CN101499764A - Monitoring system and method for stepping motor - Google Patents
Monitoring system and method for stepping motor Download PDFInfo
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- CN101499764A CN101499764A CNA200810004801XA CN200810004801A CN101499764A CN 101499764 A CN101499764 A CN 101499764A CN A200810004801X A CNA200810004801X A CN A200810004801XA CN 200810004801 A CN200810004801 A CN 200810004801A CN 101499764 A CN101499764 A CN 101499764A
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Abstract
The invention provides a method for monitoring a stepping motor, wherein, the stepping motor repeats the following actions: the stepping motor rotates from a starting point position to a final position and returns to the starting point position again. The monitoring method of the stepping motor comprises the steps as follows: the state signal of the stepping motor and the command signal received by the stepping motor are detected in real time; the change of the difference value of the command signal and the state signal with the change of the time is taken as the error data; furthermore, whether the stepping motor starts from the starting point position, is in action, reaches the final position or returns to the starting point position or not is judged by the command signal and the state signal; when the stepping motor is judged in action, the error data records at the time is taken as a tracking error; furthermore, whether an alarm is given or not is judged according to the tracking error.
Description
Technical field
The present invention relates to a kind of supervisory control system, and method for supervising of stepper motor, and particularly relate to a kind of supervisory control system, and method for supervising that carries out repetitive with stepper motor.
Background technology
Stepper motor is to utilize the magnetic pole conversion to produce intermittent electric power, obtains high-precision moving.General stepper motor is to adopt to open circuit controls, but monitors because of no feedback mechanism, can't differentiate the situation whether motor has step-out (lost step).In addition, there are some stepper motors can add that encoder (encoder) controls mobile accuracy, but also only detect the end point error whether motor has arrived the action terminal point.
When stepper motor takes place to cause skew (shif) unusually, for preventing that problem from taking place once again, again in order to make system restoration running in real time, often do not check in unusual true because of situation under just directly change stepper motor and relevant actuated element thereof, cause cost waste.
Summary of the invention
The object of the present invention is to provide a kind of stepper motor supervisory control system and method for supervising, when make stepper motor from a starting point rotated position when a final position revert to this start position again, the starting point difference in the time of can dynamically detecting the difference of the actual act of stepper motor and suffered order and/or stepper motor and revert to start position.And judge whether the user mode (for example ageing state) of stepper motor and/or the transmission that couples with stepper motor or detecting element need to adjust, proofread and correct, change (for example detecting the ageing state whether stepper motor gets back to the optical pickocff of starting point) according to above-mentioned difference.
In order to reach above-mentioned purpose, the invention provides a kind of stepper motor supervisory control system, the stepper motor drived unit drives, the driver element signal of giving an order, and drive stepper motor and repeat following action: turn to the final position from start position and revert to start position again.The stepper motor control system comprises: encoder, judgement unit, report the unit.Encoder machinery is coupled to stepper motor, detects the concurrent signal that does well of state of stepper motor.Judgement unit receives the command signal of driver element and the status signal of encoder in real time, the difference of command signal and status signal over time as an error information, and is judged that according to command signal and status signal stepper motor is to be in following any state: from start position, be in the action, the position of reaching home, revert to the state of start position.When judgement unit judges that stepper motor is in state in the action, error information at this moment is recorded as tracking error, and judges whether to send warning according to tracking error.Report the unit, be coupled to judgement unit, when the judgement unit judgement will be sent warning, carry out and report function.
The present invention also provides a kind of stepper motor method for supervising, and stepper motor repeats following action, turns to the final position from start position and revert to start position again.The stepper motor method for supervising comprises: the command signal that status signal and stepper motor received that detects stepper motor in real time; With the difference of command signal and status signal over time as error information, and according to command signal and status signal judge stepper motor be in from start position, be in the action, the position or revert to the state of start position of reaching home, when judging that stepper motor is in state in the action, this error information of this moment is recorded as tracking error, and judges whether to send warning according to tracking error.
