CN101583852A - Absolute value encoder device and multirotation detecting method - Google Patents
Absolute value encoder device and multirotation detecting method Download PDFInfo
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- CN101583852A CN101583852A CNA2008800026235A CN200880002623A CN101583852A CN 101583852 A CN101583852 A CN 101583852A CN A2008800026235 A CNA2008800026235 A CN A2008800026235A CN 200880002623 A CN200880002623 A CN 200880002623A CN 101583852 A CN101583852 A CN 101583852A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
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Abstract
An absolute value encoder device having a good maintainability and consuming a small power during battery power supply and a multirotation detecting method are provided. When a main power supply (3) is changed to battery power supply (4), a first multirotation value computing section (12) acquires the states of multirotation signals (M1, M0) shaped into rectangular waves by a comparator (9) just before the shut down of the main power supply. A second multirotation value computing section (13) acquires the states of the multirotation signals (M1, M0) shaped into rectangular waves just after the battery power supply. A multirotation value correcting section (14) corrects the multirotation value of when the battery power supply is started according to the transitions of the signal sates.
Description
Technical field
The present invention relates to the absolute value encoder of position of rotation that a kind of detection is used in the servo motor of robot, NC lathe etc., relate in particular to a kind of many commentaries on classics amount when detecting power supply and disconnecting, can keep the absolute value encoder device and the detection methods of changeing of absolute position more.
Background technology
Be used in the scrambler of robot etc., the stand-by power supply (for example, with reference to patent documentation 1) of accumulator is carried out in the absolute position when keeping power supply to disconnect when detecting many commentaries on classics amount in the past.
Fig. 8 is the existing block diagram that changes the specific coding apparatus more.
Should change the specific coding apparatus possesses more: test section 21; Wave shaping portion 22 carries out shaping to the detection signal from this test section 21; The count section 23 of changeing in the code signal of wave shaping portion 22 outputs, receive the position signal of MSB (highest significant position) and MSB-1 (next bit of highest significant position) and many revolutions are counted more; Primary power 24 to test section 21, wave shaping portion 22 and count section 23 supply powers that change more; And standby power supply 25, supply with standby power supply to many commentaries on classics count section 23.Also possesses counting signal storage portion 26, the primary power off-state also can be carried out data by standby power supply 25 and be kept, and possessing rotation test section 28, the state of same signal is revised the count value of many commentaries on classics counter during according to the state of counting usefulness signal storage portion 26 and primary power input.
Below, action is described.
Fig. 9 is used to illustrate the existing figure that changes the action of specific coding apparatus more.
Signal MSB that change the counting usefulness and MSB-1 are the position signal in 1/4 cycle that only staggers mutually more, can be divided into 4 states by " H " " L " state that makes up 2 signals in 1 cycle.When motion detection is carried out in the small spinning movement when only disconnecting at primary power,, then can detect 1 circle with interior action if can detect the difference of these 4 states.
Store primary power and be about to disconnect MSB before and " H " " L " state of MSB-1 signal,, only be defined in 1/4 circle and carry out changeing the corrections of count values more with interior small action by the state before and after relatively the primary power of 2 signals disconnects.
MSB before the storage primary power is about to disconnect in memory element in advance and " H " " L " state of MSB-1 signal, for example, scrambler carried out small action when primary power disconnected, and was changed to state B from state A.MSB is " H " in state A, and MSB-1 is " L ", is changed to state B by it, becomes MSB and is " L ", and MBS-1 is the state of " L ", as long as compare A and B when primary power drops into, just can detect once had action.
As shown in Figure 9, if counting switches in the starting point of " 1 ", the end point of " 4 " is carried out, be the switching of not carrying out revolution under the state of " H " then at MBS-1.At MSB-1 is " L ", when MSB is changed to " L " from " H ", becomes from " 4 " and moves to " 5 ", in order to revise the additive operation of carrying out revolution.Be " L " at MSB-1 on the contrary, when MSB is changed to " H " from " L ", becomes from " 5 " and move to " 4 ", in order to revise the subtraction that carries out revolution.
So, existing change in the specific coding apparatuses more, before the monitoring primary power disconnects and the many commentaries on classics countings of primary power when dropping into again with the state of signal, be defined in the small action of primary power in disconnecting and carry out the corrections of changeing count values more.
Patent documentation 1: the spy of Japan opens flat 9-218054 communique
Summary of the invention
But, for the situation that is applied to robot, existing change in the specific coding apparatus more, because can't move by detent etc. with motor when primary power disconnects is prerequisite, so do not carry out the detection of the many commentaries on classics amount of primary power when disconnecting, and the caused Offset portion of small change in location when only revising primary power and dropping into again.In fact, when detent is bad, exist and take place because of gravity causes the change in location that arm falls to being produced, and the situation that many commentaries on classics amount changes.In addition, existence causes motor rotation, the situation that many commentaries on classics amount changes because of external force when primary power disconnects.And, the stopping time in wink takes place in action, if motor just at high speed rotating then exist and surpass amendable boundary value, and the situation that many commentaries on classics amount changes.In these cases, because of initialization for causing operation once more, thereby aspect maintainability, have problems.
