitutes with having formed the slit plate of representing corresponding to the bit pattern of the absolute position of the anglec of rotation of rotary body.
Again, absolute encoder of the present invention is characterised in that: the magnet that rotates along with the spinning movement of rotary body of the structure of above-mentioned absolute position output unit, the magnetic sensor that detects the magnetic of above-mentioned magnet, the testing circuit that the detected value of above-mentioned magnetic sensor is transformed into electric signal constitute.
According to absolute encoder of the present invention, can obtain the resolution output of multiple class with 1 absolute encoder, and need not to carry out the location of initial point, set positions becomes the detection initial point arbitrarily.
Description of drawings
Fig. 1 is the figure of functional-block diagram of the absolute encoder of expression embodiment 1.
Fig. 2 illustrates operational part 107 to carry out the computing correction, the figure of the corresponding relation during conversion resolution.
Fig. 3 is the figure of the treatment scheme of explanation operational part 107 when carrying out as the illustrative computing correction of Fig. 2.
Fig. 4 is 1 embodiment of expression as operational part 107, the diagram when using microcomputer.
The functional-block diagram of Fig. 5 when to be expression as operational part 107 use the such microcomputer circuit of Fig. 4.
Fig. 6 is the figure of structure of the corresponding tables 511 of key diagram 5.
Fig. 7 is the figure of the corresponding relation of explanation 10 system numbers, 2 ary codes (binary code), Gray code.
Step explanation when Fig. 8 is mutual conversion 2 ary codes and Gray code.
Fig. 9 is the functional-block diagram of the absolute encoder of explanation embodiment 2.
Figure 10 is the figure that the advantage of setting initial point again is described.
Figure 11 is the figure of the treatment scheme of the microcomputer circuit 907 of key diagram 9 when carrying out the illustrative computing correction of Fig. 2.
Figure 12 is the figure of structure of the corresponding tables 911 of key diagram 9.
Figure 13 is the functional-block diagram of the absolute encoder of expression embodiment 3.
Figure 14 represents the content of the corresponding tables 1311 among Figure 13.
Figure 15 is the diagram of absolute encoder when being connected in applications equipment of expression embodiment 3.
Figure 16 is the functional-block diagram of the absolute encoder of expression embodiment 4.
Figure 17 is the figure that expression will be made of with rotary magnet 1601, sensor part 1602 part that LED1301～photodiode 1304 constitutes.
Figure 18 is the functional-block diagram of the traditional absolute encoder of expression.
Figure 19 is the diagram that is used for the rotation slit plate of absolute encoder.
Figure 20 is the complete list of bit pattern of the absolute position of the traditional absolute encoder of expression.
Figure 21 is the diagram of the complete list with Figure 18 when being applied to actual slit pattern.
Figure 22 illustrates the complete list according to the bit pattern that illustrated, the code conversion step when obtaining final output valve in Figure 18.
Figure 23 explanation is in the manufacturing process of absolute encoder, and the origin position that is rotated slit plate is to fashionable operation situation.
[description of symbols]
101 LED, 102 fixed slit plates, 103 rotation slit plates, 104 photodiodes, 105 amplifying circuits, 106 shaping circuits, 107 operational parts, 108 interfaces, 501 LED, 502 fixed slit plates, 503 rotation slit plates, 504 photodiodes, 505 amplifying circuits, 506 shaping circuits, 507 microcomputer circuit, 508 interfaces, 509 storeies, 510 CPU, 511 corresponding tables, 901 LED, 902 fixed slit plates, 903 rotation slit plates, 904 photodiodes, 905 amplifying circuits, 906 shaping circuits, 907 microcomputer circuit, 908 interfaces, 909 storeies, 910 CPU, 911 corresponding tables, 1301 LED, 1302 fixed slit plates, 1303 rotation slit plates, 1304 photodiodes, 1305 amplifying circuits, 1306 shaping circuits, 1307 microcomputer circuit, 1308 interfaces, 1309 storeies, 1310 CPU, 1311 corresponding tables, 1501 microcomputer circuit, 1502 display devices, 1503 present position display parts, 1504 reset signals send button, 1505 resolution setting buttons, 1506 resolution display parts, 1601 rotary magnets, 1602 magnetic sensors and testing circuit, 1605 amplifying circuits, 1606 shaping circuits, 1607 operational parts (microcomputer circuit), 1608 interfaces, 1609 storeies, 1610 CPU, 1611 corresponding tables, 1701 rotary magnets, 1702 magnetic sensors and testing circuit, 1705 amplifying circuits, 1706 shaping circuits, 1707 microcomputer circuit, 1708 interfaces, 1709 storeies, 1710 CPU, 1711 corresponding tables, 1801LED, 1802 fixed slit plates, 1803 rotation slit plates, 1804 photodiodes, 1805 amplifying circuits, 1806 shaping circuits, 1808 interfaces.