In above-mentioned method for supervising, when judging that stepper motor is in the state that revert to start position, the error information of this moment has been recorded as point tolerance.And according to error information judge following among both at least one: judge whether whether stepper motor has reached ageing state, couple with stepper motor transmission or detecting element need to adjust, proofread and correct, change.
For above and other objects of the present invention, feature and advantage can be become apparent, preferred embodiment cited below particularly, and conjunction with figs. are described in detail below.
Description of drawings
Fig. 1 shows the calcspar according to a kind of stepper motor supervisory control system of the present invention the 1st embodiment.
Fig. 2 shows according to the judgement unit among the present invention the 1st embodiment and detects command signal and the chart of status signal vs. time that (reception) arrives in real time.
Fig. 3 is the chart of the difference vs. time of the command signal of Fig. 2 and status signal.
Fig. 4 shows the flow chart according to a kind of stepper motor method for supervising of the present invention the 1st embodiment.
Fig. 5 shows the variation of the method for supervising of Fig. 4.
Fig. 6 shows the calcspar according to a kind of stepper motor supervisory control system of the present invention the 2nd embodiment.
Fig. 7 shows the flow chart according to a kind of stepper motor method for supervising of the present invention the 2nd embodiment.
When Fig. 8 shows the method for supervising that utilizes Fig. 7, an example of command signal, the chart of status signal vs. time.
When Fig. 9 shows the method for supervising that utilizes Fig. 7, an example of command signal, the chart of status signal vs. time.
The reference numeral explanation
100 stepper motor supervisory control systems
102 stepper motors
104 encoders
106 driver elements
108 judgement units
110 report the unit
The Et end point error
Eo plays point tolerance
The Et tracking error
E (t) error information
Me end point error tolerance value
Mo starting point error margin value
Mt tracking error tolerance value
The Pe final position
The Po start position
The C command signal
Cs orders step number
The Cv command speed
Ca orders acceleration
The adjusted order of Cm
The S status signal
Ss state step number
Sv state speed
Sa state acceleration.
Embodiment
[the 1st embodiment]
Please refer to Fig. 1, Fig. 2, wherein, Fig. 1 shows the calcspar according to the stepper motor supervisory control system of the present invention the 1st embodiment, Fig. 2 show in the stepper motor supervisory control system judgement unit in real time (realtime) receive the example of chart of the status signal vs. time of the command signal of driver element and encoder, the signal of Fig. 2 is to be example with the step number signal.
Stepper motor supervisory control system 100 of the present invention is applicable to and monitors the stepper motor 102 that is carrying out the repeatability action.
The action of so-called repeatability for example is that stepper motor 102 turns to final position Pe from start position Po and revert to start position Po (see figure 2), also passable repeatedly repetition aforementioned activities again.From start position Po to the Pe of final position, may be once or pause more than once.Between repeatedly repeated action, also has the time of pause again.
Chong Fuxing action like this, in various manufacture processes or utilize stepper motor to come when mobile, the capital is seen, for example, utilize stepper motor 102 to drive the action that will produce repeatability when mechanical arm (not shown) carries out following the action, below just utilize the action of an example explanation repeatability, be not limited in the repetitive of following sample attitude, do not limit stepper motor yet and only be used to drive mechanical arm, and stepper motor drives the mode that mechanical arm moves, and except the drive horizontal direction moves, also can drive moving of above-below direction, or, reach moving of any direction by suitable mechanical arrangements.
For example, stepper motor 102 moves to a certain wafer (wafer) loading position to mechanical arm from initial point (start position) and adsorbs wafer, again wafer is moved to a certain work station (stage), the mechanical arm of withdrawing is afterwards got back to initial point (start position), by the time after the relevant wafer-process step of this work station finishes, make mechanical arm move on to this work station again from initial point, take out the wafer that oneself finishes the relevant treatment step, again wafer is moved on to next work station position, make mechanical arm get back to start position afterwards again.Sub like this, stepper motor 102 just carries out the action of repeatability at last.
