JPH0612266B2 - Multi-turn absolute value encoder - Google Patents
Multi-turn absolute value encoderInfo
- Publication number
- JPH0612266B2 JPH0612266B2 JP13327087A JP13327087A JPH0612266B2 JP H0612266 B2 JPH0612266 B2 JP H0612266B2 JP 13327087 A JP13327087 A JP 13327087A JP 13327087 A JP13327087 A JP 13327087A JP H0612266 B2 JPH0612266 B2 JP H0612266B2
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- Japan
- Prior art keywords
- rotation
- power supply
- voltage
- absolute value
- circuit
- Prior art date
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- Transmission And Conversion Of Sensor Element Output (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、１回転以上の回転数と回転方向を検出する１
パルス検出器と１回転以内の絶対角度を検出する絶対値
エンコーダが同一シャフトに組み合わされてなり、それ
ぞれの検出信号をもとにして、シャフトの多回転の絶対
角度を検出し、エンコーダに供給される電源がなくなっ
た場合には、外部からの電池電源等の補助電源、内部の
電池電源や大容量コンデンサ等により１パルス検出器と
１パルス検出器と検出量を計測する電子回路等に電源が
供給される多回転式絶対値エンコーダに関する。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention detects the number of rotations of one rotation or more and the rotation direction.
A pulse detector and an absolute encoder that detects the absolute angle within one rotation are combined on the same shaft. Based on the detection signals of each, the absolute angle of multiple rotations of the shaft is detected and supplied to the encoder. When there is no power source to be used, power is supplied to the 1-pulse detector, the 1-pulse detector, and the electronic circuit that measures the detection amount from the external power source such as battery power source, internal battery power source, large-capacity capacitor, etc. The present invention relates to a supplied multi-turn absolute encoder.
第７図は、この種の多回転式絶対値エンコーダの従来例
（特願昭61-230253）の構成図である。FIG. 7 is a block diagram of a conventional example (Japanese Patent Application No. 61-230253) of this type of multi-rotation absolute value encoder.
この多回転式絶対値エンコーダは、１回転以内の絶対角
度を検出するための回転ディスク２と、これに投光する
ためのＬＥＤ４と、固定スリット５と、受光素子のフォ
トダイオードアレイ６と、これらの検出信号を矩形波に
波形整形する波形整形回路７１〜７15から構成され、多
回転を検出する磁気エンコーダは、回転部に磁石８２を
具備した回転ディスク８１と、この回転数を検出するた
めの磁気抵抗素子９と、波形整形回路10と、電源の供給
がなくなった場合には、外部からの電池電源に切り換え
を行なう電源切換回路14と、電池電源が無くなった場合
には蓄電した電子により回路を駆動する大容量コンデン
サ15と、電源電圧を検出する電圧検出回路13と、多回転
の検出信号をカウントし、数値を保持しておくためのマ
イクロコンピュータを内蔵した制御回路12と、電源投入
後には、多回転の検出信号と１回転以内の絶対値信号を
Ａチャンネル、Ｂチャンネル、Ｚチャンネルの信号とし
て、それぞれシリアル伝送するためのゲートアレイを含
む制御回路17と、これらの信号を受側装置に送るための
平衡型ラインドライバー回路16から構成されている。ま
た、信号伝送の方法としては、電源電圧が供給されると
電圧検出回路13が動作し、制御回路17と12に信号を送
り、制御回路17が動作して、初めにシャフト１の多回転
検出信号を調歩同期信号でＡチャンネル信号にシリアル
データとして受側装置に伝送する。本従来例において
は、８キャラクタのアスキー（ASCII）コード；9600ボ
ーにて伝送している。そして、２番目に絶対値エンコー
ダで検出した絶対値信号をＡ，Ｂチャンネルのインクリ
メンタルパルスとして、受側装置に伝送する（第８
図）。受側装置においては、この２つの信号から多回転
した絶対位置が検出できるわけである。また、伝送後
は、従来どおり、Ａ，Ｂチャンネルの２相パルスで伝送
することにより、インクリメンタルエンコーダによる位
置決めを行なうこができる。This multi-rotation type absolute value encoder includes a rotating disk 2 for detecting an absolute angle within one rotation, an LED 4 for projecting light on the rotating disk 2, a fixed slit 5, a photodiode array 6 of a light receiving element, and these. consists of the detection signal from the waveform shaping circuit 7 1-7 15 for waveform-shaping into a rectangular wave, a magnetic encoder for detecting multiple rotation, the rotating disc 8 1 provided with the magnet 82 to the rotating portion, the rotation speed The magnetoresistive element 9 for detection, the waveform shaping circuit 10, the power supply switching circuit 14 that switches to the battery power source from the outside when the power supply is cut off, and the power storage when the battery