CN105300416A - Absolute encoder and method of transmitting rotational position data - Google Patents
Absolute encoder and method of transmitting rotational position data Download PDFInfo
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- CN105300416A CN105300416A CN201510340257.6A CN201510340257A CN105300416A CN 105300416 A CN105300416 A CN 105300416A CN 201510340257 A CN201510340257 A CN 201510340257A CN 105300416 A CN105300416 A CN 105300416A
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Abstract
The present invention provides an absolute encoder which is able to send rotational position data at high speeds. The absolute encoder (1) belongs to an encoder which can detect a rotational position as the absolute mode for rotational position data. A bit division part (110) can divide the rotational position data in the specified bit length. An increment signal part (120) calculates count values for each division data divided by the bit division part (110) respectively, and sends increment signals corresponding to the count values to an upper device (2).
Description
Technical field
The present invention relates to a kind of absolute type encoder and rotary position data transmission method, particularly relate to a kind of absolute type encoder and the rotary position data transmission method that can accelerate the transmission time of rotary position data.
Background technology
In the past, there is a kind of device that be called as the scrambler of magnetic or optical profile type of position of rotation as rotary position data that can detect the axle of motor etc.Further, in the encoder, there is the following two kinds: the scrambler (hereinafter referred to as incremental encoder) relatively detecting the incremental mode of position of rotation; And detect the scrambler (hereinafter referred to as absolute type encoder) of absolute mode of absolute position of rotation.
Wherein, incremental encoder exports spike train as increment signal according to the swing offset amount of axle.And, absolute type encoder can export and represent how all spin datas of rotating speed of rotating output shaft and the data (hereinafter referred to as " rotate a circle interior data ") of the interior position of rotation that rotates a circle of the rotating output shaft rotary position data as absolute value.
Further, in absolute type encoder, can the rotary position data of absolute value be converted to the increment signal identical with the scrambler of incremental, and use two transmission lines being called A, B phase to send.
Such as, in patent documentation 1, following technology is described: the absolute type encoder sent by increment signal by the rotary position data of absolute value.
Patent documentation 1: Japanese Unexamined Patent Publication 2002-365089 publication
Summary of the invention
Invent technical matters to be solved
But in the absolute type encoder that patent documentation 1 is recorded, there are the following problems: the umber of pulse of transmission may become huge, thus cause spended time in transmission.
Such as, in Figure 5, the transmission example that the how all spin datas of utilization are 15 bits, the interior data that rotate a circle are the absolute type encoder of the resolution of 17 bits is shown.
When being transmitted in the lump by the rotary position data of this absolute value, the rotary position data that must be 32 bits by the total bit number added up to is sent by increment signal.That is, transmission is needed to be 2 to the maximum
32the data of=4294967295 umber of pulses.In this case, if the transfer rate of spike train (hereinafter referred to as " pulsation rate ") is 500k pulse/sec, then maximum transmission time is: 2
3239 points, pulse/500k pulse/sec=8590 second=2 hours.
In view of the above circumstances, the object of the invention is to solve the problem.
The technical scheme that technical solution problem adopts
Absolute type encoder of the present invention can detect the rotary position data of position of rotation as absolute value, and the feature of described absolute type encoder is, comprising: bitslicing unit, and it splits described rotary position data with the bit length of regulation; And increment signal transmitting element, it respectively to each partition data count value split by described bitslicing unit, and sends the increment signal corresponding with this count value.By such formation, the transmission time can be shortened.
The feature of absolute type encoder of the present invention is, described rotary position data is comprise how all spin datas and the data of the interior position of rotation that rotates a circle, namely to rotate a circle the data of interior data continuous Bit String mutually.By such formation, suitable Segmentation Number can be selected.
The feature of absolute type encoder of the present invention is, described bitslicing unit becomes the mode of equal bit number to split with described each partition data.By such formation, can the transmission time be become the shortest, thus improve the reliability of transmission.
The feature of absolute type encoder of the present invention is, described increment signal transmitting element sends the segmentation designation data of Segmentation Number and/or the total bit number comprising described rotary position data by increment signal.By such formation, even if Zong upper equipment does not know Segmentation Number and/or the bit number of divided data, also can data transmission be carried out.
The feature of absolute type encoder of the present invention is, described increment signal transmitting element sends the verification msg comprising the aggregate value of described each partition data by increment signal.By such formation, the reliability of the transmission of rotary position data can be improved.
The feature of absolute type encoder of the present invention is, described increment signal transmitting element makes to comprise error detection data respectively in described each partition data, and is sent by increment signal.By such formation, the reliability of the transmission of partition data can be improved.
The feature of absolute type encoder of the present invention is, described each partition data is split described each partition data with the Segmentation Number that can be sent within the stipulated time by described increment signal transmitting element by described bitslicing unit.By such formation, within the stipulated time, reliably rotary position data can be sent.
The feature of absolute type encoder of the present invention is, described increment signal transmitting element responds sending request of the rotary position data of the upper equipment from connection, sends the increment signal corresponding with the count value of described each partition data.By such formation, can the structure of simplification device.
The feature of absolute type encoder of the present invention is, also can comprise a part for described how all spin datas and the described interior data that rotate a circle in one in each partition data split by described bitslicing unit.By such formation, easily the Segmentation Number of rotary position data can be set as most suitable value.