Embodiment
[embodiment 1]
Fig. 1 is the functional-block diagram of the absolute encoder of the embodiment of the invention 1.
The absolute encoder that Fig. 1 represents contains: LED101, fixed slit plate 102, rotation slit plate 103, photodiode 104, amplifying circuit 105, shaping circuit 106, operational part 107, interface 108.
LED101 is a light source, and the light that LED101 sends shines the photodiode 104 as photo detector behind the slit plate 103 by fixed slit plate 102, rotation, is transformed into analog electrical signal.
On fixed slit plate 102, light shielding part and transmittance section form with methods such as evaporation, etchings.
On rotation slit plate 103, the bit pattern of expression Gray code forms with the method for evaporation, etching etc.
By fixed slit plate 102 and rotation slit plate 103, the light that photodiode 104 receives will become the analog electrical signal of representing with Gray code corresponding to the absolute position of the anglec of rotation of rotating slit plate 103, and be input to amplifying circuit 105.
Moreover the detection resolution of absolute position is by the bit pattern decision that is formed on the above-mentioned slit plate.
Amplifying circuit 105 amplifies the analog electrical signal of photodiode 104 outputs, and exports shaping circuit 106 to.
In the present invention, " absolute position detection unit " is equivalent to the part that is made of the LED101～photodiode among Fig. 1 104.
In addition, " arithmetic element " is equivalent to the operational part 107 among Fig. 1.
Here, understand easily, describe with regard to traditional absolute encoder in order to make the present invention.
Figure 18 is the functional-block diagram of traditional absolute encoder.
The structure of absolute encoder shown in Figure 180 and scrambler shown in Figure 1 are roughly the same, and its difference is not have operational part.
Figure 19 represents to be used for the diagrammatic sketch of the rotation slit plate (the rotation slit plate 1803 that is equivalent to Figure 18) of absolute encoder.
The rotation slit plate that is used for absolute encoder is represented to form with as shown in Figure 19 slit corresponding to the bit pattern of the absolute position of the anglec of rotation.Because the inevitable univocality of the bit string of the output of the slit pattern on specific angle position ground constitutes, and specifies if the current position of rotation coverlet free burial ground for the destitute of slit plate, is then rotated in investigation by the bit pattern of the light of rotation slit plate.
The index which kind of degree the expression absolute encoder can be fine to the detection position of rotation is called " resolution ".Resolution depends on the fineness of the slit pattern of rotation slit plate.That is, if the circumferencial direction of edge rotation slit plate etc. are divided into 1024, on each position, distribute different slit pattern, then this rotation slit plate can show 1024 resolution (upper left side of Figure 19) with regard to constituting.
Equally, if the circumferencial direction of edge rotation slit plate etc. are divided into 720, then this rotation slit plate just can show 720 resolution (upper right side of Figure 19).
So, usually, owing to determine slit pattern according to resolution, if the slit plate difference, then the resolution of its absolute encoder is also different.But, constituting under the situation of multiple relation in the value of resolution, available single rotation slit plate shows multiple resolution.
For example, the rotation slit plate shown in the upper right side of Figure 19 is to distribute a kind of slit plate of slit pattern of meaning at per 0.5 degree, and if every a counting absolute position, then also can obtain resolution 360 (lower right of Figure 19) with identical swivel plate.
Moreover, additional disclosure, Figure 19 is a synoptic diagram, does not represent correct slit pattern.
Figure 20 is in traditional absolute encoder, the complete list of the bit pattern of expression absolute position.
Shown in the left side of the table of Figure 20, for slit pattern performance resolution 1024, the information that the essential output of this slit pattern is 10.As the table shows, when slit pattern output " 1 ", the absolute position of the expression anglec of rotation is on the position that is equivalent to 1024 " 1 ".Moreover, use same slit pattern also can show resolution 512, resolution 256, resolution 128, resolution 64, resolution 32.
In addition, shown in the right of Figure 20, in order to show resolution 720 with slit pattern, the information of 10 branches of the essential output of this slit pattern.But, as Figure 19 illustrated, need use the slit pattern different with resolution 1024.
As the table shows, when using resolution 720, deduct the absolute position of the value formation reality after 152 from the output valve of slit pattern.Equally, when using resolution 360, deduct 76, when using resolution 180, deduct 38.
Figure 21 is the diagrammatic sketch of the complete list with Figure 20 when being applied to actual slit pattern.
As shown in figure 21,, then can obtain the resolution of breadth extreme,, then can obtain having reduced the resolution of obsolete bit wide part if only use the part of same slit pattern if whole slit pattern is used in whole scopes.
