JP4193203B2 - Multi-rotation amount detection device, multi-rotation amount detection method, and servo motor with multi-rotation amount detection device - Google Patents
Multi-rotation amount detection device, multi-rotation amount detection method, and servo motor with multi-rotation amount detection device Download PDFInfo
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Description
本発明は、ロボットや工作機などに使用するサーボモータの多回転量を絶対値角度で検出するバッテリレスの多回転量検出装置および多回転量検出方法並びに多回転量検出装置付きサーボモータに関する。 The present invention relates to a batteryless multi-rotation amount detection device, a multi-rotation amount detection method , and a servo motor with a multi-rotation amount detection device for detecting the multi-rotation amount of a servo motor used in a robot, a machine tool, or the like with an absolute value angle.
従来の多回転量検出装置としては、図３に示すように構成されているものがある（例えば、特許文献１参照）。なお、図３は従来の多回転する回転体の回転角度検出装置の斜視図である。
図において、１１は第１の回転体、１２は第１の回転体の外周にも受けた歯車、１３は第２の回転体、１４は第２の回転体の外周に設けた歯車、１５は磁石、１６は第３の回転体、１７は第３の回転体の外周に設けた歯車、１８ 磁石、１９は回転体、２０は回転体の外周に設けた歯車、２１は回転体の外周より内側にある歯車、２２は回転体、２３は回転体の外周に設けた歯車、２４は第１の検出手段、２５は第２の検出手段である。
このような構成において、該回転角度検出装置は、第１の回転体１１より遅い速度で回転するように連結された第２の回転体１３に磁石１５を組み込み、その真下に第１の検出手段２４を配置するとともに、第１の回転体１１より速い速度で回転するように連結された第３の回転体１６に磁石１８を組み込み、その真下に第２の検出手段２５を配置し、第１の回転体１１が回転すると第２の回転体１３と第３の回転体１６が回転し、それぞれに組み込まれている磁石１５、１８が回転し、検出手段２４、２５を貫く磁力の方向が変化し、出力が変化し、その出力を図示しない演算回路部で計算処理し、多回転可能な第１の回転体１１の回転角度を検出するようになっている。
図４は従来の該装置の多回転量検出のフローチャートを示したものである。まず、ステップＳＴ１１で初期条件を設定した後、ステップＳＴ１２において、従動軸の位置を取得し、次にステップＳＴ１３において、ステップＳＴ１２で得られた位置データに基づき多回転量を算出し、多回転量Ｔを出力するものである。
In the figure, 11 is a first rotating body, 12 is a gear received also on the outer periphery of the first rotating body, 13 is a second rotating body, 14 is a gear provided on the outer periphery of the second rotating body, 15 is Magnet, 16 is a third rotating body, 17 is a gear provided on the outer periphery of the third rotating body, 18 magnet, 19 is a rotating body, 20 is a gear provided on the outer periphery of the rotating body, and 21 is an outer periphery of the rotating body. An inner gear, 22 is a rotating body, 23 is a gear provided on the outer periphery of the rotating body, 24 is a first detection means, and 25 is a second detection means.
In such a configuration, the rotation angle detecting device incorporates the magnet 15 in the second rotating body 13 connected so as to rotate at a speed slower than that of the first rotating body 11, and the first detecting means is directly below the magnet 15. 24, a magnet 18 is incorporated in the third rotating body 16 connected so as to rotate at a speed higher than that of the first rotating body 11, and the second detecting means 25 is disposed immediately below the first rotating body 16. When the rotating body 11 rotates, the second rotating body 13 and the third rotating body 16 rotate, the magnets 15 and 18 incorporated therein rotate, and the direction of the magnetic force passing through the detection means 24 and 25 changes. Then, the output changes, and the output is calculated by an arithmetic circuit unit (not shown) to detect the rotation angle of the first rotating body 11 capable of multiple rotations.
FIG. 4 shows a flowchart of the conventional multi-rotation amount detection of the apparatus. First, after setting initial conditions in step ST11, the position of the driven shaft is acquired in step ST12, and then in step ST13, a multi-rotation amount is calculated based on the position data obtained in step ST12. T is output.