The feature of absolute type encoder of the present invention is, described bitslicing unit is when total bit number of described rotary position data is odd number, the Segmentation Number of the odd number be divided with this odd number is divided into described each partition data, described bitslicing unit is when total bit number of described rotary position data is even number, and the Segmentation Number of the even number be divided with this even number is divided into described each partition data.By such formation, when becoming the Segmentation Number of multiple, the segmentation of equal bit length can be carried out, or carry out with the segmentation under suitable Segmentation Number.
Rotary position data transmission method of the present invention utilizes can detect the absolute type encoder of position of rotation as the rotary position data of absolute value, the feature of described rotary position data transmission method is, by described rotary position data with the segmentation of the bit length of regulation, respectively to divided each partition data count value, and send the increment signal corresponding with this count value.By such formation, the transmission time can be shortened.
Invention effect
According to the present invention, by with the bit length of regulation segmentation rotary position data, and send the increment signal corresponding with the count value of divided each partition data respectively, provide a kind of can the absolute type encoder of the absolute rotary position data of fast transport.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of the control system involved by embodiments of the present invention.
Fig. 2 is the process flow diagram of the rotary position data transmission processing involved by embodiments of the present invention.
Fig. 3 (a), Fig. 3 (b), Fig. 3 (c) and Fig. 3 (d) are the concept maps of the rotary position data transmission processing involved by embodiments of the present invention.
Fig. 4 (a) and Fig. 4 (b) are the concept maps of the transmission of rotary position data involved by another embodiment of the present invention.
Fig. 5 shows the concept map of the transmission example utilizing existing absolute type encoder.
Embodiment
< embodiment >
(structure of control system X)
With reference to Fig. 1, the structure of the control system X involved by embodiments of the present invention is described.Control system X is configured to comprise upper equipment 2, control part 10, motor 11 and scrambler portion 12.
Wherein, control part 10 and scrambler portion 12 play function as the absolute type encoder 1 of present embodiment.
Control part 10 is by controlling the driving of motor 11 from the control signal of upper equipment 2.Further, control part 10 such as responds the absolute data request from upper equipment 2, obtains rotary position data from scrambler portion 12, and transfers to upper equipment 2 by increment signal.
Control part 10 such as comprises control amplifier, microcontroller, digital signal processor (DSP) and special IC (ASIC) etc.
Motor 11 makes to rotate as axle S axis centered by rotation A of rotating output shaft according to the control signal from control part 10.
Motor 11 is the common servo motor etc. comprising rotor (rotor), bearing (bearing), stator (stator) and bracket (bracket) etc.
The scrambler of position of rotation as the absolute mode of the rotary position data of absolute value can detect in scrambler portion 12.The angle of the axle S coaxial with motor 11 detects all the time as rotary position data in scrambler portion 12.This rotary position data comprises the interior data that rotate a circle of the how all spin datas representing the number of times that axle S rotates and the angle representing axle S.Further, rotary position data is how all spin datas is the data of continuous print Bit String with the interior data that rotate a circle.Wherein, how all spin datas are the resolution of several bit to tens of bits, and the interior data that rotate a circle are the respectively rate of several bit to hundreds of bit.
Further, scrambler portion 12 exports rotary position data according to the instruction from control part 10 to control part 10.Now, scrambler portion 12 such as also can export in the mode of serial communication or parallel communications.
Further, scrambler portion 12 such as comprises the angle detection mechanism of magnetic or optical profile type, microcontroller, digital signal processor (DSP) and special IC (ASIC) etc.
Further, scrambler portion 12 is built-in with battery, even if therefore under the state of not powering to control part 10 and motor 11, if by driving shaft S such as external force, then also can continue to store rotary position data in built-in medium.
Upper equipment 2 is that the client (client) controlling motor 11 uses equipment.Upper equipment 2 obtains the rotary position data detected, and the control signal corresponding with the rotary position data obtained is sent to control part 10.Further, upper equipment 2 is such as having the logic card etc. of the various equipment of microcontroller.
Further, upper equipment 2 the transmission line such as receiving increment signal and the absolute data request for obtaining rotary position data with transmission line be connected with control part 10 respectively.In this case, receive increment signal transmission line by offset respectively by phase place 90 degree signal HL edge send these two transmission lines of A, B phase etc. form.
(structure of control part 10)
Illustrate in greater detail, control part 10 comprises bitslicing portion 110 and increment signal sending part 120.
The rotary position data obtained from scrambler 12 is divided into multiple partition data with the bit length of regulation by bitslicing portion 110.Now, bitslicing portion 110 is split in the mode that each partition data is equal bit number.Like this, when rotary position data is the continuous data of how all spin datas and the interior data that rotate a circle, in the partition data split by bitslicing portion 110, the situation of the part comprising how all spin datas and rotate a circle interior data is also had.That is, rotary position data independently can be split with how all spin datas with the border of the bit of the interior data that rotate a circle in bitslicing portion 110.
Further, rotary position data is divided into the partition data of more than three by preferred bitslicing portion 110.In addition, how all spin datas and the interior data that rotate a circle also can be split by bitslicing portion 110 respectively.
Further, bitslicing portion 110 is when total bit number of rotary position data is odd number, and the Segmentation Number of the odd number be divided with this odd number is divided into each partition data.Similarly, bitslicing portion 110 is when total bit number of rotary position data is even number, and the Segmentation Number of the even number be divided with this even number is divided into each partition data.
Further, split the Segmentation Number of rotary position data as bitslicing portion 110, control part 10 calculates the Segmentation Number that can send within the stipulated time by increment signal sending part 120 and uses each partition data.This stipulated time is about the several seconds.