Like this, can obtain multiple resolution, and, be limited on the value that is in the multiple relation because resulting resolution depends on figure place with same slit pattern.
Code conversion step when Figure 22 explanation obtains final output valve based on the complete list of the illustrated bit pattern of Figure 20.
Usually,, be easy to binary code and BCD code (10 systems (sign indicating number) of 2 scale codings), need carry out code conversion in order to obtain handling because the output of absolute encoder is exported with Gray code.
For example, when obtaining binary-coded decimal, the Gray code linear transformation is become binary code, be transformed into binary-coded decimal then, so just can obtain binary-coded decimal.Moreover, according to the explanation among Figure 20, when using resolution 720, resolution 360, resolution 180, the subtraction that need stipulate.
Moreover the term about " 2 systems system " " angle system " shown in Figure 22 replenishes here.
The resolution of so-called " 2 systems system " refers to resolution 32～resolution 1024 shown in Figure 22,, because the application apparatus that exists requirement to export the resolution of 2 power is provided with, makes it easily with processing such as computing machines here.
The resolution of another kind of so-called " angle system " is to want to confirm that people for example angle-differentiated is such under the situation of rotation angle, because 2 system ordered series of numbers expression condition degenerates, being configured to be the absolute position of representing with the angle of 360 degree.
Both resolution is because employed slit difference in present absolute encoder, selects any one resolution system to form slit pattern during fabrication.
Absolute encoder of the present invention is the absolute encoder that can accomplish to show two kinds of resolution systems with single slit pattern.
Below, carry out the explanation of the absolute encoder of relevant present embodiment 1.
Fig. 2 is that the operational part 107 that illustrates Fig. 1 carries out the computing correction, the figure of the corresponding relation the when value transform of the absolute position of resolution 1024 is become respective value in resolution 360.
Here said computing correction refers to, and under the situation of the slit pattern of for example using resolution 1024, the output valve of slit pattern is transformed into respective value in the different resolution.
For example, because the absolute position " 256 " in the resolution 1024 is equivalent to 1/4th of resolution value, the absolute position " 90 " in this position and the resolution 360 is suitable.
So, when operational part 107 shows resolution 360 in the slit pattern with resolution 1024, with the conversion that above-mentioned computing correction is worth, the value behind the output transform.Do like this, just can show the resolution that can not show traditionally in this slit pattern with single slit pattern.
Fig. 3 is the processing flow chart of the operational part 107 of key diagram 1 when carrying out the illustrative computing correction of Fig. 2.Describe with regard to each step below.
(S301)
The initialization process that operational part 107 is stipulated.For example, the processing of this step is equivalent to and will be used for the processing of the memory area removing etc. of computing.
(S302)
(S303)
According to the kind of the resolution that will export, operational part 107 enters into the processing of arbitrary step of following S304 or S306.
(S304)
(S305)
(S306)
(S307)
(S308)
The conversion process that operational part 107 carries out between binary code and the Gray code.A kind of as final output valve with in binary code and the Gray code perhaps, also can set arbitrarily according to purposes.
Moreover, in the stage in above-mentioned each step,, then omit this step if used the code system of final output valve.
(S309)
(S310)
Fig. 4 is 1 embodiment of expression as the operational part 107 of Fig. 1, the figure when using microcomputer.
Using microcomputer to realize under the situation of operational part 107, on each terminal of input side, distribute before the conversion the input value of every signal, also can be in the output valve of the every signal after distributing conversion on each terminal of outgoing side.
Moreover the implementation method of operational part 107 is not limited to microcomputer, also can be with Programmable Logic Controller (PLC: programmable logic controller (PLC)) realize arbitrarily.
Fig. 5 be expression as the operational part 107 of Fig. 1, the functional-block diagram when using the such microcomputer circuit of Fig. 4.
LED501, fixed slit plate 502, rotation slit plate 503, photodiode 504, amplifying circuit 505, shaping circuit 506, interface 508 are equivalent to the appropriate section of Fig. 1, omit its explanation.
CPU510 is the arithmetic element of carrying out the computing correction, for example, can use microcomputer as shown in Figure 4.
Storer 509 storage corresponding tables 511.The details of corresponding tables 511 describe with Fig. 6 described later.
The structure of the corresponding tables 511 of Fig. 6 key diagram 5, in the step S305 and S307 of Fig. 3, operational part 107 is employed devices when carrying out the computing correction.
In corresponding tables 511, the relation of the value after the output valve (absolute position) that has write down rotation slit plate 503 and the corresponding conversion.
The table in the left side of Fig. 6 is to represent that as rotation slit plate 503, the output valve the during slit plate of use resolution 1024 is had a guide look of, and stores 1024 the value of from " 0 " to " 1023 ".