power supply runs out. The large-capacity capacitor 15 that drives the circuit by the electrons, the voltage detection circuit 13 that detects the power supply voltage, and the microcomputer that counts the multi-rotation detection signal and holds the numerical value. A control circuit 12 including a built-in control circuit and a gate array for serially transmitting a multi-rotation detection signal and an absolute value signal within one revolution as signals of A channel, B channel, and Z channel after the power is turned on. It comprises a circuit 17 and a balanced line driver circuit 16 for sending these signals to the receiving device. As a method of signal transmission, when the power supply voltage is supplied, the voltage detection circuit 13 operates, sends a signal to the control circuits 17 and 12, and the control circuit 17 operates to detect the multi-rotation of the shaft 1 first. The signal is transmitted as an A-channel signal as a serial data to the receiving side device as an asynchronous signal. In this conventional example, the transmission is performed by an 8-character ASCII code; 9600 baud. Then, the absolute value signal secondly detected by the absolute value encoder is transmitted to the receiving side device as the A and B channel incremental pulses (eighth embodiment).
Figure). The receiving side device can detect the absolute position after multiple rotations from these two signals. Further, after the transmission, the transmission can be performed by the two-phase pulse of the A and B channels as in the conventional case, whereby the positioning by the incremental encoder can be performed.
第９図は第７図の構成の多回転式絶対値エンコーダを受
側の制御装置とケーブルにて接続した構成を示してい
る。この状態において外部電池電源のケーブルが断線
（ｘ印）または接触不良が発生すると電源がなくなった
場合には、内部の大容量コンデンサ15にて記憶している
が、このコンデンサ15も放電を続ければ電圧が低下し、
シャフトの回転量を記憶できなくなるという問題が発生
し、電源の再投入時には正確な絶対位置を検出できない
という問題が発生する。FIG. 9 shows a configuration in which the multi-rotation absolute value encoder having the configuration shown in FIG. 7 is connected to the control device on the receiving side by a cable. In this state, if the cable of the external battery power supply is disconnected (marked by x) or if the power supply runs out when contact failure occurs, it is stored in the internal large-capacity capacitor 15, but if this capacitor 15 also continues to discharge. The voltage drops,
There is a problem that the amount of rotation of the shaft cannot be stored, and an accurate absolute position cannot be detected when the power is turned on again.
また、多回転式絶対値エンコーダ内部に補助電池18等を
内蔵していた場合（第10図）には電池の電圧降下が同様
の現象になり、正確な絶対位置を検出できないという問
題が発生する。Also, when the auxiliary battery 18 etc. is built into the multi-rotation absolute value encoder (Fig. 10), the voltage drop of the battery becomes the same phenomenon, which causes a problem that the accurate absolute position cannot be detected. .
外部電池の場合には、多回転式絶対値エンコーダの電池
電流を常時検出すればよいが、これは１個の多回転式絶
対値エンコーダを駆動している場合であって、多関節ロ
ボットのように外部電池に６軸分（６個）の多回転式絶
対値エンコーダが並列に接続されていれば、個々の消費
電流のバラツキや電池電圧の変動もあるので、電池電流
の常時検出だけではリードの断線や接触不良を検出でき
ない。In the case of an external battery, the battery current of the multi-rotation absolute value encoder may be constantly detected, but this is the case where one multi-rotation absolute value encoder is driven, and If a multi-rotation absolute value encoder for 6 axes (6) is connected in parallel to the external battery, there will be variations in individual current consumption and fluctuations in battery voltage. No disconnection or poor contact can be detected.