Therefore, bitslicing portion 110 sets Segmentation Number in the mode of the maximum transmission time calculated by following formula (1) not enough stipulated time.
Maximum transmission time=and 2^a* (total bit number/a) }/pulsed frequency ... (1)
At this, a represents the bit number of partition data.
Increment signal sending part 120 is respectively to each partition data count value split by bitslicing portion 110.Further, the increment signal corresponding with the count value calculated each partition data is sent to upper equipment 2 by increment signal sending part 120.
Now, first, increment signal sending part 120 sends the segmentation designation data of the head signal before the transmission of each partition data etc. by increment signal.This segmentation designation data comprises the Segmentation Number of rotary position data and/or total bit number.Further, split designation data such as to comprise: the data mode of the bit number of how all spin datas of rotary position data and the interior data that rotate a circle, integer, BCD (decimal system of binary code), Gray code, fixed point or floating-point etc.; The presence or absence of symbol; And the information of high priority or the preferential data ordering of low level etc.Further, in segmentation designation data, also can comprise the information of the mode of error detection data etc.
Further, increment signal sending part 120 also can send the verification msg of the pin signal after as the transmission completing each partition data etc. by increment signal.This verification msg such as comprise the aggregate value of each partition data part or all, School Affairs or hash data etc.Verification msg such as only sends bit number part identical with each partition data.
Further, increment signal sending part 120, when sending each partition data, also can make the error detection data comprising parity checking etc. in partition data respectively send.This parity checking is such as even parity check or odd.In this case, parity checking being decided to be odd number or even number about increment signal sending part 120 is be even number or odd number according to the bit number of each partition data and select.
Further, increment signal sending part 120, when sending each partition data, sends each partition data from the low-order bit of rotary position data.Further, on the contrary, increment signal sending part 120 also can send each partition data from the high order bit of rotary position data.
Further, increment signal sending part 120, after the transmission completing rotary position data according to absolute data request, along with the rotation of axle S, exports relative position of rotation by increment signal identically with incremental mode.
(rotary position data transmission processing)
Next, according to Fig. 2 and Fig. 3, the rotary position data transmission processing that the absolute type encoder 1 utilized involved by embodiments of the present invention carries out is described.
In the rotary position data transmission processing of present embodiment, rotary position data is divided into partition data with the bit length of regulation, and is transmitted by increment signal in units of this partition data.Now, before transmission partition data, send segmentation designation data.Further, after transmission partition data, verification msg is sent.
The control program (not shown) be stored in medium together cooperates with each several part by the rotary position data transmission processing of present embodiment mainly control part 10, and uses hardware resource to carry out.
Below, by the process flow diagram of Fig. 2, substep is described the detailed content of rotary position data transmission processing.
(step S101)
First, bitslicing portion 110 carries out rotary position data acquisition process.
Bitslicing portion 110, when have received the absolute data request from upper equipment 2, obtains rotary position data from scrambler portion 12.Now, bitslicing portion 110 obtains for the mode of successive bits string with how all spin datas and the interior data that rotate a circle.
How all spin datas that Fig. 3 (a), Fig. 3 (b) show acquisition are 15 bits 19187, and the interior data that rotate a circle are the example of 17 bits 62179.In this example embodiment, these collect for total bit number is the Bit data of 32 by bitslicing portion 110.If specifically describe, then when how all spin datas be 19187=0b100101011110011, the interior data that rotate a circle be 62179=0b01111001011100011, rotary position data is successive bits string, i.e. 0b10010101111001101111001011100011.
In addition, in the example of Fig. 3 (b), although describe for high order bit how all spin datas be continuous print Bit String for the interior data that rotate a circle of low-order bit, it be the low-order bit interior data that rotate a circle is high order bit that such as bitslicing portion 110 also can accumulate how all spin datas.Further, the order of preserving data both can be high priority, also can be that low level is preferential.Further, how all spin datas and each bit of interior data of rotating a circle can be the data of signed integer, BCD data, Gray code, fixed point or floating-point etc. or conversion unified be various forms apart from the above.
(step S102)
Next, bitslicing portion 110 carries out rotary position data dividing processing.
Bitslicing portion 110 is computed segmentation number from total bit number of the rotary position data for continuous print Bit String, splits with the bit length specified.Now, the mode that bitslicing portion 110 is such as mutually equal bit number with divided partition data is split.In addition, in the aliquant situation of bit length that total bit number of rotary position data is prescribed, there is remaining bit.In this case, the remaining bit of the partition data of the bit of its remainder is set to " 0 " etc., to become the bit number equal with other partition data by bitslicing portion 110.
Such as, if when total bit number of rotary position data is 29 bit, split with 8 bit lengths, then become the data of three 8 bits and the data of 5 bits, and the data supplementing of 5 bits is set to the 3 bit parts of " 0 " etc., to become the bit number equal with other three data.
Bitslicing portion 110 calculates the Segmentation Number that can send within the stipulated time by the formula as above-mentioned formula (1).And, in addition, bitslicing portion 110 is when total bit number of rotary position data is odd number, to become the Segmentation Number of the odd number that this odd number is divided to be divided into each partition data, when total bit number of rotary position data is even number, to become the Segmentation Number of the even number that this even number is divided to be divided into each partition data.