しかしながら、従来技術では多回転量を検出する際に減速機構を用いているため、実際には第２の回転体または第３の回転体の機械的な絶対積算角度誤差によって、ミスカウントが発生し、多回転量を計測することが不可能となる場合があった。すなわち、第１の回転体が１回転しているにもかかわらず、多回転量検出部では第２の回転体または第３の回転体の回転量不足によって、多回転量不変として処理回路にて検出されるという問題があった。
この課題を解決するために減速機構の機械的な積算角度誤差を極めて小さく高精度に製造したうえ、従動軸の位置検出装置も極めて高精度の装置を設置せねばならず、大型化する上、高価なものとなり、本方式の適用範囲が狭くなるというような問題も抱えていた。
また、多回転量の補正法もあるが、従来の補正法は絶対積算角度誤差が±λ／３以内の場合のみ有効で、補正可能な範囲が狭いものであった。
本発明は上記問題を解決するためになされたものであり、多回転量の補正を行うことにより減速機構の歯車や従動軸のエンコーダの絶対積算角度誤差が大きくても多回転量を計測することができる、小型で安価な多回転量検出装置および多回転量検出方法並びに多回転量検出装置付きサーボモータを提供することを目的とする。
However, since the conventional technology uses a speed reduction mechanism when detecting the multi-rotation amount, a miscount actually occurs due to a mechanical absolute accumulated angle error of the second rotating body or the third rotating body. In some cases, it is impossible to measure the amount of multi-rotation. In other words, the multi-rotation amount detection unit determines that the multi-rotation amount does not change in the processing circuit due to insufficient rotation amount of the second or third rotation body in spite of the first rotation body making one rotation. There was a problem of being detected.
In order to solve this problem, the mechanical integrated angle error of the speed reduction mechanism is manufactured to be extremely small and highly accurate, and the position detection device for the driven shaft must also be installed with a very high accuracy device. There was also a problem that the scope of application of this method became narrow because it was expensive.
Although there is a multi-rotation amount correction method, the conventional correction method is effective only when the absolute integrated angle error is within ± λ / 3, and the correction range is narrow.
The present invention has been made to solve the above-mentioned problem, and by measuring the multi-rotation amount, the multi-rotation amount is measured even if the absolute integrated angle error of the gear of the speed reduction mechanism or the encoder of the driven shaft is large. An object of the present invention is to provide a small and inexpensive multi-rotation amount detection device, a multi-rotation amount detection method , and a servo motor with a multi-rotation amount detection device .
上記課題を解決するため、請求項１に記載の発明は、回転機械の駆動軸に取り付けられた一回転以内の絶対回転角度を検出する第１のエンコーダと、前記駆動軸に取り付けられた第１の歯車と、該第１の歯車に噛合され、かつ、少なくとも一つ設けられた第２の歯車からなる減速機構と、前記第２の歯車を取り付けた従動軸を有し、前記減速機構を介して絶対回転角度を検出する第２のエンコーダと、前記第１のエンコーダおよび前記第２のエンコーダから得られる信号出力の信号処理を行う信号処理回路と、を備えた多回転量検出装置において、前記信号処理回路は、前記第２の歯車の減速比ｎおよび該減速比ｎに基づいて得られると共に駆動軸が１回転する時の従動軸の角度λを算出する手段と、前記駆動軸を基準としたときの前記第２のエンコーダの絶対積算角度誤差が、±λ／２以内であって、前記第１のエンコーダの位置θｄｒｖおよび前記第２エンコーダの位置θｓｌｖを取得する手段と、前記各エンコーダの位置データを取得後、多回転量を判定するために必要な判定パラメタｔｊ、θｄｓを夫々、ｔｊ＝θｓｌｖ／λ（但し、ｔｊは整数）、θｄｓ＝ｎ（θｓｌｖ−ｔｊ×λ）なる式で算出する手段と、前記多回転量の判定パラメタを算出後、多回転量Ｔを、第１のエンコーダの位置データθｄｒｖと第２のエンコーダの位置データθｓｌｖとの差の絶対値が１８０°未満である場合にはＴ＝ｔｊ、０°≦θｄｒｖ＜１８０°の場合にはＴ＝ｔｊ＋１、１８０°≦θｄｒｖ＜３６０°の場合はＴ＝ｔｊ−１として算出する手段とを有する回路であることを特徴としている。