Stepper motor supervisory control system 100 comprises: encoder 104, judgement unit 108, report unit 110.
Refer again to Fig. 3, Fig. 4, wherein Fig. 3 shows the chart of the difference vs. time (being called error information E (t)) of command signal and status signal; Fig. 4 shows the flow chart according to the method for supervising that judgement unit carried out of the present invention the 1st embodiment.
Its determination methods for example is to utilize motion, the time point that stop, the travel direction of stepper motor 102 in whole course of action to judge, can obtain these information from each signal (status signal, command signal) to the chart (Fig. 2) of time.With reference to Fig. 2, it shows the chart of real-time detected step number signal vs. time, and wherein solid line is represented the curve of the order step number Csvs. time that driver element 106 sends, and dotted line is represented the curve of the state step number Ssvs. time of stepper motor 102.
As can be seen from Figure 2 big in the time of 0.175 second, stepper motor 102 begins to produce chases phenomenon, the order step number that receives is reached in stepper motor 102 attempts, but still have one section gap, this is chased phenomenon and finished in the time of about 0.8 second, stepper motor 102 is in state in the action during this period of time, and the inventor calls tracking error Et (see figure 3) to the error of this section period.
Then, stepper motor 102 is in halted state in the time of 0.9 second greatly, and this pause approximately was maintained to 1.2 seconds, and stepper motor 102 is toward backward rotation afterwards.During the time-out of stepper motor 102 before the backward rotation, promptly 0.9 second to 1.2 seconds, stepper motor 102 was the states that are in the position Pe that reaches home, and the error of this moment is called end point error Ee.
Produce again since 1.2 seconds stepper motors 102 and to chase phenomenon, this chases phenomenon until about 2.1 seconds the time, finish when transducer (not shown) reaction stepper motor 102 has been got back to start position Po when receiving.Error from 1.2 seconds to 2.1 seconds is also referred to as tracking error Et.2.1 the error that takes place during second is called starting point error E o, the error when promptly stepper motor revert to start position Po below further specifies starting point error E o.
When stepper motor 102 after start position Po, be reading according to encoder 104, just aforesaid status signal is known the state (for example position, speed, acceleration etc.) of stepper motor 102.Can know the position of stepper motor 102 at any time to the chart of time from the state step number.Whether reach 102 as for stepping revert to start position Po and judges according to the transducer (not shown).
For example, as the stepper motor 102 position Pe that reaches home, it for example was 1000 steps, when receiving order step number that driver element 106 sends afterwards again and will get back to start position Po, perfect condition should be to make stepper motor 102 walk for-1000 steps, gets back to start position (dead-center position).Yet, whether arriving start position Po is decided by transducer, so when stepper motor 102 is about to revert to start position Po, stepper motor 102 can move to the transducer transducer of optical pickocff or contact (for example for) always and show and just stops when having put in place, and with this point as start position (start position next time).This time, because the decay of light or transducer unusual or the actuated element that couples with stepper motor is aging, when making transducer than long response time or antedating response, stepper motor 102 just can not got back to original start position Po, has changed start position next time jointly yet.This moment, start position just produced skew, and the inventor calls starting point error E o to this error.
When judgement unit 108 judges that stepper motors 102 are in state in the action, for example take place as above-mentioned Fig. 2 the 0.175th second to 0.8 second chase situation the time, the error information E (t) of this moment is recorded as tracking error Et (corresponding to step ST3-1), and judges whether to send warning (corresponding to step ST4-1) according to tracking error Et.When the absolute value of tracking error Et during more than or equal to a predetermined value Mt, when promptly reaching the maximum of the permissible tracking error of system, 108 judgements of judgement unit will be sent warning (corresponding to step ST5).
When judgement unit 108 judges that stepper motor 102 is in the state that revert to start position Po, when for example taking place as the 2.1st second situation of above-mentioned Fig. 2, the error information E (t) of this moment is recorded as point tolerance Eo (corresponding to step ST3-2) together, and judges whether to send warning (corresponding to step ST4-2) according to starting point error E o.When the absolute value of starting point error E o during more than or equal to a predetermined value Mo, when promptly reaching the maximum of permissible point tolerance of system, 108 judgements of judgement unit will be sent warning (corresponding to step ST5).