本発明の多回転式絶対値エンコーダは、外部電池電源、
内部の電池電源や大容量コンデンサ等により、１パルス
検出器の検出量を計測する電子回路等が駆動されていた
時に、この電圧が正常であったか、異常であったかを判
定する、少なくとも電圧の異常を検出する異常検出回路
を有し、異常の場合には、電源投入時、多回転の回転数
を示す信号のかわりに異常検出信号を受側装置にシリア
ル伝送することにより、外部または内部電圧異常を知ら
せるものである。The multi-turn absolute value encoder of the present invention is an external battery power source,
When an electronic circuit that measures the detection amount of the 1-pulse detector is driven by the internal battery power supply or large-capacity capacitor, it is determined whether this voltage is normal or abnormal. If there is an abnormality detection circuit that detects an abnormality, when the power is turned on, an abnormality detection signal is serially transmitted to the receiving device instead of the signal indicating the number of rotations of multiple rotations, so that an external or internal voltage abnormality can be detected. To inform.
したがって、信頼性の高い絶対値エンコーダが得られ
る。Therefore, a highly reliable absolute encoder can be obtained.
次に、本発明の実施例について図面を参照して説明す
る。Next, embodiments of the present invention will be described with reference to the drawings.
第１図は本発明の多回転式絶対値エンコーダの一実施例
のブロック図、第２図はそのＡチャンネル出力、Ｂチャ
ンネル出力を示す図である。FIG. 1 is a block diagram of an embodiment of a multi-rotation absolute value encoder of the present invention, and FIG. 2 is a diagram showing its A channel output and B channel output.
本実施例は、第７図の従来の構成に、異常電圧検出回路
19を設けて、電池電圧および大容量コンデンサ15からの
電圧Ｖ１を常時検出し、万一、電圧Ｖ１が規定電圧より
低下した場合には、異常電圧信号を制御回路17に送り、
制御回路17は正常時の回転量のデータより優先して平型
難ラインドライバー回路16を通じて異常電圧検出データ
としてアスキーコード「BATERROR」を受側装置に送る。This embodiment has an abnormal voltage detection circuit in addition to the conventional structure shown in FIG.
19 is provided, constantly detects the voltages V 1 from the battery voltage and large-capacity capacitor 15, the event that is voltages V 1 falls below the prescribed voltage, sends an abnormal voltage signal to the control circuit 17,
The control circuit 17 sends the ASCII code "BAT ERROR" to the receiving side device as abnormal voltage detection data through the flat difficult line driver circuit 16 in preference to the rotation amount data at the time of normal operation.
したがって、第９図に示したように、多回転式絶対値エ
ンコーダと受側の制御装置との電池電圧が異常になった
場合には、受側制御装置にて異常を検出することができ
る。また、外部電池を使用せず第10図に示したように補
助電池18を内部に用いた場合においても同様にして異常
電圧を検出することができる。さらに、多関節ロボット
のように多回転式絶対値エンコーダを多く使用する場合
においては一軸づつ絶対値信号を検出しているため、ど
の軸の多回転式絶対値エンコーダの配線や内部電池等が
異常であるか検出できる。Therefore, as shown in FIG. 9, when the battery voltage between the multi-rotation absolute value encoder and the receiving side control device becomes abnormal, the receiving side control device can detect the abnormality. Further, even when the auxiliary battery 18 is used inside as shown in FIG. 10 without using the external battery, the abnormal voltage can be detected in the same manner. Furthermore, when using many multi-rotation absolute encoders such as a multi-joint robot, the absolute value signal is detected for each axis, so the wiring of the multi-rotation absolute encoder of which axis and internal battery are abnormal. Can be detected.
なお、正常の場合は多回転数は の形で受側の制御装置に送られるので、異常の場合とは
っきり区別できる。In the normal case, the number of rotations is Since it is sent to the control device on the receiving side in the form of, it can be clearly distinguished from the case of abnormality.