Value after the conversion when storage of the table on Fig. 6 right side becomes the respective value of resolution 180 with 1024 the value transform in left side.For example, the value " 256 " of left side table is equivalent to all 1/4th position, because this value in resolution 180, is equivalent to 180 1/4th " 45 ", and on the correspondence position of the table on right side, storage " 45 ".
Because the value " 1023 " in left side just in time was equivalent to rotate 1 week and is back to the position of detecting initial point, the respective value storage " 0 " of the table on right side.
The such corresponding relation of Fig. 6 also can be obtained with the formula shown in the central portion that is shown in Fig. 6, and when producing decimal, whether it is cast out the situation that also depends on several applications equipment etc., therefore, be subject to capacity and access speed that storer 509 is allowed, can set in advance the such corresponding tables of Fig. 6.
Moreover, in Fig. 6, the corresponding tables when example illustrates value transform with resolution 1024 and becomes the value of resolution 180, and when the value of the multiple resolution of wanting to obtain other, also can set in advance a plurality of corresponding tables.
Fig. 7 illustrates that 10 system numbers, 2 advance the corresponding relation of sign indicating number (binary code), Gray code.Between each code system, exist and be shown in the such corresponding relation of Fig. 7.
In the step S308 of Fig. 3, in case of necessity, need carry out the mutual conversion of 2 ary codes and Gray code.2 ary codes and Gray code are used for all representing that corresponding 10 advance several values, and its corresponding relation can easily be obtained.
Step when Fig. 8 illustrates the mutual conversion of 2 ary codes and Gray code.
In order to obtain corresponding Gray code from 2 ary codes, carry out following step.
(1)
Read the bit string of 2 ary codes before the Gray code conversion.
(2)
The bit string of 2 ary codes before the conversion is moved to right 1.
(3)
On everybody of the bit string of bit string before conversion and step (2), carry out exclusive-OR operation.Resulting bit string promptly is corresponding Gray code.
In addition, in order to obtain 2 corresponding ary codes from Gray code, carry out following steps.
(1)
Read the bit string that is transformed into the preceding Gray code of 2 ary codes.
(2)
With the position of the upper of the bit string of step (1) same as before as the position of the upper after the conversion.
(3)
With the 2nd of original bit string, make exclusive-OR operation with the 1st of step (2).With 2nd the value of resulting value after as conversion.
(4)～(9)
After, repeat same processing.
In the step S308 of Fig. 3, operational part 107 carries out computing as described above, carries out the mutual conversion of binary code and Gray code.
Afterwards, operational part 107 carries out the processing of step S309, and is revised absolute to interface 108 output expression computings
The binary code of position or Gray code.
As mentioned above, according to the absolute encoder of present embodiment 1, be the absolute encoder that is provided with the following units, these unit are:
According to the 1st detection resolution of predesignating, detect absolute position corresponding to the anglec of rotation of rotary body, and the absolute position output unit of the signal of this absolute position of output expression;
Based on the signal of above-mentioned absolute position output unit output, export the arithmetic element of the positional information of above-mentioned rotary body;
Based on the signal of above-mentioned absolute position detection unit according to above-mentioned the 1st detection resolution output, above-mentioned arithmetic element is carried out the computing correction,
Owing to corresponding to the detected value with above-mentioned the 1st detection resolution, export the analog value in the 2nd detection resolution, available 1 absolute encoder obtains multiple resolution output.
In addition, be provided with the storage unit of the mapping table of the output valve of having stored above-mentioned the 1st detection resolution and the respective value in above-mentioned the 2nd detection resolution,
When above-mentioned arithmetic element is exported the respective value of above-mentioned the 1st detection resolution in above-mentioned the 2nd detection resolution,
Export corresponding value with reference to being stored in the above-mentioned mapping table in the said memory cells, therefore,
Even, also can pre-determine and whether want fractions omitted part etc. because the computing correction of operational part 107 produces under the situation of fraction part.In addition, if set the value of corresponding tables 511 again or a plurality of corresponding tables is set, then can carry out same processing with regard to multiple resolution.
In addition, because above-mentioned absolute position output unit is with forming the slit plate formation represent corresponding to the bit pattern of the absolute position of the anglec of rotation of rotary body,
Can detect absolute position based on the slit pattern that the rotation slit plate has with respect to the anglec of rotation.
[embodiment 2]
Fig. 9 is the functional-block diagram of the absolute encoder of the explanation embodiment of the invention 2.
The structure of absolute encoder shown in Figure 9 is identical with absolute encoder shown in Figure 5, and the difference of the structure of itself and Fig. 5 is that microcomputer circuit 907 is by receptions such as application apparatus " initial point resets " signal of outside.