また、請求項２に記載の発明は、回転機械の駆動軸に取り付けられた第１のエンコーダにより一回転以内の絶対回転角度を検出し、前記駆動軸に取り付けられた第１の歯車と噛合され、かつ、少なくとも一つ設けられた第２の歯車からなる減速機構を介して、前記第２の歯車を取り付けた従動軸を有する第２のエンコーダにより絶対回転角度を検出し、前記第１のエンコーダおよび前記第２のエンコーダから得られる出力を信号処理回路により信号処理を行い、多回転量を検出する多回転量検出方法において、前記第２の歯車の減速比ｎおよび該減速比ｎに基づいて得られると共に駆動軸が１回転する時の従動軸の角度λを算出し、前記駆動軸を基準としたときの前記第２のエンコーダの絶対積算角度誤差が、±λ／２以内とした時に、前記第１のエンコーダの位置θｄｒｖおよび前記第２エンコーダの位置θｓｌｖを取得し、前記各エンコーダの位置データを取得後、多回転量を判定するために必要な判定パラメタｔｊ、θｄｓを夫々、ｔｊ＝θｓｌｖ／λ（但し、ｔｊは整数）、θｄｓ＝ｎ（θｓｌｖ−ｔｊ×λ）なる式で算出し、前記多回転量の判定パラメタを算出後、多回転量Ｔを、第１のエンコーダの位置データθｄｒｖと第２のエンコーダの位置データθｓｌｖとの差の絶対値が１８０°未満である場合にはＴ＝ｔｊとして算出し、０°≦θｄｒｖ＜１８０°の場合にはＴ＝ｔｊ＋１として算出し、１８０°≦θｄｒｖ＜３６０°の場合はＴ＝ｔｊ−１として算出することを特徴としている。
また、請求項３に記載の発明は、請求項１に記載の多回転量検出装置と、それによって多回転量を絶対値角度で検出されるサーボモータを備えた多回転量検出装置付きサーボモータを特徴としている。
In order to solve the above-mentioned problem, the invention described in claim 1 is a first encoder that detects an absolute rotation angle within one rotation attached to a drive shaft of a rotary machine, and a first encoder attached to the drive shaft. And a reduction gear mechanism comprising at least one second gear meshed with the first gear, and a driven shaft to which the second gear is attached, via the reduction gear mechanism. A multi-rotation amount detection device comprising: a second encoder that detects an absolute rotation angle; and a signal processing circuit that performs signal processing of a signal output obtained from the first encoder and the second encoder. The signal processing circuit is obtained based on the speed reduction ratio n of the second gear and the speed reduction ratio n and calculates an angle λ of the driven shaft when the drive shaft makes one rotation; and the drive shaft as a reference The second when Absolute integrated angle error of the encoder is, be within ± lambda / 2, means for obtaining a position theta slv of the first position theta drv and the second encoder encoder, after acquiring the position data of each encoder In addition, the determination parameters tj and θ ds necessary for determining the multi-rotation amount are calculated by the following expressions: t j = θ slv / λ (where t j is an integer) and θ ds = n (θ slv −tj × λ). After calculating the multi-rotation amount determination parameter, the absolute value of the difference between the position data θ drv of the first encoder and the position data θ slv of the second encoder is less than 180 °. In which T = tj, T = tj + 1 in the case of 0 ° ≦ θ drv <180 °, and T = tj−1 in the case of 180 ° ≦ θ drv <360 °. It is characterized by being .