When judgement unit 108 judges that stepper motor 102 is in the state of the position Pe that reaches home, the error information E (t) of this moment is recorded as an end point error Ee (corresponding to step ST3-3), and judges whether to send warning (corresponding to step ST4-3) according to end point error Ee.
When the absolute value of end point error Ee during more than or equal to a predetermined value Me, when promptly reaching the maximum of the permissible end point error of system, 108 judgements of judgement unit will be sent warning (corresponding to step ST5).
If not the state that is in the action, neither be in the state of the position of reaching home, neither be in the state that revert to start position, just get back to step ST1.
At this, this predetermined value can be the artificial error margin value of setting, and also can be to learn the error margin value of calculating out according to statistics from this error information E (t) Rigen.According to the test example that the inventor did, if require high-precision position to move, the error margin value of step number can be set at Mo=40, Mt=100, Me=40 moves for the position that requires general precision, the error margin value of step number can be set at Mo=160, Mt=200, Me=40.
Except the example of above-mentioned artificial setting tolerance value, also can not see through artificial decision.For example, according to the history of error information E (t), calculate the mean value of the Et of this supervisory control system, the mean value of Eo, and for example fruit numerical value has just has negatively, can take absolute value earlier or earlier squared value is come calculating mean value again, as (| Et|) average, (Et
2) average, and mean value be multiply by suitable weighted value be used as tolerance value.That is to say, can calculate tolerance value, do not need artificial setting according to the history of error information.
Between above-mentioned judgement unit 108 and encoder 104, disturb in order to reduce cross-talk (cross-talk), capacitive filter (not graphic) also can be set, be coupled between judgement unit 108 and the encoder 104.
Refer again to Fig. 5, its show judgement unit according to error information further judge unusual true because of flow process.
At step ST4-1-ST4-3 to the sending between the warning of step ST5, judgement unit 108 can also according to error information E (t) further judge unusual true because of.
According to above-mentioned error information E (t),, can judge the user mode of stepper motor 102 for example according to tracking error Et, end point error Ee; For example, can judge the user mode of transducer (whether the sensing stepper motor gets back to the transducer of starting point) according to starting point error E o.For example, when Et reaches tolerance value Mt or Ee reaches tolerance value Me, and when sending warning, judge that just stepper motor 102 has reached ageing state and need change stepper motor 102.For example, when Eo reaches tolerance value Mo, and when sending warning, judge that just the actuated element (not shown) or the transducer that couple with this stepper motor need adjustments/correction/replacing, for example more oil change, replacing sensing signal line ... etc.
In the present embodiment, though be that example illustrates according to Et, Eo, three kinds of errors of Ee and sends warning.But also can only send warning according to Et, and do not consider Eo, Ee.Certainly, also can send warning according at least a in optional above-mentioned three kinds of errors.
The tracking error Et that the present invention proposes is a kind of dynamic error, is to produce in the course of action of stepper motor.When the load of stepper motor excessive, or stepper motor is aging and when not chasing after the command signal that driver element sends, dynamic error will be more and more big, this time, stepper motor continues action if leave, and will certainly produce end point error or play point tolerance.So sometimes at Eo, Ee sees that singly Et just can find the message that motor is aging still in tolerance value the time.
The present invention just can be in due course and learn the situation that motor is aging by the monitoring tracking error, and the replacing motor can be in due course; By having monitored point tolerance, just can be in due course and learn the actuated element that couples with stepper motor or the user mode of transducer, can adjust/proofread and correct actuated element, transducer/change, more oil change ... etc.Needn't be as prior art, the motor step-out is just the stepper motor zero element relevant with other by the time, and for example actuated element, sensing element etc. are all changed.Be with, the present invention can save the cost of overhaul of the equipments, also can set up the time-histories of maintenance automatically.