In addition,, detect many commentaries on classics amount when primary power disconnects, require to do one's utmost to reduce the consumption electric power of battery feed though the past uses battery feed to many commentaries on classics amount test section supply power.
The present invention is based on the problems referred to above and carries out, and purpose is to provide a kind of absolute value encoder device and the detection methods of changeing more, and the consumption electric power during the good and battery feed of its maintainability is supplied with is little.
In order to address the above problem, the present invention is following formation.
In addition, being characterized as of scheme 2 described inventions, described drive division when battery feed is supplied with to the pulse type power supply of described magnetic field detection component feeding some cycles.
In addition, being characterized as of scheme 3 described inventions, described drive division when battery feed is supplied with according to recurrence interval of the described pulse type power supply of rotational speed conversion of described rotary body.
In addition, being characterized as of scheme 4 described inventions, the rising and the dropping characteristic of the described many rotaring signals the when pulse width of described pulse type power supply can be supplied with according to battery feed are set.
In addition, scheme 5 described inventions are, a kind of many commentaries on classics detection method of absolute value encoder device, described absolute value encoder device possesses: change to detect uses sensor part, possess many commentaries on classics amount of at least 2 magnetic field detection element testing rotary bodies; Drive division drives described magnetic field detection element; Position probing sensor part in single the commentaries on classics detects described rotary body list and changes interior position; More many commentaries on classics amount calculating part makes described many commentaries on classics detections change detection signal mutually with 2 of sensor part output and is converted to square wave by comparer, calculates many commentaries on classics amount according to the many rotaring signals that are converted to this square wave; Position calculation portion in the list commentaries on classics, the interior position detection signal of single commentaries on classics that the interior position probing of described list commentaries on classics is exported with sensor part reads in by AD converter and calculates absolute position in the list commentaries on classics; The power supply switching part, switch mains power and battery feed are supplied with battery feed when primary power disconnects; And the absolute position generating unit, absolute position and described many commentaries on classics amount generate the absolute position in synthetic described single the commentaries on classics, and it is characterized in that described many commentaries on classics amount calculating part possesses: the amount of commentaries on classics more than the 1st calculating part calculates many commentaries on classics amount when primary power is supplied with; And the amount of commentaries on classics more than the 2nd calculating part, when supplying with, battery feed calculates many commentaries on classics amount, many commentaries on classics amount when calculating the primary power supply by the described amount of commentaries on classics more than the 1st calculating part, many commentaries on classics amount when calculating the battery feed supply by the described amount of commentaries on classics more than the 2nd calculating part, obtain when primary power is supplied with and during the switching of battery feed when supplying with power supply be about to switch before and the state of the described many rotaring signals of power supply after just having switched, revise the initial value of the many commentaries on classics amount after power supply switches.
According to scheme 1 described invention, even owing to when primary power disconnects, also calculate many commentaries on classics amount, state according to the many rotaring signals before and after the power supply switching when power supply switches carries out the correction of many commentaries on classics amount, even so many rotaring signals change before and after power supply switches, so long as within regulation, do not calculate many commentaries on classics amount with just can having miscount, can realize the absolute value encoder device that maintainability is good.
According to scheme 2 described inventions, more change detection and use the magnetic field detection element owing to drives with having a rest, so the consumption electric power can further reduce the battery feed supply time at the battery feed service time.
According to scheme 3 described inventions,, can further reduce consumption electric power if the cycle that drives the intermittence when correspondingly setting battery feed and supply with the use rotational speed of motor then can realize driving corresponding to the intermittence of the best of rotational speed.
According to scheme 4 described inventions, the power supply service time that drive the intermittence when if the size of the many commentaries on classics of consideration detection signals or the characteristic of the hardware-in-the-loops such as solid difference of comparer or existing rise time of hardware-in-the-loop are set the battery feed supply, then can realize supplying with more, can further reduce consumption electric power corresponding to the power supplys that change the characteristic of detection signal.
According to scheme 5 described inventions, even owing to when primary power disconnects, also calculate many commentaries on classics amount, state according to the many rotaring signals before and after the power supply switching when power supply switches carries out the correction of many commentaries on classics amount, even so many rotaring signals change before and after power supply switches, so long as within regulation, do not calculate many commentaries on classics amount with just can having miscount, can improve many commentaries on classics amount computation's reliability.
Description of drawings
Fig. 1 is the block diagram of formation of the absolute value encoder device of expression the present invention the 1st embodiment.
Fig. 2 is the many rotaring signals and single figure that changes the relation of interior absolute position of expression the present invention the 1st embodiment.