Bitslicing portion 110, after calculating Segmentation Number, such as, falls into a trap to calculate from this Segmentation Number and total bit number and carries out the bit length of the regulation split, and make the mask data of the bit length of this regulation.In this example embodiment, bitslicing portion 110 obtains the logic product of this mask data and rotary position data to obtain partition data.Afterwards, 110 pairs, bitslicing portion rotary position data carries out the displacement etc. repeating the bit length specified of Segmentation Number-1 time, is divided into partition data.The form of this partition data and initial rotary position data has nothing to do, and is treated to the integer not having symbol.
In the example of Fig. 3 (c), use when the bit length specified is 8 identical bit, rotary position data has been divided into the example of four.If specifically describe, then, when each partition data converts the integer not having symbol to, become 0b10010101=149,0b11100110=230,0b11110010=242,0b11100011=227.
(step S103)
Next, bitslicing portion 110 carries out partition data buffer zone specimens preserving.
Bitslicing portion 110 is such as to preserve in the buffer zone of divided partition data in not shown medium from the low-order bit of rotary position data to the order of high order bit.Now, when there is remaining bit, such as, 0 is added.
Further, bitslicing portion 110 makes segmentation designation data and verification msg, and preserves in the buffer.Bitslicing portion 110 makes segmentation designation data comprise total bit number of the Segmentation Number of such as rotary position data, the bit number of partition data and/or rotary position data.
Further, bitslicing portion 110 such as calculates the aggregate value etc. of the value of the partition data as verification msg.
In the example of Fig. 3 (c), bitslicing portion 110 preserves for 149,230,242,227 of each partition data in the buffer respectively.Further, bitslicing portion 110 preserves as the Segmentation Number 4 comprising rotary position data of segmentation designation data and the data of total bit number in the buffer in this example embodiment.Further, the total of each partition data as verification msg, i.e. 149+230+242+227=848 are preserved in the buffer by bitslicing portion 110 in this example embodiment.
In addition, when partition data is preserved in the buffer by bitslicing portion 110, also can calculate parity checking etc. and preserve in the lump.Further, the data of the bit number part of only preserving regulation also can be configured to for verification msg.
(step S104)
Next, increment signal sending part 120 carries out segmentation designation data transmission processing.
Sending data initial of independent increment signal transmission unit 120, increment signal sending part 120 reads the segmentation designation data as head signal from buffer zone and sends to upper equipment 2.Increment signal sending part 120 converts segmentation designation data to the spike train corresponding with the count value of the bit length specified when this transmission, and is sent by increment signal.Now, Segmentation Number and total bit number send with respective predetermined time interval by increment signal sending part 120 respectively.
In the example of Fig. 3 (c), increment signal sending part 120 sends the increment signal of 4 pulses corresponding with Segmentation Number 4 as segmentation designation data, next, sends the increment signal of 32 pulses.
In addition, increment signal sending part 120 can using the data beyond the Segmentation Number in segmentation designation data as transmissions such as pin signals.
(step S105)
Next, increment signal sending part 120 carries out partition data transmission processing.
Increment signal sending part 120 reads each partition data from buffer zone, and is sent to upper equipment 2 by increment signal.Increment signal sending part 120 is such as to send partition data from the partition data corresponding with the low-order bit of rotary position data to the order of the partition data corresponding with high order bit.Now, increment signal sending part 120 is sent in the increment signal of the spike train corresponding with the count value of partition data comprised in segmentation designation data.
If specifically describe, then increment signal sending part 120 calculates the count value of the partition data sent, and sends the increment signal of the spike train corresponding with this count value by the pulsation rate of regulation.Such as, when the bit number of partition data is " 8 ", for there is no a symbol integer under the count value to 8 bits (0 ~ 255).
Increment signal sending part 120 is after sending the increment signal carrying out the partition data sent, standby before to predetermined time interval.
Fig. 3 (d) shows the example of the spike train of the count value sending each partition data transmission processing.When being such as 227 for the partition data carrying out sending, increment signal sending part 120 sends the increment signal corresponding with the spike train of 227 pulses.Afterwards, till increment signal sending part 120 waits until predetermined time interval, such as, the order with 242,230,149 similarly sends the increment signal of the spike train corresponding with the count value of partition data.
In addition, increment signal sending part 120 such as makes to comprise parity checking etc. in partition data and sends.Further, increment signal sending part 120 such as also can send this parity checking etc. in addition.
(step S106)
Next, increment signal sending part 120 determines whether to be sent completely.When increment signal sending part 120 completes the transmission of the increment signal of all divided partition datas, be judged to be.Beyond this, control part 10 is judged to be no.
In a case of yes, process is advanced into step S107 by increment signal sending part 120.
In a case of no, process is back to step S105 by signal transmission unit 120, continues the transmission of partition data.
(step S107)
When completing the transmission of all partition datas, increment signal sending part 120 carries out verification msg transmission processing.
From buffer zone, the verification msg read as pin signal sends to upper equipment 2 increment signal sending part 120.Increment signal sending part 120 such as converts verification msg to spike train with the bit length specified identically with partition data with segmentation designation data, and is sent by increment signal.Thus, the transmission of the rotary position data corresponding with the absolute data request from upper equipment 2 is completed.
(step S108)
Next, increment signal sending part 120 carries out position deviation transmission processing.
After transmission rotary position data, increment signal sending part 120 exports relative position of rotation by increment signal identically with common incremental mode.Now, increment signal sending part 120 using send rotary position data with exported by increment signal as pulse in the difference (hereinafter referred to as " position deviation ") of the rotating speed or angle that send the axle S under time point.
Thus, in the process above, even if moved by axle S such as external force, position of rotation changes, and also can upgrade up-to-date position of rotation.