[the 2nd embodiment]
Supervisory control system of the present invention can also change the command signal that driver element sends except utilizing detected signal to judge the user mode of stepper motor according to circumstances.
Please refer to Fig. 6, Fig. 7, wherein Fig. 6 shows the supervisory control system according to the stepper motor of the present invention the 2nd embodiment, and Fig. 7 shows the flow chart according to the method for supervising of the judgement unit of the present invention the 2nd embodiment.
The 2nd embodiment compares with the 1st embodiment, and many feedback lines 112 are used for after changing command signal Cm is delivered to stepper motor 102.
Please refer to Fig. 8 again, it shows judgement unit change command signal makes stepper motor can reach the chart of the signal vs. time of former order step number in the time.
For example, the driver element 106 order step number Cs that stepper motor 102 needs to arrive appointments behind the time t1 that orders for example walked for 4600 steps in 10 seconds.Can judgement unit is judged according to stepper motor 102 existing speed V2 arrive order step number (corresponding step ST11) in time t1.When judgement unit 108 judges that can't reach order step number 4600 according to stepper motor 102 existing speed V2 in the time goes on foot (Cs), for example only can arrive for 4460 steps, judge further that just can the speed that improve stepper motor 102 arrive order step number (corresponding step ST12) in time t1.When the judged result of step ST12 for " be " and words, judgement unit 108 just blocks the command signal Cs of driver element 106, splitting at least two sections time t2, t3 during the t1, two periods are long not necessarily equal, amended command signal Cm (for example, higher command speed Cvm, this example is V3), offer stepper motor 102 (corresponding step ST13-1), wherein the meaning of m representative modification.So that stepper motor 102 arrives order step number Cs in time t1.
This example is to split into 5 seconds, 5 seconds to 10 seconds, yet not necessarily will split into the isometric time interval, as long as can make this stepping horse 102 reach 4600 steps (Cs) of order step number with at least two steps (Fig. 8 is illustrated as two steps).Can satisfy following condition in this example:
Cs=V2xt2+V3xt3, wherein t1=t2+t3.
Please refer to Fig. 9 again, its show judgement unit change command signal make stepper motor can time expand with the chart of signal vs. time of reaching former order step number.
For example, the driver element 106 order step number Cs that stepper motor 102 needs to arrive appointments behind the time t1 that orders for example walked for 4600 steps in 10 seconds.Can judgement unit is judged according to stepper motor 102 existing speed V2 arrive order step number (corresponding step ST11) in time t1.When judgement unit 108 judges that can't reach order step number 4600 according to stepper motor 102 existing speed V2 in the time goes on foot (Cs), for example only can arrive for 4460 steps.Even and if judgement unit 108 judge raising speed also can't be when time t1 reaches the order step number (corresponding to step ST12), just block the command signal of driver element 106, permit stepper motor 102 with the longer time, for example prolong a period of time t3, allow the stepping motor finish 4600 step of order step number (Cs) (corresponding to step ST13-2).Can satisfy following condition in this example:
Cs=V2 x t2+V3 x t3, t1=t2 wherein, V2=V3.
Though the present invention discloses as above with preferred embodiment; right its is not in order to limit the present invention; anyly have the knack of this skill person; without departing from the spirit and scope of the present invention; when can doing a little change and retouching, so protection scope of the present invention is as the criterion when looking the claim person of defining of the present invention.
Claims (23)
1. stepper motor supervisory control system, monitor a stepper motor, this stepper motor is by a drive unit drives, this driver element sends a command signal, and drive this stepper motor and repeat following action, revert to this start position from a starting point rotated position again to a final position, this stepper motor control system comprises:
One encoder, machinery are coupled to this stepper motor, detect the state of this stepper motor and send a status signal;
One judgement unit, receive this command signal of this driver element and this status signal of this encoder in real time, with the difference of this command signal and this status signal over time as an error information, and judge that according to this command signal and this status signal this stepper motor is to be in following any state: from this start position, be in the action, arrive this final position, revert to the state of this start position, when judging that this stepper motor is in state in the action, this error information of this moment is recorded as a tracking error, and judges whether to send warning according to this tracking error;
One reports the unit, is coupled to this judgement unit, when this judgement unit judgement will be sent warning, carries out one and reports function.