According to a second aspect of the present invention, an absolute rotation angle within one rotation is detected by a first encoder attached to a drive shaft of a rotary machine, and meshed with a first gear attached to the drive shaft. And an absolute rotation angle is detected by a second encoder having a driven shaft to which the second gear is attached, via a speed reduction mechanism including at least one second gear provided, and the first encoder In the multi-rotation amount detection method for detecting the multi-rotation amount by performing signal processing on the output obtained from the second encoder by a signal processing circuit, based on the reduction ratio n of the second gear and the reduction ratio n And the angle λ of the driven shaft when the drive shaft makes one rotation is calculated, and when the absolute integrated angle error of the second encoder with respect to the drive shaft is within ± λ / 2, Said Position theta drv and said encoder second acquires the position theta slv encoder, the rear acquires position data of the respective encoders, multiple rotation amount determination decision parameters needed to tj, husband theta ds s, tj = θ slv / λ (where tj is an integer), θ ds = n (θ slv −tj × λ), and the multi-rotation amount determination parameter is calculated. If the absolute value of the difference between the encoder position data θ drv and the second encoder position data θ slv is less than 180 °, T = tj is calculated. If 0 ° ≦ θ drv <180 ° T = tj + 1 and then calculated, in the case of 180 ° ≦ θ drv <360 ° is characterized by calculating as T = tj-1.
According to a third aspect of the present invention, there is provided a servo motor with a multi-rotation amount detection device comprising the multi-rotation amount detection device according to claim 1 and a servo motor that detects the multi-rotation amount with an absolute angle. It is characterized by.
本発明によれば、駆動軸を基準としたときの第２のエンコーダの絶対積算角度誤差が±λ／２以内であっても多回転量を正確に計測することができるので、減速機構の積算角度誤差を極めて小さく高精度に製造することなく、小型で、安価な適用範囲の広い多回転量検出装置および多回転量検出方法を提供することができる。 According to the present invention, since the multi-rotation amount can be accurately measured even if the absolute accumulated angle error of the second encoder with respect to the drive shaft is within ± λ / 2, It is possible to provide a multi-rotation amount detection device and a multi-rotation amount detection method that are small and inexpensive and have a wide range of application without manufacturing an angular error with extremely small accuracy.
以下、本発明の具体的実施例を図に基づいて説明する。 Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.
図１は本発明の実施例を示す多回転量検出装置の斜視図である。
図１において、１は回転機械、２は駆動軸、３は第１のエンコーダ、４は第１の歯車、５は第２の歯車、６は従動軸、７は第２のエンコーダ、８は信号処理回路、８１は補正処理部である。このような構成で、回転機械１の駆動軸２には一回転以内の絶対回転角度を検出する第１のエンコーダ３が取り付けられており、駆動軸２には第１の歯車４が接続されている。また、第２のエンコーダ７の従動軸６に第２の歯車５が取り付けられており、この第２の歯車５を前記第１の歯車４に、減速比がｎとなるよう噛合させている。さらに、第１のエンコーダ３および第２のエンコーダ７の信号出力の信号処理は補正処理部８１を内蔵した信号処理回路８により行うと共に多回転量を算出して出力している。
FIG. 1 is a perspective view of a multi-rotation amount detection device showing an embodiment of the present invention.
In FIG. 1, 1 is a rotary machine, 2 is a drive shaft, 3 is a first encoder, 4 is a first gear, 5 is a second gear, 6 is a driven shaft, 7 is a second encoder, and 8 is a signal. A processing circuit 81 is a correction processing unit. With such a configuration, a first encoder 3 for detecting an absolute rotation angle within one rotation is attached to the drive shaft 2 of the rotary machine 1, and the first gear 4 is connected to the drive shaft 2. Yes. A second gear 5 is attached to the driven shaft 6 of the second encoder 7, and this second gear 5 is meshed with the first gear 4 so that the reduction ratio is n. Further, the signal processing of the signal output of the first encoder 3 and the second encoder 7 is performed by the signal processing circuit 8 incorporating the correction processing unit 81, and the multi-rotation amount is calculated and output.