Fig. 3 is the process flow diagram of action of many commentaries on classics amount correction of expression the present invention the 1st embodiment.
Fig. 4 is the block diagram of formation of the absolute value encoder device of expression the present invention the 2nd embodiment.
Fig. 5 is the movement oscillogram of the many rotaring signals when driving the intermittence of expression the present invention the 2nd embodiment.
Fig. 6 is the time diagram of the action of expression the present invention the 2nd embodiment, is that battery feed is compared when supplying with primary power when supplying with and increased progressively the example of counting position when forward.
Fig. 7 is the time diagram of the action of expression the present invention the 2nd embodiment, is that battery feed is compared when supplying with primary power when supplying with and increased progressively the example of counting position by afterwards the time.
Fig. 8 is the existing block diagram that changes the specific coding apparatus more.
Fig. 9 is used to illustrate the existing figure that changes the action of specific coding apparatus more.
Symbol description
1-changes the detection sensor part more; The 2-drive division; The 3-primary power; The 4-battery feed; 5-power supply switching part; Position probing sensor part in the single commentaries on classics of 6-; The 7-AD converter; Position calculation portion in the single commentaries on classics of 8-; The 9-comparer; Many commentaries on classics of 10-amount calculating part; 11-absolute position generating unit; 12-commentaries on classics more than the 1st amount calculating part; 13-commentaries on classics more than the 2nd amount calculating part; Many commentaries on classics of 14-amount correction portion; 15-intermitten drive division; The 21-test section; 22-wave shaping portion; 23-changes count section more; The 24-primary power; The 25-standby power supply; 26-counting signal storage portion; 28-rotates test section.
Embodiment
Below, with reference to accompanying drawing embodiments of the present invention are described.
Fig. 1 is the block diagram of formation of the absolute value encoder device of expression the present invention the 1st embodiment.
Among the figure, the 1st, many commentaries on classics detect uses sensor part, by constituting across the magnetic field detection element that the space is installed on fixed body with the permanent magnet that is fixed in not shown rotary body.The 2nd, the drive division that drives to magnetic field detection component feeding power supply, the 3rd, primary power, the 4th, battery feed, the 5th, the power supply switching part of switch mains power and battery feed, the 6th, position probing sensor part in single the commentaries on classics, the 7th, reading in from list changes the single AD converter of changeing interior detection signal and being converted to numerical data of interior position probing with sensor part, the 8th, read in the AD transformation result and calculate the interior position calculation portion of single commentaries on classics that list changes interior absolute position, the 9th, many commentaries on classics detection signal of 2 magnetic field detection elements that self-alignment is mutually different is converted to the comparer of the many rotaring signals of square wave in the future, the 10th, read in many commentaries on classics amount calculating part that many rotaring signals calculate many commentaries on classics amount, the 11st, absolute position and many commentaries on classics amount become the absolute position generating unit of absolute position in synthetic single the commentaries on classics.
In addition, many commentaries on classics amount calculating part 10 is made of following: change calculating part 12 more the 1st, calculate many commentaries on classics amount when primary power is supplied with; Change calculating part 13 more the 2nd, when battery feed is supplied with, calculate many commentaries on classics amount; And many commentaries on classics amount correction portion 14, obtain when primary power is supplied with and during the switching of battery feed when supplying with power supply be about to switch before and the state of the many rotaring signals of power supply after just having switched, revise the many commentaries on classics amount after the power supply switching.
The magnetic field detection elements that detect with sensor part 1 that change are made of 2 mutually different elements of position more, if can export by comparer become 1 of square wave enclose in many rotaring signals in 1 cycle.No matter position probing is magnetic-type or optical profile type with sensor part in single the commentaries on classics, as long as can detect absolute position in single the commentaries on classics.Under the situation of magnetic-type, also can be switch detect in single the commentaries on classics with and change more detect usefulness, dual-purpose be to detect in single the commentaries on classics and the elements that change detection more.
Below, the action that many commentaries on classics of the absolute value encoder device of the present invention the 1st embodiment are detected describes.
Power supply switching part 5 in Xiang Duozhuan amount calculating part 10 output switching signals, makes power supply switch to battery feed from primary power after detecting primary power and being disconnected.
Action roughly is divided into 3 kinds.That is, carry out position calculation and many commentaries on classics amount are calculated in single commentaries on classics the primary power supply with in action, only carry out battery feed that many commentaries on classics amount calculates supply with in action during the power supply switching of action and primary power and battery feed.
Below, above-mentioned action is described successively.
(primary power moves in supplying with)
At first, the action in the primary power supply is described.