2. stepper motor supervisory control system as claimed in claim 1, wherein, when this judgement unit judges that this stepper motor is in the state that revert to this starting point, this error information of this moment is recorded as point tolerance together, and judges whether to send warning according to this point tolerance.
3. stepper motor supervisory control system as claimed in claim 1, wherein, this status signal comprise in the acceleration of the speed of step number, this motor of this motor and this motor at least one, this command signal comprise order step number, command speed, and the order acceleration at least one.
4. stepper motor supervisory control system as claimed in claim 1, wherein, when the relation of this command signal and this status signal satisfied following formula, this judgement unit is judged will send warning:
(| this status signal-this command signal |/this command signal) predetermined value.
5. stepper motor supervisory control system as claimed in claim 1, also comprise a feedback line, wherein this judgement unit Jie issues revised command signal by this feedback line and gives this stepper motor, makes this stepper motor arrive the pairing order step number of this command signal with at least two steps.
6. stepper motor supervisory control system as claimed in claim 5, wherein, this at least two step comprises when this stepper motor arrives the order step number Sc of appointment after this command signal is time t1, should split at least two sections time t2, t3 in the time t1, speed V2 at t2 this stepper motor in the time, at the speed V3 of t3 this stepper motor in the time, adjust this t2, t3, V2, V3 make and satisfy following formula:
Sc=V2 x t2+V3 x t3, wherein t1=t2+t3.
7. stepper motor supervisory control system as claimed in claim 5, wherein, this at least two step comprises when this stepper motor arrives the order step number Sc of appointment after this command signal is time t1, during greater than this time t1, split at least two sections time t2, t3, speed V2 at t2 this stepper motor in the time, at the speed V3 of t3 this stepper motor in the time, adjust this V2, t3 and make and satisfy following formula:
Sc=V2 x t2+V3 x t3, t1=t2 wherein, V2=V3.
8. stepper motor supervisory control system as claimed in claim 1, wherein, this is reported the unit and comprises a buzzer.
9. stepper motor supervisory control system as claimed in claim 1, wherein, this driver element comprises an analog digital input-output unit, and simulation command is changed into digital command with as this command signal.
10. stepper motor supervisory control system as claimed in claim 1 also comprises a capacitive filter, is coupled in this and reports between unit and this encoder.
11. a stepper motor method for supervising is monitored a stepper motor, this stepper motor repeats following action, revert to this start position from a starting point rotated position again to a final position, and this stepper motor method for supervising comprises:
The command signal that real-time status signal and this stepper motor that detects this stepper motor received;
With the difference of this command signal and this status signal over time as an error information, and judge that according to this command signal and this status signal this stepper motor is to be in following any state: from this start position, be in the action, arrive this final position, revert to the state of this start position, when judging that this stepper motor is in state in the action, this error information of this moment is recorded as a tracking error, and judges whether to send warning according to this tracking error.
12. stepper motor method for supervising as claimed in claim 11, wherein, this command signal comprises order step number, command speed, and in the order acceleration at least one, this status signal comprises in the acceleration of the speed of step number, this motor of this motor and this motor at least one.
13. stepper motor method for supervising as claimed in claim 11 also comprises the user mode of judging this stepper motor according to this error information.
14. stepper motor method for supervising as claimed in claim 13 wherein, judges that the user mode of this stepper motor comprises: when sending warning because of this tracking error, judge that this stepper motor has reached ageing state.
15. stepper motor method for supervising as claimed in claim 11 wherein, when the relation of this command signal and this status signal satisfies following formula, is then judged and will be sent warning:
(| this status signal-this command signal |/this command signal) predetermined value.