図２は本発明の実施例を示す多回転量検出装置の信号処理回路のフローチャートである。以下、多回転量の算出を各ステップごとに説明する。なお、図２におけるステップＳＴ４の判定２の部分は図１の補正処理部８１に含まれる処理ステップに相当である。
ステップＳＴ１ 信号処理回路８において、初期条件として第２の歯車の減速比ｎ、およびｎから算出した駆動軸２の１回転時における従動軸６の角度λを求めておく。
ステップＳＴ２ 第１のエンコーダ３、および第２のエンコーダ７より角度検出後、図２のフローチャートに従った処理によって補正が行われる。補正に関してさらに図２のフローチャートに従って詳細に説明する。第１のエンコーダ３の位置データθｄｒｖ、第２のエンコーダ７の位置データθｓｌｖを取得する。
ステップＳＴ３ 第１のエンコーダ３、第２のエンコーダ７の位置データを取得後、以下の式（１）、（２）を用いて多回転量判定パラメタｔｊ、θｄｓを算出する。
ｔｊ＝θｓｌｖ／λ（但し、ｔｊは整数であり、小数点以下は切り捨て） （１）
θｄｓ＝ｎ（θｓｌｖ−ｔｊ×λ）（但し、ｎは第２の歯車の減速比 ・・（２）
ステップＳＴ４ その後、判定１において、第１のエンコーダ３の位置データθｄｒｖと第２のエンコーダ７の位置データθｓｌｖとの差の絶対値が１８０°未満であるＹＥＳの場合には、Ｔ＝ｔｊとして多回転量Ｔを確定する。さらに、判定１においてＮＯの場合には、すなわち、判定２に進む。判定２における０°≦θｄｒｖ＜１８０°において、ＹＥＳの場合には、Ｔ＝ｔｊ＋１として多回転量Ｔを確定する。また、判定２において、ＮＯの場合には１８０°≦θｄｒｖ＜３６０°となり、Ｔ＝ｔｊ−１として多回転量Ｔを確定する。各判定において、多回転量Ｔを確定した後、多回転量を出力する。
なお、本説明では減速機構に機械式歯車を用いているが、ウォームギアタイプでも、磁気カップリングからなる歯車でも本発明と同様の効果が得られることは自明である。
したがって、本発明は、駆動軸を基準としたときの第２のエンコーダの絶対積算角度誤差が±λ／２以内であっても多回転量を正確に計測することができるため、減速機構の積算角度誤差を極めて小さく高精度に製造することなく、小型で、安価な適用範囲の広い多回転量検出装置を提供することができる。
FIG. 2 is a flowchart of the signal processing circuit of the multi-rotation amount detection device showing the embodiment of the present invention. Hereinafter, the calculation of the multi-rotation amount will be described for each step. 2 corresponds to the processing step included in the correction processing unit 81 in FIG. 1.
Step ST1 In the signal processing circuit 8, the reduction ratio n of the second gear and the angle λ of the driven shaft 6 during one rotation of the drive shaft 2 calculated from n are obtained as initial conditions.
Step ST2 After the angle is detected by the first encoder 3 and the second encoder 7, the correction is performed by the processing according to the flowchart of FIG. The correction will be further described in detail with reference to the flowchart of FIG. The position data θ drv of the first encoder 3 and the position data θ slv of the second encoder 7 are acquired.
Step ST3 After obtaining the position data of the first encoder 3 and the second encoder 7, the multi-rotation amount determination parameters tj and θ ds are calculated using the following equations (1) and (2).
tj = θ slv / λ (where tj is an integer, rounded down after the decimal point) (1)
θ ds = n (θ slv −tj × λ) (where n is the reduction ratio of the second gear) (2)
Step ST4 Then, in the judgment 1, in the case of YES absolute value of the difference between the first position data theta drv encoder 3 position data theta slv second encoder 7 is less than 180 ° is, T = tj The multi-rotation amount T is determined as follows. Further, in the case of NO in determination 1, the process proceeds to determination 2. In the case of 0 ° ≦ θ drv <180 ° in the determination 2, in the case of YES, the multi-rotation amount T is determined as T = tj + 1. In determination 2, in the case of NO, 180 ° ≦ θ drv <360 °, and the multi-rotation amount T is determined as T = tj−1. In each determination, after determining the multi-rotation amount T, the multi-rotation amount is output.