第３図は本発明の多回転式絶対値エンコーダの他の実施
例のブロック図である。FIG. 3 is a block diagram of another embodiment of the multi-rotation type absolute value encoder of the present invention.
本実施例は、検出素子21と異常検出回路20を用いて、異
常電圧以外に異常温度、振動を検出する構成にしたもの
である。In the present embodiment, the detection element 21 and the abnormality detection circuit 20 are used to detect an abnormal temperature and vibration in addition to the abnormal voltage.
第４図は検出素子21として温度検出を行なうサーミスタ
を用いたもので、基板上にのせたサーミスタの温度上昇
に対して抵抗値が低下する特性を利用してエンコーダの
内部温度を検出し、これをコンパレータIC１、抵抗Ｒ１
〜Ｒ３からなる異常検出回路20のコンパレータIC１で波
形整形し、使用限度の温度になった場合、異常検出信号
を制御回路17に送り、制御回路17から「TEMERROR」とい
うアスキーコードを出力する。FIG. 4 shows the case where a thermistor for detecting temperature is used as the detecting element 21, and the internal temperature of the encoder is detected by utilizing the characteristic that the resistance value decreases with the temperature rise of the thermistor placed on the substrate. Comparator IC 1 and resistor R 1
Waveform shaping by the comparator IC 1 of consisting to R 3 abnormality detection circuit 20, when it becomes the temperature of use limit, sending an abnormality detection signal to the control circuit 17, and outputs the ASCII code of "TEMERROR 'from the control circuit 17 .
なお、異常ごとにデータの内容を変化させれば多くの検
出データをシリアルデータとして受側の制御装置に送る
ことができる。なお、電源投入時以外にもロボットのよ
うに全軸のエンコーダが動いていない場合を利用して、
動作していないエンコーダの異常信号を送ることも可能
である。It should be noted that if the data content is changed for each abnormality, a large amount of detection data can be sent as serial data to the receiving side control device. In addition, using the case where the encoders of all axes are not moving like the robot except when the power is turned on,
It is also possible to send an error signal for an encoder that is not working.
第５図はパルス欠相検出の場合の異常検出の回路図、第
６図はそのタイムチャートである。FIG. 5 is a circuit diagram of abnormality detection in the case of pulse open phase detection, and FIG. 6 is its time chart.
本絶対値エンコーダは、動作時においては従来のインク
リメンタルエンコーダと同一の特性を示すので、この２
層インクリメンタル信号の波形整形する前の検出信号を
みてパルスの欠相を検出するものである。２相の検出信
号は、第６図(1)，(2)に示したようにＡ＋と電気的に18
0゜位相のずれたＡ−とＡ＋より90゜位相差のＢ＋、Ｂ
＋と180゜位相のずれたＢ−の４信号が検出信号で、こ
れらの検出信号Ａ＋、Ａ−、Ｂ＋、Ｂ−をアンプAMP１
〜AMP４、抵抗Ｒ４〜Ｒ７を用いて合成すると第６図(3)
の信号となり、もし何かの原因で欠相すると、この信号
が基準電圧ＶＲより小さくなるのでコンパレータIC２の
出力レベルが反転し、この信号を異常検出信号として制
御回路17に送ればパルスの欠相を検出することができ
る。Since this absolute encoder has the same characteristics as the conventional incremental encoder during operation,
The phase loss of the pulse is detected by looking at the detection signal before waveform shaping of the layer incremental signal. The two-phase detection signal is electrically connected to A + as shown in Fig. 6 (1) and (2).
A + and B + with a 90 ° phase difference from A− and A + with a 0 ° phase shift
The four signals of B-, which are + 180 ° out of phase with each other, are detection signals. These detection signals A +, A-, B +, B- are amplified by the amplifier AMP 1
~ AMP 4 and resistors R 4 ~ R 7 when synthesized using Fig. 6 (3)
Signal and becomes, if when open phase for some reason, this signal is less than the reference voltage V R and the inverting output level of the comparator IC 2 is pulse if send to the control circuit 17 this signal as an abnormal detection signal The phase loss can be detected.