By the above, complete the rotary position data transmission processing involved by embodiments of the present invention.
(utilizing the rotary position data of upper equipment 2 to receive process)
At this, upper equipment 2 is described by process during above-mentioned rotary position data transmission processing reception data.
Upper equipment 2, when receiving partition data, converts thereof into Bit data with the bit length of each regulation, recovers to rotary position data.
In the example of above-mentioned Fig. 3, upper equipment 2 receives segmentation designation data, and receive in order as each partition data 227,242,230,149 pulse.After this upper equipment 2 to receive as verification msg 848, and compare with the aggregate value of partition data, confirms whether partition data is received reliably.
Next, upper equipment 2 converts each partition data to Bit data.In the example in figure 3,0b11100011,0b11110010,0b11100110,0b10010101 is become respectively.As mentioned above, when receiving from the low-order bit of rotary position data, being one if collect, being 0b10010101111001101111001011100011.
Further, as shown in the example in figure 3, upper equipment 2 obtains how all spin datas of 15 bit parts and the interior data that rotate a circle of 17 bit parts from the rotary position data summarizing reception.That is, how all spin datas become 0b100101011110011, and the interior data that rotate a circle become 0b01111001011100011.If these to be converted to the integer not having symbol, then how all spin datas become 19187, and the interior data that rotate a circle become 62179, thus revert to and send data consistent.
(the main effect that embodiments of the present invention relate to)
By above-mentioned formation, following effect can be obtained.
In the past, if merely send absolute rotary position data by increment signal, then became very impracticable owing to spending the great time.
On the other hand, absolute type encoder 1 involved by embodiments of the present invention is to detect the absolute type encoder of position of rotation as rotary position data, it is characterized in that having: with the bitslicing portion 110 of the bit length specified segmentation rotary position data; And respectively to each partition data count value split by bitslicing portion 110, and send the increment signal sending part 120 of the increment signal corresponding with this count value.
That is, the absolute type encoder 1 of present embodiment, when rotary position data being transferred to the upper equipment 2 after absolute type encoder 1, with the bit length specified segmentation rotary position data, and is transmitted by increment signal.
By such formation, compared with situation about transmitting regardless of undercutting row, the transmission time can be shortened.Further, by with increment signal transmission, compared with the situation of serial transmission, application-specific integrated circuit etc. is not needed at receiver side, thus can simplification device.Further, compared with the situation of parallel transmission rotary position data, transmission line can be reduced.That is, when sending rotary position data, without the need to many parts and polygamy linearize, thus data are given and accepted, process becomes easy, and increment signal can be used to transmit data at short notice.Thereby, it is possible to the cost of the system of reduction.
Be described with object lesson, when 32 all Bit datas are as shown in Figure 5 the rotary position data of " 1 ", if split from low-order bit with every 8 bits, such as, 255 can be divided into existence four data.
That is, partition data becomes 255=0b11111111,255=0b11111111,255=0b11111111,255=0b11111111 respectively.
Thus, the umber of pulse namely should transmitted is 255 × 4=1020, and when pulsation rate is 500k pulse/sec, maximum transmission time is:
1020 pulses/500k pulse/sec=2.04 millisecond.
That is, in the past, the data of 232=4294967295 umber of pulse are to the maximum in transmission, when pulsation rate is 500k pulse/sec, maximum transmission time be 2 hours 39 points, and in the absolute type encoder 1 of present embodiment, 2.04 milliseconds can be shortened into.
And, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, rotary position data is comprise how all spin datas and the data of the interior position of rotation that rotates a circle, namely to rotate a circle the data of interior data continuous Bit String mutually, also can comprise how all spin datas and a part for the interior data that rotate a circle in one in each partition data split by bitslicing portion 110.
Like this, being by how all spin datas and the interior data continuous print data that rotate a circle by being configured to rotary position data, because total bit length is elongated, the options of Segmentation Number can being increased, thus suitable Segmentation Number can be selected.
Further, without the need to sending respectively with the form of how all spin datas and the interior data that rotate a circle, thus the transmission time can be shortened.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, bitslicing portion 110 carries out the bit number splitting to make each partition data become equal.
Like this, split in the mode becoming equal bit length by the segmentation be configured under the bit length that specifies, can be become in the transmission time the shortest.Further, the possibility of the counting failure of pulse when utilizing upper equipment 2 to receive can be reduced.Thus, improve the reliability of the transmission of rotary position data.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, increment signal sending part 120 sends the segmentation designation data of Segmentation Number and/or the total bit number comprising rotary position data by increment signal.
Like this, send by being configured to the data that make only to comprise Segmentation Number in segmentation designation data or the data comprising Segmentation Number and total bit number, segmentation designation data can be resolved due to upper equipment 2 and receive partition data, even if therefore upper equipment 2 does not know Segmentation Number and the bit length of divided data, also data transmission can be carried out.
Further, as the initial head signal sent, by sending the data comprising Segmentation Number and total bit number, even without being set in upper equipment 2 by the bit number of partition data in advance, also partition data can be transmitted.Further, can time interval of computational rules easily by upper equipment 2, set etc. in advance even without by upper equipment 2, also reliably can obtain rotary position data.Consequently, also can tackle the change etc. that style changes and absolute type encoder 1 is own neatly, thus can cost of development be cut down.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, increment signal sending part 120 sends the verification msg comprising the aggregate value of each partition data by increment signal.