In this description, a mechanical gear is used for the speed reduction mechanism. However, it is obvious that the same effect as that of the present invention can be obtained by a worm gear type or a gear made of a magnetic coupling.
Therefore, the present invention can accurately measure the multi-rotation amount even if the absolute integrated angle error of the second encoder when the drive shaft is used as a reference is within ± λ / 2. It is possible to provide a small and inexpensive multi-rotation amount detection device with a wide range of application without manufacturing an angular error with extremely small accuracy.
１ 回転機械
２ 駆動軸
３ 第１のエンコーダ
４ 第１の歯車
５ 第２の歯車
６ 従動軸
７ 第２のエンコーダ
８ 信号処理回路
８１ 補正処理回路
DESCRIPTION OF SYMBOLS 1 Rotating machine 2 Drive shaft 3 First encoder 4 First gear 5 Second gear 6 Driven shaft 7 Second encoder 8 Signal processing circuit 81 Correction processing circuit
Claims (3)
前記駆動軸（２）に取り付けられた第１の歯車（４）と、該第１の歯車（４）に噛合されかつ少なくとも一つ設けられた第２の歯車（５）からなる減速機構と、
前記第２の歯車（５）を取り付けた従動軸（６）を有し、前記減速機構を介して絶対回転角度を検出する第２のエンコーダ（７）と、
前記第１のエンコーダ（３）および前記第２のエンコーダ（７）から得られる出力の信号処理を行う信号処理回路（８）と、を備えた多回転量検出装置において、
前記信号処理回路（８）は、
前記第２の歯車（５）の減速比ｎおよび該減速比ｎに基づいて得られると共に駆動軸（２）が１回転する時の従動軸（６）の角度λを算出する手段（ＳＴ１）と、
前記駆動軸（２）を基準としたときの前記第２のエンコーダ（７）の絶対積算角度誤差が、±λ／２以内であって、前記第１のエンコーダ（３）の位置θｄｒｖおよび前記第２エンコーダ（７）の位置θｓｌｖを取得する手段（ＳＴ２）と、
前記各エンコーダ（３）、（７）の位置データを取得後、多回転量を判定するために必要な判定パラメタｔｊ、θｄｓを夫々、ｔｊ＝θｓｌｖ／λ（但し、ｔｊは整数）、θｄｓ＝ｎ（θｓｌｖ−ｔｊ×λ）なる式で算出する手段（ＳＴ３）と、
前記多回転量の判定パラメタを算出後、多回転量Ｔを、第１のエンコーダ（３）の位置データθｄｒｖと第２のエンコーダ（７）の位置データθｓｌｖとの差の絶対値が１８０°未満である場合にはＴ＝ｔｊ、０°≦θｄｒｖ＜１８０°の場合にはＴ＝ｔｊ＋１、１８０°≦θｄｒｖ＜３６０°の場合はＴ＝ｔｊ−１として算出する手段（ＳＴ４）とを有する回路であることを特徴とする多回転量検出装置。 A first encoder (3) for detecting an absolute rotation angle within one rotation attached to the drive shaft (2) of the rotating machine (1);
A speed reduction mechanism comprising a first gear (4) attached to the drive shaft (2), and a second gear (5) meshed with the first gear (4) and provided with at least one;
A second encoder (7) having a driven shaft (6) to which the second gear (5) is attached, and detecting an absolute rotation angle via the speed reduction mechanism;
In a multi-rotation amount detection device comprising: a signal processing circuit (8) that performs signal processing of outputs obtained from the first encoder (3) and the second encoder (7);
The signal processing circuit (8)
Means (ST1) for calculating the angle λ of the driven shaft (6) obtained based on the reduction ratio n of the second gear (5) and the reduction ratio n and when the drive shaft (2) makes one rotation; ,
The absolute integrated angle error of the second encoder (7) with respect to the drive shaft (2) is within ± λ / 2, and the position θ drv of the first encoder (3) and the Means (ST2) for obtaining the position θ slv of the second encoder (7);
Wherein each encoder (3), after acquiring the position data of (7), the multi-rotation amount determination decision parameters needed to tj, husband theta ds s, tj = θ slv / λ (where, tj is an integer), means (ST3) for calculating by the equation θ ds = n (θ slv −tj × λ);