In case microcomputer circuit 907 is by receptions such as application apparatus " initial point resets " signal of outside, the absolute position of rotation slit plate 903 that just will this moment is set as the initial point of later absolute position detection again.
The advantage of initial point is set in Figure 10 explanation again.
Under the original state of the left figure that is shown in Figure 10, the position that to represent with arrow is as detecting initial point, if carry out detection corresponding to the absolute position of angle, then because after detecting end, initial initial point moves from initial position, if begin again to detect from same position, then begin to detect with regard to becoming from " 0 " output valve in addition.
So, as the user, constituted and origin position need be back to original place, or deducted the formality of absolute position when detecting beginning etc. from resulting value, reduced the convenience of using.
Therefore, if the detection initial point the when absolute position the detection of last time can be finished the time begins as next time detection is set etc. again, the absolute position is set as the detection initial point arbitrarily, then can increase user's convenience.
For example, for absolute position " 109 ", when microcomputer circuit 907 receives " initial point resets " signal, in the absolute position detection afterwards, regard the position of " 109 " as " 0 " and detect, this is (with reference to the right figure of Figure 10) easily for the user.
In addition, can set that to detect initial point arbitrarily also be favourable to the fabricator.With the benefit of Figure 23 explanation to the fabricator.
Figure 23 explanation is in the manufacturing process of absolute encoder, and the initial point that is rotated slit plate is to fashionable operation situation.
Because absolute encoder is that the initial point at initial stage is involutory extremely important in order to the device of detection with respect to the absolute position of the anglec of rotation.If the origin position skew then can be the reason that produces difference between detected value and the physical location.
In the manufacturing process of reality, " turning axle " shown in Figure 23 is fixing with special-purpose instrument (anchor clamps), make the rotation of rotation slit plate, make " the initial point mark " shown in this figure and the reference mark of specific purpose tool (anchor clamps) and the position consistency that cooperates its set datum line, it is involutory to carry out the position with Visual Confirmation etc.
If position consistency, then in this position with cementing agent etc. with stationkeeping, change under the state that remains untouched of the position after fixing and make its fixed operation.
If after manufacturing, also position arbitrarily can be set as origin position, then can omit above-mentioned time-consuming manufacturing process illustrated in fig. 23 since can effectively utilize real manufacturing cost and during, this is very favourable to the fabricator.
Detect the setting of initial point arbitrarily, absolute position when microcomputer circuit 907 is received " initial point resets " signal shown in Figure 9 is stored on the storer 909 in advance, in the absolute position detection afterwards, also can deduct the value and the output of this position from testing result with the calculation process of CPU910.
But owing to also need carry out the transform operation correction of resolution simultaneously, rewrite the value of corresponding tables 911 when receiving " initial point resets " signal, needn't carry out complex calculations when detecting, this is very easily.
About the value of revised corresponding tables 911, describe with Figure 12 described later.
Treatment scheme when the microcomputer circuit 907 of Figure 11 key diagram 9 carries out the illustrative computing correction of Fig. 2.
Process flow diagram shown in Figure 11 and process flow diagram shown in Figure 3 are roughly the same, and its difference is to read initial point to set in step S1102.In addition, because initial point is set with the possibility that often is carried out again, origin position need read at every turn, and the home position of step S1110 is different with Fig. 3.
To set be the absolute position of microcomputer 907 when receiving " initial point resets " signals for said initial point among the step S1102, for example, can be in the clear area of storer 909 etc. stores the value of this absolute position in advance, reads in step S1102.
Moreover, shown in Figure 12 as described later, when being benchmark rewriting corresponding tables 911, needn't in step S1102, reading initial point and set with the origin position of setting again.
The structure of the corresponding tables 911 of Figure 12 key diagram 9, this table are in the step S1105 and S1107 of Figure 11, employed form when microcomputer circuit 907 carries out the computing correction.
The corresponding tables of Figure 12 has the structure same with corresponding tables shown in Figure 6.
But microcomputer circuit 907 can be rewritten the value of corresponding tables 911 when receiving " initial point resets " signal.
For example, shown in the right figure of Figure 10, the position of " 109 " in the absolute position, when microcomputer circuit 907 received " initial point resets " signal, as " 0 ", each of rewriting right table was worth with the correspondence position of the right side of Figure 12 table.
If carry out such rewriting, then microcomputer circuit 907 only reads corresponding tables 911 and exports respective value, just can only carry out resolution conversion according to those new origin positions, thereby, in the step S1102 of Figure 11, read the processing of initial point setting and can skip.
Moreover, when receiving " initial point resets " signal and rewriting the right side table of Figure 12, also can obtain new value with the formula shown in the central authorities of Figure 12.