By such formation, in upper equipment 2, verification msg can be resolved, and whether the rotary position data of checking reception recovery is correct easily.Thereby, it is possible to improve the reliability of the transmission of rotary position data.
Further, by holding the total numerical value of whole divided data in data verification portion, the calculating of the quantity of spike train becomes simple.
Further, by carrying out the transmission in the data verification portion of the pin signal after sending as rotary position data, can reliably detect transmission by upper equipment 2 and whether completing.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, each partition data is split with the Segmentation Number that can be sent within the stipulated time by increment signal sending part 120 in bitslicing portion 110.That is, the absolute type encoder 1 of present embodiment is dividing in the maximum transmission time calculated by above-mentioned formula (1) is Segmentation Number within the stipulated time.
Like this, by the time sets Segmentation Number according to the rules, within the stipulated time, reliably rotary position data can be sent.Further, can ensure and the transmitting time wanting seeking time etc. to coordinate from client, thus can reliability be improved.Further, optimal control can be carried out according to the instruction accurately from upper equipment 2.
And, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, bitslicing portion 110 is when total bit number of rotary position data is odd number, the Segmentation Number of the odd number be divided with this odd number is divided into each partition data, when total bit number of rotary position data is even number, the Segmentation Number of the even number be divided with this even number is divided into each partition data.
Like this, segmentation under the bit length being divided into odd number or even number to specify if be configured to, then be multiple at total bit number of how all spin datas and the interior data that rotate a circle, such as, when 21 bits, 33 bits are such, the segmentation under equal bit length can be carried out.Further, due to the selection of Segmentation Number can be increased, thus suitable segmentation can be selected.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, increment signal sending part 120 responds sending request of the rotary position data of the upper equipment 2 from connection, sends the increment signal corresponding with the count value of each partition data.
Like this, by being configured to be transmitted to upper equipment 2 by increment signal, compared with the absolute type encoder that transmits with existing serial or parallel, without the need to the application-specific integrated circuit and Duo Gen transmission line etc. of the upper equipment 2 of receiver side, thus can simplification device.Thereby, it is possible to reduction system cost.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, increment signal sending part 120 makes to comprise error detection data respectively in each partition data, and is sent by increment signal.
Like this, by being configured to add parity checking etc. to divided partition data, when having taken defeat of partition data, can be detected by upper equipment 2, thus each partition data and the overall data reliability when transmitting of rotary position data can be improved.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, the bit number that increment signal sending part 120 makes each partition data become equal respectively, and count value.
By such formation, even if there is remaining bit when splitting rotary position data, also partition data can be sent with equal predetermined time interval.Therefore, it is possible to simplify the process undertaken by the upper equipment 2 of receiver side, thus cost can be cut down.
Further, the feature of the absolute type encoder 1 involved by embodiments of the present invention is, also can comprise how all spin datas and a part for the interior data that rotate a circle in one in each partition data split by bitslicing portion 110.
Like this, also how all spin datas can be comprised and the interior data that rotate a circle by being dividing in in divided multiple data, can no matter how all spin datas and the interior data that rotate a circle bit length and freely split, even if be mixed with how all spin datas and the interior data that rotate a circle, also can freely be set to most suitable Segmentation Number.
(another embodiment 1)
Except above-mentioned embodiment, also can determine each bit length of partition data according to the parameter that can set at upper equipment 2 side, i.e. client-side.Below, this structure alternatively 1 is described.
According to Fig. 4 (a), be described as object lesson: as the parameter representing the bit length of regulation split by upper equipment 2, represent that the parameter list of the bit length of parameter designation and partition data is specified by client, and be set in control part 10.This parameter list is such as stored in built-in medium as inner parameter (client setting) by control part 10 in advance, and for reference during segmentation rotary position data.Or also can send from upper equipment 2 and not be stored in built-in medium.At this, the bit length of partition data such as can be appointed as the value from 0 to 24.
In Fig. 4 (a), show following example: as this inner parameter, the bit length of the partition data corresponding with the parameter designation " 0 " of parameter list, " 1 " is individually set into " 14 ", " 16 ".That is, in the example of Fig. 4 (a), from high order bit, parameter designation 0 is set to 14 bits, is set to 16 bits to parameter designation 1.
Set like this, when total bit number of rotary position data is 32 bit, if send absolute data request from upper equipment 2, then rotary position data is divided into partition data and sends by control part 10.In another embodiment 1, as the process of the transmission of this rotary position data, from high order bit with the parameter designation 0,1 with inner parameter ... corresponding bit length is split, and is sent to upper equipment 2 by the increment signal that the rotary position data transmission processing with above-mentioned embodiment is identical.Now, such as, the rotary position data of transmission is divided with the state that " aligns right " from low-order bit (bit number) side.Therefore, in the example of Fig. 4 (a), high-order 2 bits become the data be not sent out, and high order bit 14 bit continued is sent out, and next, 16 bits continued are sent out.In addition, in Fig. 4 (a), " * " represents arbitrary bit or numerical value.
Like this, by being configured to the bit length of the regulation utilizing the parameter list comprising the bit length of partition data sent by upper equipment 2 to set, rotary position data is divided into each partition data, can with the arbitrary bit length segmentation rotary position data of being specified by client.
Thereby, it is possible to coordinate with the control program etc. of upper equipment 2, be divided into the partition data of the bit length easily restored.Further, in rotary position data, only can obtain the data of the bit length needed, thus the transmission time of rotary position data can be shortened.Thus, such as, after require that absolute data request, transmit again owing to require that within official hour, therefore when the high order bit etc. without the need to how all spin datas, rotary position data can be obtained at high speed.