Fig. 2 is many rotaring signals and single figure that changes the relation of interior absolute position of expression present embodiment.When primary power is supplied with, to the whole supply power of encoder apparatus.M1 and M0 are 2 mutually more rotaring signals of comparer 9 outputs among the figure.With the relation of M1 and M0 is that to have 90 degree phasic difference HI and LO level be that change of form design of the square wave of 50% dutycycle detects with sensor part 1 and comparers 9 more.In addition, for the ease of understanding the relation of absolute position in many rotaring signals and single the commentaries on classics, the preferred formation that the initial point M1 signal of absolute position changes in single the commentaries on classics, but needn't one be decided to be this formations, also can consider as modified value with the Offset portion of the interior absolute position of single commentaries on classics.In the present embodiment, the formation that adopts the initial point M1 signal of absolute position in single the commentaries on classics to change.
Many rotaring signals M1, M0 are read into the amount of commentaries on classics more than the 1st calculating part 12 when primary power is supplied with.When just changeing, increase progressively counting during for LO, during counter-rotating, carry out countdown during for LO at the negative edge of M1 signal and M0 signal at the rising edge of M1 signal and M0 signal.
(battery feed moves in supplying with)
Below, the action in the battery feed supply is described.
When battery feed is supplied with, only detect with sensor part 1, comparer 9 and many commentaries on classics amount calculating part 10 supply powers to promptly commentaries on classics of the part of calculating many commentaries on classics amount more.
Many rotaring signals M1, M0 are read into the amount of commentaries on classics more than the 2nd calculating part 13 when battery feed is supplied with.When just changeing, increase progressively counting during for LO, during counter-rotating, carry out countdown during for LO at the negative edge of M1 signal and M0 signal at the rising edge of M1 signal and M0 signal.
Use has the usefulness of the micro computer of low consumption electric power functions such as sleep pattern as the calculating of many commentaries on classics amount, and the interrupt function of utilizing the signal edge to be caused when low consumption electric power moves promptly increases progressively by the signal edge and the judgement of countdown.Micro computer is converted to sleep pattern when calculating end when interrupting or periodically from the sleep pattern involution.
But, when not having this interrupt function, as long as monitor M1 and M0 signal periodically, when just changeing, when LO is changed to HI and M0 signal for LO, increase progressively counting at the M1 signal, during counter-rotating, when HI is changed to LO and M0 signal for LO, carry out countdown at the M1 signal and get final product.
(action when power supply switches)
Below, the action when power supply is switched describes.
When primary power and battery feed switching, even when supplying with because of primary power and many rotaring signals of difference occurrence positions of the Power Supplies Condition of battery feed when supplying with change, also can carry out the correction of many commentaries on classics amount so that obtain normal many commentaries on classics amount by many commentaries on classics amount correction portion 14.
When power supply switches, export switching signals to many commentaries on classics amount correction portion 14 from power supply switching part 5.When primary power switches to battery feed, the amount of commentaries on classics more than the 1st calculating part 12 obtain primary powers before being about to disconnect many rotaring signals M1 and the state of M0 be M1Last and M0Last.Afterwards, the amount of commentaries on classics more than the 2nd calculating part 13 obtain battery feeds after just having supplied with many rotaring signals M1 and the state of M0 be M1Now and M0Now, the many commentaries on classics amount when many commentaries on classics amount correction portion 14 is revised battery feed and begun according to the state variation of these signals.
Then opposite when battery feed switches to primary power, as M1Last and M0Last obtain battery feed before being about to disconnect many rotaring signals M1 and the state of M0.Afterwards, as M1Now and M0Now obtain primary power after just having supplied with many rotaring signals M1 and the state of M0, the many commentaries on classics amount when revising primary power and begin according to the state variation of these signals.
Fig. 3 is the process flow diagram of action of many commentaries on classics amount correction of expression the present invention the 1st embodiment.
With the situation that switches to battery feed from primary power is that example describes.
Be lower than assigned voltage when primary power drops to, export switching signals to many commentaries on classics amount calculating part 10 from power supply switching part 5,
Then in step 1, the amount of commentaries on classics more than the 1st calculating part 12 reads in M1Last and M0Last,
Subsequently in step 2, power supply switching part 5 switches to battery feed from primary power.
After power supply switched, the amount of commentaries on classics more than the 2nd calculating part 13 read in power supply switching M1Now and M0Now afterwards just in step 3.
Afterwards, in step 4, change correction portion 14 more and judge whether M0Now=LO.
When being, in step 5, further judge whether M1Last=LO and M1Now=HI, when being, promptly in step 4 and step 5 for when being, and when M1Last=LO and M1Now=HI, owing to increase progressively counting position just to change to cross at M0Now=LO, (step 6) limits processings (step 9) and end thereafter so that many commentaries on classics amount+1 in institute.
In step 5,, further in step 7, judge whether M1Last=HI and M1Now=LO for when denying.When being owing to cross the countdown position with counter-rotating, institute so that many commentaries on classics amount-1 (step 8) limits processings (step 9) and end thereafter.
In addition, in step 4 and step 7, in, do not limit processing (step 9) and end yet.