〔発明の効果〕 以上説明したように本発明は、電源電圧が投入されてい
ない場合で、外部電池電源のケーブルの断線や接触不良
が多回転式絶対値エンコーダに発生した場合、さらに電
圧以外においても、温度や振動等のセンサを用い同様の
異常信号を受側の制御装置にシリアルデータとして送る
ことにより、異常の絶対値信号で駆動することがなくな
り、信頼性の高い多回転式絶対値エンコーダを得ること
ができる効果がある。[Effects of the Invention] As described above, the present invention, when the power supply voltage is not turned on, when the disconnection or contact failure of the cable of the external battery power supply occurs in the multi-rotation absolute value encoder, in addition to the voltage Also sends a similar abnormal signal to the control device on the receiving side as serial data using a sensor such as temperature and vibration, so that it is no longer driven by the absolute value signal of the abnormalities, and a highly reliable multi-rotation absolute value encoder There is an effect that can be obtained.
第１図は本発明の多回転式絶対値エンコーダの一実施例
のブロック図、第２図は第１図の実施例において電池電
源が不良の場合の信号伝送を示す図、第３図は本発明の
多回転式絶対値エンコーダの他の実施例のブロック図、
第４図は異常検出回路20の具体例の回路図、第５図は異
常検出回路20の他の具体例の回路図、第６図は異常検出
のタイムチャート、第７図は多回転式絶対値エンコーダ
の従来例のブロック図、第８図は第７図の従来例におけ
る出力信号を示す図、第９図は第７図の多回転式絶対値
エンコーダを受側の制御装置19とケーブル20にて接続し
た構成を示す図、第10図は補助電池を内蔵した従来の多
回転式絶対値エンコーダのブロック図である。 １……シャフト、 ２……絶対値エンコーダ用回転ディスク、 ４……ＬＥＤ、 ５……固定スリット、 ６……フォトダイオードアレイ、 ７１〜７15，10……波形整形回路、 ８１……磁気エンコーダ用回転ディスク、 ８２……磁石、 ９……磁気抵抗素子、 12，17……制御回路、 13……電圧検出回路、 14……電源切換回路、 15……大容量コンデンサ、 16……平衡型ラインドライバー回路、 19……異常電圧検出回路、 20……異常検出回路、 21……検出素子、 Ｄ１，Ｄ２，Ｄ３……ダイオード、 Ｒ１，Ｒ２，…，Ｒ７……抵抗。 IC１，IC２……比較器、 AMP１〜AMP２……アンプ。FIG. 1 is a block diagram of an embodiment of a multi-rotation absolute value encoder of the present invention, FIG. 2 is a diagram showing signal transmission when the battery power source is defective in the embodiment of FIG. 1, and FIG. FIG. 3 is a block diagram of another embodiment of the multi-rotation absolute value encoder of the invention.
FIG. 4 is a circuit diagram of a specific example of the abnormality detection circuit 20, FIG. 5 is a circuit diagram of another specific example of the abnormality detection circuit 20, FIG. 6 is a time chart of abnormality detection, and FIG. FIG. 8 is a block diagram of a conventional example of a value encoder, FIG. 8 is a diagram showing an output signal in the conventional example of FIG. 7, and FIG. 9 is a control device 19 and a cable 20 on the receiving side of the multi-rotation absolute value encoder of FIG. FIG. 10 is a block diagram of a conventional multi-rotation absolute value encoder having a built-in auxiliary battery. 1 ... Shaft, 2 ... Rotating disk for absolute encoder, 4 ... LED, 5 ... Fixed slit, 6 ... Photodiode array, 7 1 to 7 15 , 10 ... Waveform shaping circuit, 8 1 ... Rotating disk for magnetic encoder, 8 2 ... Magnet, 9 ... Magnetoresistive element, 12, 17 ... Control circuit, 13 ... Voltage detection circuit, 14 ... Power supply switching circuit, 15 ... Large-capacity capacitor, 16 ... ... balanced line driver circuit, 19 ...... abnormal voltage detection circuit, 20 ...... abnormality detection circuit, 21 ...... detecting element, D 1, D 2, D 3 ...... diodes, R 1, R 2, ... , R 7 ……resistance. IC 1 , IC 2 …… Comparator, AMP 1 to AMP 2 …… Amplifier.