Such as, in addition, in another embodiment 1, in the parameter list of client, by the bit length of partition data is appointed as " 0 ", even if it is also invalid for inserting the value of specifying partition bit length to parameter designation after that.That is, in the example of Fig. 4 (a), set the parameter designation of the bit length " 0 " of partition data, the parameter after " 2 " becomes invalid.
If with the example explanation that other are concrete, such as, when the bit length corresponding with the parameter designation " 0 " of parameter list, " 1 ", " 2 ", " 3 ", " 4 ", " 5 " is respectively set at " 8 ", " 8 ", " 8 ", " 0 ", " 4 ", " 4 ", rotary position data is only divided with the bit length of three " 8 " setting before bit length " 0 ".That is, after the bit length " 0 " of parameter designation " 3 ", even if set two bit lengths " 4 ", but these parameters are also invalid.Therefore, if total bit number of rotary position data is decided to be 32 bits, then in this example embodiment, because rotary position data is sent by from low level side (aligning right), therefore high-order 8 bits become the data be not sent out.Therefore, 8 bits of the high order bit after 8 bits be not sent out are sent out, and next, 8 bits continued are sent out, and finally, 8 remaining bits are sent out.
(another embodiment 2)
Further, the bit length of total bit number of rotary position data also can be exceeded to the parameter list setting illustrated in another embodiment 1 above-mentioned.Below, this structure alternatively 2 is described.
According to Fig. 4 (b), as object lesson, for total bit number of rotary position data be 32 bits, bit length corresponding to the parameter designation " 0 " with parameter list, " 1 ", " 2 ", " 3 ", " 4 ", " 5 " be set to respectively " 2 ", " 8 ", " 8 ", " 8 ", " 8 ", " 0 " situation be described.
In this example embodiment, control part 10 to " 0 " of partial configuration 2 bit part having exceeded 32 bits, and can make upper equipment 2 identify the transmitting time of existence 2 bit part, thus sends the partition data of parameter designation 0.After, control part 10 sends four with the partition data of every 8 bitslicings identically with another embodiment 1 above-mentioned.
Like this, also can be specified the bit length of the partition data longer than total bit number of rotary position data by bit length parameter list by the upper equipment 2 being configured to client, even if specify the parameter list longer than total bit number, also can not produce and send rotary position data mistakenly.Thus, even use the structure of multiple not scramblers in specie etc., also can be easily corresponding.Therefore, it is possible to reduction cost of development.
(other embodiments)
In addition, in above-mentioned embodiment, another embodiment 1 and another embodiment 2, although be rotary position data by how all spin datas and the interior tidal data recovering that rotates a circle, the data that also enough transmissions are original separately.In this case, how all spin datas and the interior data that rotate a circle also are divided into partition data respectively.Further, also during the how all spin datas of transmission and the interior data that rotate a circle, with the standby wait of official hour, segmentation can be carried out and sends.
Further, bitslicing portion 110 also can with the bit length of multiple regulation segmentation rotary position data.Further, bitslicing portion 110 can to split at how all spin datas and the specified bit length that the boundary of the bit of the interior data that rotate a circle carries out splitting.In this case, how all spin datas and the interior data that rotate a circle are split with the first specified bit length by bitslicing portion 110, and, also can with the second specified bit length how all spin datas of segmentation and interior data that rotate a circle.Further, how all spin datas and the interior data that rotate a circle also can be split with different specified bit length by bitslicing portion 110.
By such formation, can coordinate with the bit number of rotary position data or precision etc. and split, can with the respective outer side edges of control system X, carry out the transmission of rotary position data flexibly.
Further, in above-mentioned embodiment, another embodiment 1 and another embodiment 2, the example that total bit number of rotary position data is 32 is illustrated, but is not limited to this.That is, 64 can also be split than the rotary position data of top grade except 32 bits.
By such formation, the rotary position data of arbitrary total bit number can be split.Further, by the setting of equipment or style change etc., even if the bit number change of how all spin datas and the interior data that rotate a circle, also can be corresponding.
Further, in the above-described embodiment, send from the partition data of the low-order bit being equivalent to rotary position data although describe, also can, as another embodiment 1, another embodiment 2, be configured to send from high order bit.
Further, by parity checking etc. or verification msg, when have detected the mistake of each partition data of transmission, the order of the rotary position data of transmission can also be changed.
That is, such as, with the low-order bit of spinning position data to high order bit order send partition data time, when have detected mistake, upper equipment 2 requires to transmit again.In this case, the control part 10 of absolute type encoder 1 also can to send to the order of low-order bit from high order bit in transmitting again.Further, in transmitting, bitslicing portion 110 also can change bit length or the Segmentation Number of regulation again.Thus, in upper equipment 2, the presumption at mistake place can be carried out and determine.Further, in transmitting, increment signal sending part 120 also can change predetermined time interval again.
By such formation, the impact of character and noise etc. of the clock of upper equipment 2, pulsation rate, transmission line can be reduced, thus reliably send rotary position data by increment signal.
Further, in the rotary position data transmission processing of above-mentioned embodiment, the example about transmitting from control part 10 to upper equipment 2 is described.
But the send mode of the rotary position data transmission processing of present embodiment also goes for the transmission from scrambler portion 12 to the position of rotation of control part 10.
By such formation, for the connection of scrambler portion 12 with control part 10, also cost can be cut down.Further, by reducing transmission line, can noise be reduced, and improve the precision obtaining angle.