In addition, restriction is treated to surpass the limits value of counting or be lower than at 0 o'clock in many commentaries on classics amount and carries out at the processing of overflowing.
In addition, the primary power involution, when battery feed switched to primary power, the amount of commentaries on classics more than the 2nd calculating part 13 read in M1Last and M1Last, and the amount of commentaries on classics more than the 1st calculating part 12 reads in M1Now and M0Now, because the relevant action of revising is identical, thereby omits its explanation.
When becoming the primary power supply condition by the power supply switching, many commentaries on classics of having revised amount that will obtain from the amount of commentaries on classics more than the 1st calculating part 12 is as initial value, by output absolute position, absolute position in synthetic single commentaries on classics that absolute position calculating part 8 obtains in single commentaries on classics of absolute value generating unit 11.The increase and decrease of the many commentaries on classics amount during after this primary power is supplied with both can be that the initial point of absolute position in single the commentaries on classics passes through the counting that caused, also can be the counting by the amount of commentaries on classics more than the 1st calculating part 12.
So, in the present embodiment, when primary power and battery feed switch, detect before being about to switch and the many rotaring signals after just having switched, because the state according to the many rotaring signals after reaching before carries out the correction of many commentaries on classics amount, even so take place to read in delay etc. because of the caused many rotaring signals of pattern hand-off process of the difference of Power Supplies Condition or the caused many rotaring signals of loop condition or micro computer, and as long as in the error of regulation, just can eliminate the miscount of many commentaries on classics amount, can detect correct absolute position data.
In addition, move with sleep pattern, can realize province's electrification of battery feed by making micro computer.For example, though when primary power is supplied with, need detect many commentaries on classics amount of high speed rotating, detect the M1 edges of signals, calculate many commentaries on classics amount, but when battery feed, implement usually in order to suppress the consumption electric power of many commentaries on classics amount calculating part, the employed micro computer in this loop is moved with sleep pattern,, calculate the method for many commentaries on classics amount by detect the state of M1 signal and M0 signal with some cycles.At this moment,, need only within the limits prescribed, just can eliminate the miscount of many commentaries on classics amount though time delay because of the caused detection signal of pattern hand-off process of the difference of loop condition or micro computer takes place.
Fig. 4 is the block diagram of formation of the absolute value encoder device of expression the present invention the 2nd embodiment.
Among the figure, the 15th, when supplying with, battery feed detects the intermitten drive division of supplying with the pulse type power supply with sensor part 1 to many commentaries on classics.Be to possess the intermitten drive division with the difference of the formation of the 1st embodiment.In the present embodiment, in battery feed was supplied with, Xiang Duozhuan detects and supplies with the power supply of sensor part was intermitten.
Below, many commentaries on classics of the absolute value encoder device of present embodiment are detected action describe.
The same with the 1st embodiment, action roughly is divided into 3 kinds.That is, carry out the primary power that calculates the absolute position and many commentaries on classics amount is calculated in single the commentaries on classics supply with in action, only carry out standby power supply that many commentaries on classics amount calculates supply with in action during the power supply switching of action and primary power and standby power supply.
Below, above-mentioned action is described successively.
(primary power moves in supplying with)
Action during relevant primary power is supplied with, since identical with embodiment 1, so omit its explanation.
(battery feed moves in supplying with)
Below, the action in the battery feed supply is described.
When battery feed is supplied with, though it is the same with the 1st embodiment, only to the part supply power that calculates many commentaries on classics amount, but in the present embodiment, and then the magnetic field detection element of migrating is more, reception only is driven certain hour by intermitten drive division 15 by some cycles from the signal of power supply switching part 5.
That is, during by timer counting some cycles, beginning detects magnetic field detection element (not shown) supply power of using sensor part 1 to many commentaries on classics.Power supply is supplied with through behind the certain hour, and many rotaring signals M1, M0 are read into the amount of commentaries on classics more than the 2nd calculating part 13, stops power supply and supplies with.
Use has the usefulness of the micro computer of low consumption electric power functions such as sleep pattern as the calculating of many commentaries on classics amount.When power supply is supplied with beginning,, read in signal, after stopping power supply and supplying with, calculate action, when finishing, be converted to sleep pattern from the sleep pattern involution.
Many rotaring signals M1 when here, being driven intermittence, the action waveforms of M0 describe.
When intermittently driving, comparer begins output, is needing to a certain degree time till many rotaring signals M1, M0 become steady state (SS) as square wave output.
Fig. 5 is the movement oscillogram of the many rotaring signals when driving the intermittence of present embodiment, and Fig. 5 (a) is after power supply is supplied with beginning, finishes the long situation of time of reading in many rotaring signals M1, M0.At this moment, owing to passed through the enough time, so many rotaring signals are in steady state (SS), the HI of many rotaring signals M1, M0 and the interval of LO are than being 50%:50%.