As previously discussed, according to the absolute encoder of present embodiment 2,
The signal of the detection initial point of the absolute position of the above-mentioned rotary body of above-mentioned arithmetic element reception indicative of settings, in the moment that receives this signal, to set as new detection initial point with the corresponding position of output signal of above-mentioned absolute position output unit, therefore, absolute position arbitrarily can be set as initial point, the user does not need origin position is returned the original place, or deducts the formality of absolute position when detecting beginning etc. from resulting value, and this has increased user's convenience.
Have again, in manufacturing process, can omit and carry out the involutory operation of origin position since can effectively utilize manufacturing cost and during, very favourable to the fabricator.
In addition, above-mentioned arithmetic element is when the signal of the detection initial point of the absolute position that receives the above-mentioned rotary body of indicative of settings, will with the corresponding position of output signal of the above-mentioned absolute position output unit in the moment that receives this signal as new detection initial point, rewrite the value of above-mentioned mapping table, therefore, needn't read initial point at every turn and set, carry out the computing of subtraction process etc., can alleviate the working load of operational part.
[embodiment 3]
Figure 13 is the functional-block diagram of the absolute encoder of embodiments of the invention 3.
Absolute encoder shown in Figure 13 has the structure identical with Fig. 9, the structure difference of itself and Fig. 9 is, microcomputer circuit 1307 will be represented the outputs such as application apparatus of the signal of current resolution to the outside, or receive the signal of indicative of settings resolution from applications equipment etc.
Figure 14 represents the content of the corresponding tables 1311 of Figure 13.
The difference that is shown in the corresponding tables 1311 of Figure 14 is except structure shown in Figure 12, also to be provided with the zone (" resolution model " part of Figure 14) of the value of the resolution that will use when being stored in the computing correction of carrying out resolution.
In the table of the right side of Figure 14, storage is corresponding to the value behind the resolution conversion of the value in zone shown in " resolution model " of this figure.For example, if storage " 180 " on the zone of " resolution model " that be shown in this figure, then on the table of the right side of this figure, storage is transformed into respective value after the resolution 180 with resolution 1024.
In addition, microcomputer circuit 1307 reads the value in the zone of " resolution model " that be shown in Figure 14 being received indication by application apparatus of outside etc. will export the signal of current resolution value the time, exports this value.
Have again, when applications equipment etc. receives the signal of the new resolution of indicative of settings, when the value in the zone shown in Figure 14 " resolution model " is altered to this value, will be set in corresponding to the new value of this resolution with the formula shown in the central authorities of Figure 14 in the right side table of Figure 14.
In the value in the zone shown in the rotation resolution that has of slit plate 1303 and Figure 14 " resolution model " not simultaneously, the corresponding tables 1311 of microcomputer circuit 1307 these figure of usefulness is carried out the computing correction, when both are consistent, do not carry out computing correction, the output valve of output slit pattern same as before.
Like this, in the time needn't carrying out the computing correction, just can not carry out calculation process and avoid expending unnecessary calculation resources.
Figure 15 is the figure of expression when being connected to the absolute encoder of embodiment 3 on the applications equipment.
Absolute encoder shown in Figure 15 will be exported to display device 1502 with respect to the current absolute position signal of the anglec of rotation.
Microcomputer circuit 1501 is microcomputer circuit that the absolute encoder of present embodiment 3 is provided with, corresponding to the microcomputer circuit 1307 of Figure 13.
The current location display part 1503 of Figure 15 is figure of the current absolute position of expression.Current location display part 1503 shows the value of absolute encoder corresponding to the resolution of current use when showing.
When reset signal transmission button 1504 is pressed, " initial point reset signal " shown in Figure 13 is sent to microcomputer circuit 1501.
When resolution setting button 1505 is pressed at every turn, send " resolution model " signal shown in Figure 13.For example, also can constitute: when pressing for the 1st time, the signal of will indicate " with resolution setting to 180 " is sent to microcomputer circuit 150, when pressing for the 2nd time, sends and to indicate the signal of " with resolution setting 180 ".Resolution display part 1506 shows the current resolution setting of microcomputer circuit 1501.As for the renewal that shows, the processing of can be when the user presses resolution setting button 1505 at every turn reading etc. by microcomputer circuit 1501.
Like this, be sent to outside application apparatus etc. if will represent the signal of current resolution, then the user can utilize visual grade can know current resolution, has increased the convenience of using.
Have again, by receive indication to set resolution value signal and upgrade the content of corresponding tables 1311, the arbitrary resolution that provides the user to want with regard to available single slit pattern.