Claims (1)
る１パルス検出器と１回転以内の絶対角度を検出する絶
対値エンコーダとが同一シャフト上に組み合わされてな
り、それぞれの検出信号をもとにして、シャフトの多回
転の絶対角度を検出し、電源投入の場合には、電源電圧
を検出する検出回路が所定電圧以上の電源電圧を検出し
た時、初めに多回転の回転量を受側回路にシリアル伝送
し、その後、１回転以内の絶対角度を電気的に90゜位相
差をもった２相矩形波信号で送る制御回路を有し、エン
コーダに供給される電源がなくなった場合には、外部か
らの電池電源等や内部に組み込まれた電池電源または大
容量コンデンサ等により１パルス検出器の検出量を計測
する電子回路等に電源が供給される多回転式絶対値エン
コーダにおいて、 外部電池電源、内部の電池電源や大容量コンデンサ等に
より、１パルス検出器の検出量を計測する電子回路等が
駆動されていた時に、この電圧が正常であったか、異常
であったかを判定する、少なくとも電圧の異常を検出す
る異常検出回路を有し、異常の場合には、電源投入時、
多回転の回転数を示す信号のかわりに異常検出信号を受
側装置にシリアル伝送することにより、外部または内部
電圧異常を知らせることを特徴とする多回転式絶対値エ
ンコーダ。1. A one-pulse detector for detecting a rotation amount of one rotation or more and a rotation direction, and an absolute value encoder for detecting an absolute angle within one rotation are combined on the same shaft. Based on the above, the absolute angle of multi-rotation of the shaft is detected, and when the power is turned on, when the detection circuit that detects the power supply voltage detects a power supply voltage higher than a predetermined voltage Serially transmitted to the receiving side circuit, and then has a control circuit that sends the absolute angle within one rotation electrically as a two-phase rectangular wave signal with a phase difference of 90 °, and the power supply to the encoder was lost. In this case, in a multi-rotation absolute value encoder in which power is supplied to an electronic circuit or the like that measures the detection amount of the 1-pulse detector by an external battery power supply, an internal battery power supply, or a large-capacity capacitor, etc. , When the electronic circuit that measures the detection amount of the 1-pulse detector is driven by the internal battery power supply, internal battery power supply, large-capacity capacitor, etc., it is determined whether this voltage is normal or abnormal. It has an abnormality detection circuit that detects an abnormality in the voltage.
A multi-rotation absolute value encoder characterized in that an abnormality in an external or internal voltage is notified by serially transmitting an abnormality detection signal to a receiving device instead of a signal indicating the number of rotations in the multi-rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13327087A JPH0612266B2 (en) | 1987-05-30 | 1987-05-30 | Multi-turn absolute value encoder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP13327087A JPH0612266B2 (en) | 1987-05-30 | 1987-05-30 | Multi-turn absolute value encoder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63300911A JPS63300911A (en) | 1988-12-08 |
| JPH0612266B2 true JPH0612266B2 (en) | 1994-02-16 |
Family
ID=15100697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP13327087A Expired - Fee Related JPH0612266B2 (en) | 1987-05-30 | 1987-05-30 | Multi-turn absolute value encoder |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0612266B2 (en) |
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|---|---|---|---|---|
| JPH0297619U (en) * | 1989-01-20 | 1990-08-03 | ||
| JP2794798B2 (en) * | 1989-06-30 | 1998-09-10 | 株式会社安川電機 | Encoder |
| JPH0374320U (en) * | 1989-11-22 | 1991-07-25 | ||
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-
1987
- 1987-05-30 JP JP13327087A patent/JPH0612266B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63300911A (en) | 1988-12-08 |
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