It (c) is to finish the short situation of time of reading in that Fig. 5 (b) reaches.The output that Xiang Duozhuan detects with comparer before sensor part 1 supply power plays pendulum.Shorten when finishing the time of reading in, the comparer before supplying with according to power supply is output as HI or LO, and the HI of the many rotaring signals that then read in M1, M0 and the interval of LO are than different with 50%:50%.(b) be that M1, M0 are the situations of HI state before power supply is supplied with, the interval of HI and LO (c) is that M1, M0 are the situations of LO state before power supply is supplied with than being HI＞LO, and the interval of HI and LO is than being HI＜LO.
Therefore, because the rising of signal and down position skew, so increase progressively counting or the countdown position also is offset.
But, even rising and down position skew, also as long as (M1, M0) has 1 time in 1 circle continuously, when just changeing, be (HI, LO) → (HI, HI) → (LO, HI) → (LO, LO), when counter-rotating is 4 states of (LO, LO) → (LO, HI) → (HI, HI) → (HI, LO), export 4 states repeatedly corresponding to rotation, when then just changeing, when being changed to HI and M0 signal for LO, LO increases progressively counting at the M1 signal, during counter-rotating, when being changed to LO and M0 signal for LO, HI carries out countdown at the M1 signal.That is, once increase progressively counting or countdown in 1 circle, normally count.By to satisfy the time set power supply service time of this condition, can realize significantly consuming the reduction of electric power.
(action when power supply switches)
In the present embodiment, intermitten drive division 15 drives (the supplying with the pulse type power supply) magnetic field detection of migrating element certain hour by the signal from power supply switching part 5 by some cycles more.So, the power supply service time more in short-term, the rising and the down position of many rotaring signals are offset easily.Processing action when switching about power supply is identical with the 1st embodiment, though flowcharting by employed Fig. 3 of explanation of the 1st embodiment, but understand the action the when power supply when service time, figure illustrated in greater detail the rising of many rotaring signals and down position skew switches here in order further to help.
Fig. 6 is the time diagram of action of expression present embodiment, is that battery feed is compared when supplying with primary power when supplying with and increased progressively the example of counting position when forward.
Fig. 6 (a) is the time diagram when primary power switches to battery feed, is the moment t before power supply is about to switch
-1Detect M1Last=LO, M0Last=LO, the moment t after power supply just switches
+ 1Detect the situation of M1Now=HI.Carrying out+1 this moment revises.In addition, Fig. 6 (b) is the time diagram when battery feed switches to primary power, is the moment t before power supply is about to switch
-1Detect M1Last=HI, M0Last=LO, the moment t after power supply just switches
+ 1Detect the situation of M1Now=LO.Carrying out-1 this moment revises.At M1 from LO be changed to the moment (t of HI thereafter,
+ 1') carry out+1 the counting.
Fig. 7 is opposite with Fig. 6, is that battery feed is compared when supplying with primary power when supplying with and increased progressively the example of counting position by afterwards the time.
Fig. 7 (a) is the time diagram when primary power switches to battery feed, is the moment t before power supply is about to switch
-1Detect M1Last=HI, M0Last=LO, the moment t after power supply just switches
+ 1Detect the situation of M1Now=LO.Carrying out-1 this moment revises.At M1 from LO be changed to the moment (t of HI thereafter,
+ 1') carry out+1 the counting.
In addition, Fig. 7 (b) is the time diagram when battery feed switches to primary power, is the moment t before power supply is about to switch
-1Detect M1Last=LO, M0Last=LO, the moment t after power supply just switches
+ 1Detect the situation of M1Now=HI.Carrying out+1 this moment revises.
Cycle that drive the intermittence when in addition, battery feed is supplied with and power supply service time are associated with realizing the rotational speed that many commentaries on classics amount detects.Hits in 1 circle determined according to the cycle.For the relation (M1, M0) of discerning many rotaring signals M1, M0 4 patterns, carry out minimum setting of obtaining the cycle of 4 samplings in 1 circle for (HI, LO), (HI, HI), (LO, HI), (LO, LO).In addition, because the HI of M1, M0 and the interval beguine of LO according to the decision of power supply service time, are the power supply service time of 4 patterns of (HI, LO), (HI, HI), (LO, HI), (LO, LO) so set the relation (M1, M0) that can discern many rotaring signals M1, M0.Cycle and the power supply service time that drive above-mentioned intermittence can be in advance as parameter settings.
In addition, utilize timer to calculate rotational speed simply, if the cycle that intermittently drives with the conversion pro rata of this rotational speed then can further be reduced consumption electric power according to the cycle of many rotaring signals.In addition, make the power supply service time variable, the power supply service time is transformed to optimum value, can further reduce consumption electric power by comparer output characteristics according to many rotaring signals.