As mentioned above, according to the absolute encoder of relevant present embodiment 3,
When above-mentioned arithmetic element is carried out above-mentioned computing correction, the information of the value of the resolution that the said memory cells storage representation will use as above-mentioned the 2nd detection resolution,
Above-mentioned arithmetic element is carried out above-mentioned computing correction, does not carry out calculation process in the time needn't carrying out the computing correction, can avoid expending unnecessary calculation resources because in the value of the value of the resolution of this information representation and above-mentioned the 1st detection resolution not simultaneously.
In addition, above-mentioned arithmetic element receives the signal of information that indicative of settings is represented the value of above-mentioned resolution, and is stored on the said memory cells,
Receiving indication will export the signal of this information the time, read this information and output by said memory cells, the signal of the current resolution of expression is sent to above the outside application apparatus etc., and the user can know current resolution with Visual Confirmation etc., has increased user's convenience.
Have, will set the signal of the value of resolution by receiving indication, upgrade the content of corresponding tables 1311, the resolution arbitrarily that the user can be wanted provides with single slit pattern.
[embodiment 4]
The absolute encoder of embodiments of the invention 4 is absolute encoders that the part that will be made of 104 grades of the LED101～photodiode among the embodiment 1～3 is realized with magnetic sensor etc.
Figure 16 represents the functional-block diagram of the absolute encoder of present embodiment 4.
Absolute encoder shown in Figure 16 is provided with rotary magnet 1601 and has magnetic sensor concurrently and the sensor part of testing circuit function 1602.
Because other structure is identical with absolute encoder shown in Figure 1, its explanation of Therefore, omited.
As shown in figure 16, under the situation of using magnetic sensor to wait to detect with respect to the absolute position of the anglec of rotation of rotary body, also can use the structure identical, realize multiple resolution by the computing correction with embodiment 1.
Figure 17 represents to be equivalent to the structure of embodiment 3, uses with same rotary magnet 1701 and the sensor part 1602 of Figure 16 to constitute the part that is made of the LED1301～photodiode among Figure 13 1304.
Absolute encoder shown in Figure 17 is provided with rotary magnet 1701 and has magnetic sensor concurrently and the sensor part of testing circuit function 1702.
Because other formation is identical with absolute encoder shown in Figure 13, its explanation of Therefore, omited.
As shown in figure 17, waiting with magnetic sensor under the situation about detecting, also can realize multiple resolution by the computing correction with structure similarly to Example 3 with respect to the absolute position of the anglec of rotation of rotary body.For embodiment 2 too.
As previously discussed, according to the absolute encoder of present embodiment 4,
Owing to the rotary magnet of above-mentioned absolute position output unit corresponding to the spinning movement of rotary body, detect the magnetic sensor of the magnetic of above-mentioned magnet, the detected value of above-mentioned magnetic sensor be transformed into the testing circuit of electric signal, when the absolute position of detecting with magnetic sensor etc. with respect to the anglec of rotation of rotary body, also can play the effect same with embodiment 1～3.
Claims (8)
1. absolute encoder comprises:
According to predefined the 1st detection resolution, detect absolute position corresponding to the anglec of rotation of rotary body, and the absolute position output unit of the signal of this absolute position of output expression; And
Based on the signal of described absolute position output unit output, export the arithmetic element of the positional information of described rotary body;
It is characterized in that:
Based on the signal of described absolute position detection unit according to described the 1st detection resolution output, described arithmetic element is carried out the computing correction,
Corresponding to the detected value that uses described the 1st detection resolution, export the analog value in the 2nd detection resolution.
2. absolute encoder as claimed in claim 1 is characterized in that:
Be provided with the storage unit of the mapping table of the output valve that deposited in described the 1st detection resolution and the respective value in described the 2nd detection resolution;
When described arithmetic element is exported the respective value of described the 1st detection resolution in described the 2nd detection resolution, export corresponding value with reference to being stored in the described mapping table of described storage unit.
3. absolute encoder as claimed in claim 2 is characterized in that:
The signal of the detection initial point of the absolute position of the described rotary body of described arithmetic element reception indicative of settings, and will set as new detection initial point with the corresponding position of output signal that receives this signal described absolute position output unit constantly.
4. absolute encoder as claimed in claim 3 is characterized in that:
When described arithmetic element receives the signal of detection initial point of absolute position of the described rotary body of indicative of settings, will with the corresponding position of output signal of the described absolute position output unit in the moment that receives this signal as new detection initial point, the value of rewriting described mapping table.
5. as claim 2 any described absolute encoder to the claim 4, it is characterized in that:
When described arithmetic element is carried out described computing correction, the indicate information of value of the resolution used as described the 2nd detection resolution of described cell stores,
In the value of the value of the resolution of this information representation and described the 1st detection resolution not simultaneously, described arithmetic element is carried out described computing correction.