Further, in the above-described embodiment, although send segmentation designation data as head signal, the midway that also can be inserted in the transmission of pin signal or partition data sends.
Further, in the above-described embodiment, parity checking etc. can be added to partition data, and further the main idea of adding verification msg is illustrated.But can be any one in parity checking etc. or verification msg, also can be the structure of not mistake in measuring ability.
Further, in the above-described embodiment, although describe the example each partition data being calculated to parity etc., be not limited to this, also for calculate multiple parities etc. to each partition data, or the structure of the parity corresponding with multiple partition data etc. can be calculated.
By such formation, the data relevant with the transmission of rotary position data can be sent neatly.
In addition, for the formation of above-mentioned embodiment and action, can suitably change without departing from the scope of spirit of the present invention.
Label declaration
1 absolute type encoder
2 upper equipment
10 control parts
11 motors
12 scrambler portions
110 bitslicing portions
120 increment signal sending parts
A turning axle
S axle
X control system
Claims (11)
1. an absolute type encoder, it can detect the rotary position data of position of rotation as absolute value, and the feature of described absolute type encoder is, comprising:
Bitslicing unit, it splits described rotary position data with the bit length of regulation; And
Increment signal transmitting element, it respectively to each partition data count value split by described bitslicing unit, and sends the increment signal corresponding with this count value.
2. absolute type encoder according to claim 1, is characterized in that,
Described rotary position data is comprise how all spin datas and the data of the interior position of rotation that rotates a circle, namely to rotate a circle the data of interior data continuous Bit String mutually.
3. absolute type encoder according to claim 1 and 2, is characterized in that,
Described bitslicing unit becomes the mode of equal bit number to split with described each partition data.
4. the absolute type encoder according to any one in claims 1 to 3, is characterized in that,
Described increment signal transmitting element sends the segmentation designation data of Segmentation Number and/or the total bit number comprising described rotary position data by increment signal.
5. the absolute type encoder according to any one in Claims 1-4, is characterized in that,
Described increment signal transmitting element sends the verification msg comprising the aggregate value of described each partition data by increment signal.
6. the absolute type encoder according to any one in claim 1 to 5, is characterized in that,
Described increment signal transmitting element makes comprise error detection data respectively in described each partition data and sent by increment signal.
7. the absolute type encoder according to any one in claim 1 to 6, is characterized in that,
Described bitslicing unit is with the described each partition data of the Segmentation Number that can be sent within the stipulated time by described increment signal transmitting element segmentation.
8. the absolute type encoder according to any one in claim 1 to 7, is characterized in that,
Described increment signal transmitting element responds sending request of the rotary position data of the upper equipment from connection, sends the increment signal corresponding with the count value of described each partition data.
9. the absolute type encoder according to any one in claim 1 to 8, is characterized in that,
Also a part for described how all spin datas and the described interior data that rotate a circle can be comprised in one in each partition data split by described bitslicing unit.
10. the absolute type encoder according to any one in claim 3 to 9, is characterized in that,
Described bitslicing unit is when total bit number of described rotary position data is odd number, and the Segmentation Number of the odd number be divided with this odd number is divided into described each partition data,
Described bitslicing unit is when total bit number of described rotary position data is even number, and the Segmentation Number of the even number be divided with this even number is divided into described each partition data.
11. 1 kinds of rotary position data transmission methods, its utilization can detect the absolute type encoder of position of rotation as the rotary position data of absolute value, and the feature of described rotary position data transmission method is,
Described rotary position data is split with the bit length of regulation,
Respectively to divided each partition data count value, and send the increment signal corresponding with this count value.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014-126089 | 2014-06-19 | ||
| JP2014126089A JP2016004013A (en) | 2014-06-19 | 2014-06-19 | Absolute encoder and method for transmitting rotational position data |
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| CN105300416A true CN105300416A (en) | 2016-02-03 |
| CN105300416B CN105300416B (en) | 2018-11-09 |
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| CN201510340257.6A Active CN105300416B (en) | 2014-06-19 | 2015-06-18 | Absolute type encoder and rotary position data transmission method |
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| JP (1) | JP2016004013A (en) |
| KR (1) | KR20150145710A (en) |
| CN (1) | CN105300416B (en) |
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| CN110941208A (en) * | 2018-09-25 | 2020-03-31 | 发那科株式会社 | Encoder and control system |
| CN110940359A (en) * | 2018-09-25 | 2020-03-31 | 发那科株式会社 | Encoder and control system |
| CN111006697A (en) * | 2019-10-25 | 2020-04-14 | 珠海格力电器股份有限公司 | Position data processing and transmission control system, method and application of encoder |
| CN111506120A (en) * | 2020-05-14 | 2020-08-07 | 深圳市星辰智能控制有限公司 | Design method of ABZ pulse of regenerative encoder in servo control |
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| JP6877168B2 (en) * | 2017-02-14 | 2021-05-26 | 日本電産サンキョー株式会社 | Rotary encoder and its absolute angle position detection method |
| KR20180106561A (en) * | 2017-03-21 | 2018-10-01 | 성균관대학교산학협력단 | Multi-turn absolute encoder, method for detecting rotation angle of the same, and computer readable recording medium for detecting rotation angle of the same |
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Also Published As
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| CN105300416B (en) | 2018-11-09 |
| KR20150145710A (en) | 2015-12-30 |
| JP2016004013A (en) | 2016-01-12 |
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