So in the present embodiment, owing to when battery feed is supplied with, use the sensor part supply power by intermittently driving to many commentaries on classics detections, so can further reduce consumption electric power.In addition, because when primary power and battery feed switching, detect before being about to switch and the many rotaring signals after just having switched, state according to the many rotaring signals after reaching before carries out the correction of many commentaries on classics amount, even so drive the difference of caused many rotaring signals during with the primary power supply intermittence when taking place to supply with because of battery feed, and as long as in the error of regulation, just can eliminate the miscount of many commentaries on classics amount, even also can detect correct absolute value position data for the power supply switching in the motor rotation.
The present invention can be applicable to the absolute value encoder of the position of rotation of employed servo motors such as detection machine people, NC lathe.
Claims (5)
1. absolute value encoder device, it possesses: change to detect uses sensor part, possess many commentaries on classics amount of at least 2 magnetic field detection element testing rotary bodies; Drive division drives described magnetic field detection element; Position probing sensor part in single the commentaries on classics detects described rotary body list and changes interior position; More many commentaries on classics amount calculating part makes described many commentaries on classics detections change detection signal mutually with 2 of sensor part output and is converted to square wave by comparer, calculates many commentaries on classics amount according to the many rotaring signals that are converted to this square wave; Position calculation portion in the list commentaries on classics, the interior position detection signal of single commentaries on classics that the interior position probing of described list commentaries on classics is exported with sensor part reads in by AD converter and calculates absolute position in the list commentaries on classics; The power supply switching part, switch mains power and battery feed are supplied with battery feed when primary power disconnects; And the absolute position generating unit, absolute position and described many commentaries on classics amount generate the absolute position in synthetic described single the commentaries on classics, it is characterized in that,
Described many commentaries on classics amount calculating part possesses: the amount of commentaries on classics more than the 1st calculating part calculates many commentaries on classics amount when primary power is supplied with; The amount of commentaries on classics more than the 2nd calculating part calculates many commentaries on classics amount when battery feed is supplied with; And many commentaries on classics amount correction portion, when described primary power is supplied with and during the switching of described battery feed when supplying with, obtain power supply be about to switch before and the state of the described many rotaring signals of power supply after just having switched, revise the initial value of the many commentaries on classics amount after power supply switches.
2. absolute value encoder device according to claim 1 is characterized in that, described drive division when battery feed is supplied with to the pulse type power supply of described magnetic field detection component feeding some cycles.
3. absolute value encoder device according to claim 2 is characterized in that, according to the recurrence interval of the described pulse type power supply of rotational speed conversion of described rotary body.
4. absolute value encoder device according to claim 2 is characterized in that, the rising and the dropping characteristic of the described many rotaring signals the when pulse width of described pulse type power supply can be supplied with according to battery feed are set.
5. many commentaries on classics detection method of an absolute value encoder device, described absolute value encoder device possesses: change to detect uses sensor part, possess many commentaries on classics amount of at least 2 magnetic field detection element testing rotary bodies; Drive division drives described magnetic field detection element; Position probing sensor part in single the commentaries on classics detects described rotary body list and changes interior position; More many commentaries on classics amount calculating part makes described many commentaries on classics detections change detection signal mutually with 2 of sensor part output and is converted to square wave by comparer, calculates many commentaries on classics amount according to the many rotaring signals that are converted to this square wave; Position calculation portion in the list commentaries on classics, the interior position detection signal of single commentaries on classics that the interior position probing of described list commentaries on classics is exported with sensor part reads in by AD converter and calculates absolute position in the list commentaries on classics; The power supply switching part, switch mains power and battery feed are supplied with battery feed when primary power disconnects; And the absolute position generating unit, absolute position and described many commentaries on classics amount generate the absolute position in synthetic described single the commentaries on classics, it is characterized in that,