16. stepper motor method for supervising as claimed in claim 15, wherein, this predetermined value is the artificial error margin value of setting, or learns the error margin value of calculating out according to statistics from this error information Rigen.
17. stepper motor method for supervising as claimed in claim 11, also be included in receive this command signal after, make this stepper motor arrive the pairing order step number of this command signal with at least two steps.
18. stepper motor method for supervising as claimed in claim 17, wherein, this at least two step comprises when this stepper motor arrives the order step number Sc of appointment after this command signal is time t1, should split at least two sections time t2, t3 in the time t1, speed V2 at t2 this stepper motor in the time, at the speed V3 of t3 this stepper motor in the time, adjust this t2, t3, V2, V3 make and satisfy following formula:
Sc=V2 x t2+V3 x t3, wherein t1=t2+t3.
19. stepper motor method for supervising as claimed in claim 17, wherein, this at least two step comprises when this stepper motor arrives the order step number Sc of appointment after this command signal is time t1, during greater than this time t1, split at least two sections time t2, t3, speed V2 at t2 this stepper motor in the time, at the speed V3 of t3 this stepper motor in the time, adjust this V2, t3 and make and satisfy following formula:
Sc=V2 x t2+V3 x t3, t1=t2 wherein, V2=V3.
20. stepper motor method for supervising as claimed in claim 11, wherein, when judging that this stepper motor is in the state that revert to this start position, this error information of this moment is recorded as point tolerance together, and judges whether to send warning according to this point tolerance.
21. stepper motor method for supervising as claimed in claim 20 also comprises the user mode of judging this stepper motor according to this error information.
22. stepper motor method for supervising as claimed in claim 21 wherein, judges that the user mode of this stepper motor comprises: send when warning when play point tolerance because of this, judge that the transmission or the detecting element that couple with this stepper motor need to adjust, proofread and correct, change.
23. a stepper motor method for supervising is monitored a stepper motor, this stepper motor repeats following action, revert to this start position from a starting point rotated position again to a final position, and this stepper motor method for supervising comprises:
Detect a status signal of this stepper motor in real time;
Detect the command signal that this stepper motor received in real time;
The difference that writes down this command signal and this status signal is over time as an error information, judge that according to this command signal and this status signal this stepper motor is to be in following any state: from this start position, be in the action, arrive this final position, revert to the state of this start position, when judging that this stepper motor is in state in the action, this error information of this moment is recorded as a tracking error, when judging that this stepper motor is in the state that revert to this start position, this error information of this moment is recorded as point tolerance together;
According to this error information judge following among both at least one: judge whether whether this stepper motor has reached ageing state, couple with this stepper motor transmission or detecting element need to adjust, proofread and correct, change.
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| CN200810004801XA CN101499764B (en) | 2008-01-31 | 2008-01-31 | Monitoring system and method for stepping motor |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110602296A (en) * | 2019-09-17 | 2019-12-20 | 深圳市万普拉斯科技有限公司 | Method and device for calibrating motion steps of stepping motor and mobile terminal |
| CN110829724A (en) * | 2019-11-18 | 2020-02-21 | 苏州大成有方数据科技有限公司 | High-precision stepping motor capable of dissipating heat quickly and working method thereof |
| TWI748618B (en) * | 2020-08-28 | 2021-12-01 | 威剛科技股份有限公司 | Motor calibration system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110602296A (en) * | 2019-09-17 | 2019-12-20 | 深圳市万普拉斯科技有限公司 | Method and device for calibrating motion steps of stepping motor and mobile terminal |
| CN110602296B (en) * | 2019-09-17 | 2021-01-15 | 深圳市万普拉斯科技有限公司 | Method and device for calibrating motion steps of stepping motor and mobile terminal |
| CN110829724A (en) * | 2019-11-18 | 2020-02-21 | 苏州大成有方数据科技有限公司 | High-precision stepping motor capable of dissipating heat quickly and working method thereof |
| TWI748618B (en) * | 2020-08-28 | 2021-12-01 | 威剛科技股份有限公司 | Motor calibration system |
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