After calculating the determination parameter for the multi-rotation amount, the multi-rotation amount T is set to an absolute value of the difference between the position data θ drv of the first encoder (3) and the position data θ slv of the second encoder (7). Means for calculating T = tj if it is less than 0 °, T = tj + 1 if 0 ° ≦ θ drv <180 °, and T = tj−1 if 180 ° ≦ θ drv <360 ° (ST4) A multi-rotation amount detecting device characterized by comprising:
前記駆動軸（２）に取り付けられた第１の歯車（４）と噛合され、かつ、少なくとも一つ設けられた第２の歯車（５）からなる減速機構を介して、前記第２の歯車（５）を取り付けた従動軸（６）を有する第２のエンコーダ（７）により絶対回転角度を検出し、
前記第１のエンコーダ（３）および前記第２のエンコーダ（７）から得られる出力を信号処理回路（８）により信号処理を行い、多回転量を検出する多回転量検出方法において、
前記第２の歯車（５）の減速比ｎおよび該減速比ｎに基づいて得られると共に駆動軸（２）が１回転する時の従動軸（６）の角度λを算出し、
前記駆動軸（２）を基準としたときの前記第２のエンコーダ（７）の絶対積算角度誤差が、±λ／２以内とした時に、前記第１のエンコーダ（３）の位置θｄｒｖおよび前記第２エンコーダ（７）の位置θｓｌｖを取得し、
前記各エンコーダ（３）、（７）の位置データを取得後、多回転量を判定するために必要な判定パラメタｔｊ、θｄｓを夫々、ｔｊ＝θｓｌｖ／λ（但し、ｔｊは整数）、θｄｓ＝ｎ（θｓｌｖ−ｔｊ×λ）なる式で算出し、
前記多回転量の判定パラメタを算出後、多回転量Ｔを、第１のエンコーダ（３）の位置データθｄｒｖと第２のエンコーダ（７）の位置データθｓｌｖとの差の絶対値が１８０°未満である場合にはＴ＝ｔｊとして算出し、０°≦θｄｒｖ＜１８０°の場合にはＴ＝ｔｊ＋１として算出し、１８０°≦θｄｒｖ＜３６０°の場合はＴ＝ｔｊ−１として算出することを特徴とする多回転量検出方法。 An absolute rotation angle within one rotation is detected by the first encoder (3) attached to the drive shaft (2) of the rotating machine (1);
The second gear (the second gear (5) is engaged with the first gear (4) attached to the drive shaft (2), and the second gear (5) is provided through a speed reduction mechanism including at least one second gear (5). 5) the absolute rotation angle is detected by a second encoder (7) having a driven shaft (6) with attached
In the multi-rotation amount detection method for detecting the multi-rotation amount by performing signal processing on the output obtained from the first encoder (3) and the second encoder (7) by the signal processing circuit (8),
Obtaining the reduction ratio n of the second gear (5) and the angle λ of the driven shaft (6) when the drive shaft (2) makes one rotation, based on the reduction ratio n,
When the absolute integrated angle error of the second encoder (7) with respect to the drive shaft (2) is within ± λ / 2, the position θ drv of the first encoder (3) and the Obtain the position θ slv of the second encoder (7),
Wherein each encoder (3), after acquiring the position data of (7), the multi-rotation amount determination decision parameters needed to tj, husband theta ds s, tj = θ slv / λ (where, tj is an integer), θ ds = n (θ slv −tj × λ)
After calculating the determination parameter for the multi-rotation amount, the multi-rotation amount T is set to an absolute value of the difference between the position data θ drv of the first encoder (3) and the position data θ slv of the second encoder (7). If it is less than ° is calculated as T = tj, 0 ° in the case of ≦ theta drv <180 ° is calculated as T = tj + 1, in the case of 180 ° ≦ θ drv <360 ° T = tj- The multi-rotation amount detection method is characterized in that it is calculated as 1.
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