6. absolute encoder as claimed in claim 5 is characterized in that:
Described arithmetic element receives the signal of information that indicative of settings is represented the value of described resolution, and deposits described storage unit in,
Receiving indication will export the signal of this information the time, described storage unit is read this information and output.
7. as claim 1 any described absolute encoder to the claim 6, it is characterized in that:
Described absolute position output unit constitutes with having formed the slit plate of representing corresponding to the bit pattern of the absolute position of the anglec of rotation of rotary body.
8. as claim 1 any described absolute encoder to the claim 6, it is characterized in that:
The magnet that rotates corresponding to the spinning movement of rotary body of described absolute position output unit, the magnetic sensor that detects the magnetic of described magnet, the testing circuit that the detected value of described magnetic sensor is transformed into electric signal constitute.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006097557 | 2006-03-31 | ||
| JP2006097557A JP5041722B2 (en) | 2006-03-31 | 2006-03-31 | Absolute encoder |
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| Publication Number | Publication Date |
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| CN101046396A true CN101046396A (en) | 2007-10-03 |
| CN100567907C CN100567907C (en) | 2009-12-09 |
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| CNB2006101684140A Active CN100567907C (en) | 2006-03-31 | 2006-12-04 | Absolute encoder |
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| JP (1) | JP5041722B2 (en) |
| CN (1) | CN100567907C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103443590A (en) * | 2011-03-31 | 2013-12-11 | 东方马达株式会社 | Absolute encoder device and motor |
| CN103715963A (en) * | 2013-12-31 | 2014-04-09 | 山东新风光电子科技发展有限公司 | Speed and position signal anti-interference processing method based on absolute position encoder |
| CN102132126B (en) * | 2008-08-26 | 2015-04-08 | 株式会社尼康 | Encoder system, signal processing method |
| CN107504984A (en) * | 2017-08-25 | 2017-12-22 | 上海岭先机器人科技股份有限公司 | Magnet ring, the magnet ring of magnetic encoder magnetize and reading device and magnetic encoder |
| CN111736522A (en) * | 2019-03-25 | 2020-10-02 | 发那科株式会社 | Machine control device |
| CN114174792A (en) * | 2019-08-02 | 2022-03-11 | 日立安斯泰莫株式会社 | Physical quantity detecting device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4731615B2 (en) * | 2009-06-26 | 2011-07-27 | 中国電力株式会社 | Data conversion system and data conversion method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05168275A (en) * | 1991-12-10 | 1993-07-02 | Nikon Corp | Controller for three-phase motor |
| JPH095112A (en) * | 1995-06-23 | 1997-01-10 | Nikon Corp | Absolute encoder |
| JP2001085979A (en) * | 1999-09-13 | 2001-03-30 | Soshiodaiya Systems Kk | Pulse distributor, pulse distribution method and recording medium |
-
2006
- 2006-03-31 JP JP2006097557A patent/JP5041722B2/en active Active
- 2006-12-04 CN CNB2006101684140A patent/CN100567907C/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102132126B (en) * | 2008-08-26 | 2015-04-08 | 株式会社尼康 | Encoder system, signal processing method |
| CN103443590A (en) * | 2011-03-31 | 2013-12-11 | 东方马达株式会社 | Absolute encoder device and motor |
| CN103443590B (en) * | 2011-03-31 | 2016-04-13 | 东方马达株式会社 | Absolute encoder device and motor |
| CN103715963A (en) * | 2013-12-31 | 2014-04-09 | 山东新风光电子科技发展有限公司 | Speed and position signal anti-interference processing method based on absolute position encoder |
| CN107504984A (en) * | 2017-08-25 | 2017-12-22 | 上海岭先机器人科技股份有限公司 | Magnet ring, the magnet ring of magnetic encoder magnetize and reading device and magnetic encoder |
| CN111736522A (en) * | 2019-03-25 | 2020-10-02 | 发那科株式会社 | Machine control device |
| CN111736522B (en) * | 2019-03-25 | 2024-04-16 | 发那科株式会社 | Control device for machine |
| CN114174792A (en) * | 2019-08-02 | 2022-03-11 | 日立安斯泰莫株式会社 | Physical quantity detecting device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2007271459A (en) | 2007-10-18 |
| CN100567907C (en) | 2009-12-09 |
| JP5041722B2 (en) | 2012-10-03 |
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Address after: 9-1, Sichome, Tenshincho, Kohei City, Tokyo, Japan Patentee after: JTEKT Electronics Co.,Ltd. Patentee after: Koyo Electronics (Wuxi) Co.,Ltd. Address before: Tokyo, Japan, Xiaoping City, 1 gods, Ding Ding, 171 times Patentee before: Koyo Electronics Industries Co.,Ltd. Patentee before: Koyo Electronics (Wuxi) Co.,Ltd. |