Described many commentaries on classics amount calculating part possesses: the amount of commentaries on classics more than the 1st calculating part calculates many commentaries on classics amount when primary power is supplied with; And the amount of commentaries on classics more than the 2nd calculating part, when supplying with, battery feed calculates many commentaries on classics amount,
Many commentaries on classics amount when calculating the primary power supply by the described amount of commentaries on classics more than the 1st calculating part, many commentaries on classics amount when calculating the battery feed supply by the described amount of commentaries on classics more than the 2nd calculating part, when primary power is supplied with and during the switching of battery feed when supplying with, obtain power supply and be about to before the switching and the firm state that switches described many rotaring signals afterwards of power supply, revise the initial value of the many commentaries on classics amount after power supply switches.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP046182/2007 | 2007-02-26 | ||
| JP2007046182 | 2007-02-26 | ||
| PCT/JP2008/051634 WO2008105217A1 (en) | 2007-02-26 | 2008-02-01 | Absolute value encoder device and multirotation detecting method |
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| Publication Number | Publication Date |
|---|---|
| CN101583852A true CN101583852A (en) | 2009-11-18 |
| CN101583852B CN101583852B (en) | 2011-03-16 |
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| CN2008800026235A Expired - Fee Related CN101583852B (en) | 2007-02-26 | 2008-02-01 | Absolute value encoder device and multirotation detecting method |
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| Country | Link |
|---|---|
| JP (1) | JP4900473B2 (en) |
| CN (1) | CN101583852B (en) |
| TW (1) | TW200848705A (en) |
| WO (1) | WO2008105217A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613989A (en) * | 2013-11-05 | 2015-05-13 | 日本电产三协株式会社 | Encoder |
| CN104810314A (en) * | 2014-01-29 | 2015-07-29 | 日本电产三协株式会社 | Industrial robot |
| CN107655399A (en) * | 2017-07-12 | 2018-02-02 | 北京军立方机器人科技有限公司 | A kind of multi-turn absolute value encoder and method for detecting position |
| CN108844558A (en) * | 2018-06-29 | 2018-11-20 | 上海共久电气有限公司 | A method of realizing that de-energized is remembered using individual pen absolute value encoder |
| CN113008276A (en) * | 2021-02-20 | 2021-06-22 | 浙江禾川科技股份有限公司 | Battery type magnetic encoder |
| US11342818B2 (en) | 2019-12-23 | 2022-05-24 | Delta Electronics, Inc. | Encoder, motor and controlling method of encoder |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2444864A1 (en) * | 2010-10-22 | 2012-04-25 | Siemens Aktiengesellschaft | Method and device for reducing the energy consumption of an automation machine |
| JP5339094B2 (en) * | 2010-11-10 | 2013-11-13 | 日本精工株式会社 | Electric power steering device |
| JP6005936B2 (en) * | 2011-12-28 | 2016-10-12 | 日本電産サンキョー株式会社 | Encoder and control method of encoder |
| 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 |
| CN106796122B (en) * | 2014-08-21 | 2018-07-10 | 三菱电机株式会社 | voltage supply device |
| JP2016085195A (en) * | 2014-10-29 | 2016-05-19 | パナソニックＩｐマネジメント株式会社 | Rotational position detector of resolver |
| JP2017227457A (en) * | 2016-06-20 | 2017-12-28 | アズビル株式会社 | Detecting device, and detecting method |
| JP7324060B2 (en) * | 2019-06-11 | 2023-08-09 | ファナック株式会社 | Position detector |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09218054A (en) * | 1996-02-15 | 1997-08-19 | Omron Corp | Multi-rotation type absolute encoder |
| JPH1038615A (en) * | 1996-07-22 | 1998-02-13 | Omron Corp | Multi-rotary absolute encoder |
| CN1188663C (en) * | 1998-07-23 | 2005-02-09 | 株式会社安川电机 | Absolute encoder |
| JP4344991B2 (en) * | 2003-06-19 | 2009-10-14 | 東芝機械株式会社 | Resolver signal processing device |
-
2008
- 2008-02-01 CN CN2008800026235A patent/CN101583852B/en not_active Expired - Fee Related
- 2008-02-01 WO PCT/JP2008/051634 patent/WO2008105217A1/en active Application Filing
- 2008-02-01 JP JP2009501158A patent/JP4900473B2/en not_active Expired - Fee Related
- 2008-02-18 TW TW097105581A patent/TW200848705A/en not_active IP Right Cessation
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104613989A (en) * | 2013-11-05 | 2015-05-13 | 日本电产三协株式会社 | Encoder |
| CN104810314A (en) * | 2014-01-29 | 2015-07-29 | 日本电产三协株式会社 | Industrial robot |
| CN107655399A (en) * | 2017-07-12 | 2018-02-02 | 北京军立方机器人科技有限公司 | A kind of multi-turn absolute value encoder and method for detecting position |
| CN108844558A (en) * | 2018-06-29 | 2018-11-20 | 上海共久电气有限公司 | A method of realizing that de-energized is remembered using individual pen absolute value encoder |
| CN108844558B (en) * | 2018-06-29 | 2020-05-26 | 上海共久电气有限公司 | Method for realizing power-off position memory by using single-turn absolute value encoder |
| US11342818B2 (en) | 2019-12-23 | 2022-05-24 | Delta Electronics, Inc. | Encoder, motor and controlling method of encoder |
| CN113008276A (en) * | 2021-02-20 | 2021-06-22 | 浙江禾川科技股份有限公司 | Battery type magnetic encoder |
| CN113008276B (en) * | 2021-02-20 | 2022-11-25 | 浙江禾川科技股份有限公司 | Battery type magnetic encoder |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2008105217A1 (en) | 2008-09-04 |
| JP4900473B2 (en) | 2012-03-21 |
| TW200848705A (en) | 2008-12-16 |
| JPWO2008105217A1 (en) | 2010-06-03 |
| CN101583852B (en) | 2011-03-16 |
| TWI360642B (en) | 2012-03-21 |
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