EP4088376A1 - Anordnung eines elektromotors mit einem geber - Google Patents
Anordnung eines elektromotors mit einem geberInfo
- Publication number
- EP4088376A1 EP4088376A1 EP21707212.3A EP21707212A EP4088376A1 EP 4088376 A1 EP4088376 A1 EP 4088376A1 EP 21707212 A EP21707212 A EP 21707212A EP 4088376 A1 EP4088376 A1 EP 4088376A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- encoder
- signal
- electric motor
- control unit
- connection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/30—Structural association with control circuits or drive circuits
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
-
- 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
- G01D21/00—Measuring or testing not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/42—Devices characterised by the use of electric or magnetic means
- G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P31/00—Arrangements for regulating or controlling electric motors not provided for in groups H02P1/00 - H02P5/00, H02P7/00 or H02P21/00 - H02P29/00
Definitions
- the present invention relates to an electric motor which can be connected to a control unit in order to receive an actuating signal from the control unit.
- the present invention further relates to an arrangement comprising an electric motor according to the invention, a control unit, a transmitter, a transmitter cable and a connecting cable.
- the present invention also relates to a method for operating an electric motor, a transmitter signal from a transmitter being transmitted to a control unit, the control unit determining an actuating signal using the transmitter signal and transmitting it to the electric motor.
- Electric motors are often used in industrial systems, especially in machine tools, packaging machines, industrial robots, etc.
- a control variable of an electric motor is controlled by a control unit by specifying an actuating signal.
- at least one transmitter is required, which supplies a transmitter signal which is fed back to the control unit.
- encoders e.g. a master encoder and one or more slave encoders, can also be provided.
- the master encoder is often integrated on the electric motor (master), but the slave encoder is arranged on a slave and thus remote from the electric motor.
- a (slave) encoder is thus arranged on the slave, e.g.
- the control unit processes the encoder signal and uses it to calculate a manipulated variable, which is transmitted to the electric motor as a control signal. This results in a large amount of cabling; In particular, adding, removing or exchanging sensors is particularly complex because of the long cable connections between the sensors and the control unit.
- the electric motor has a transmitter connection which is designed to receive a transmitter signal from a transmitter, the electric motor having a signal connection which is designed to transmit the transmitter signal to the control unit. It can be in an arrangement of an electric motor according to the invention, a control unit, an encoder, an encoder cable and a The connection cable of the encoder connection can be connected to the encoder via the encoder cable in order to receive the encoder signal from the encoder and the signal connection of the electric motor must be connected to the control unit via the connection cable in order to transmit the encoder signal to the control unit.
- the object is also achieved by a method in which the encoder signal is transmitted from the encoder to the electric motor and the encoder signal is transmitted from the electric motor to the control unit.
- the encoder is therefore not connected directly to the control unit via a cable, but rather to the electric motor, preferably via an encoder cable.
- a servomotor can be provided as the electric motor.
- the encoder signal is also transmitted from the electric motor to the control unit.
- the control unit processes the encoder signal and uses it to determine a manipulated variable, which in turn is transmitted to the electric motor. Since the encoder is connected to the electric motor and not directly to the control unit, simpler cabling is ensured, especially if the encoder is positioned close to the electric motor and further away from the control unit.
- By connecting the encoder to the encoder connection of the electric motor there is a modular, simpler connection between the control unit, electric motor and encoder, with the electric motor forming the center. This means that encoders can easily be exchanged, removed or added.
- the signal connection is preferably designed to forward the encoder signal as such to the control unit. This means that the encoder signal from the electric motor is looped through and passed on unchanged to the control unit. Alternatively, the encoder signal can also be processed (e.g. modulated onto a suitable carrier) and transmitted to the control unit in this way.
- the electric motor can be designed to transmit a further transmitter signal from a further transmitter to the control unit.
- the other encoder signal can also be transmitted from the electric motor to the control unit.
- the control unit processes the encoder signal and the other encoder signal and uses this to determine the manipulated variable, which in turn is transmitted to the electric motor.
- the encoder can be provided as a slave encoder and the further encoder as a master encoder.
- the further encoder can be integrated on the electric motor.
- the additional encoder signal is thus available directly on the electric motor and can be transmitted from the electric motor to the control unit.
- an additional encoder especially if the additional encoder is integrated into the electric motor is, for example, a resolver, an incremental encoder, an absolute encoder, etc. can be provided.
- a position for example, can be determined as a further encoder signal by the further transmitter.
- the signal connection is preferably designed to transmit the further encoder signal to the control unit. This means that the signal connection not only transmits the encoder signal, but also the additional encoder signal to the control unit.
- a connection cable can be connected to the signal connection of the electric motor and to the control unit in order to transmit the encoder signal and the additional encoder signal to the control unit via the connection cable. This means that both the encoder signal and another encoder signal can be transmitted to the control unit via a common signal connection and a common connecting cable connected to it, which reduces the cabling effort.
- the signal connection is designed to transmit the encoder signal and the additional encoder signal to the control unit, then in an arrangement comprising the electric motor, the control unit, the encoder, the additional encoder (which can also be integrated on the electric motor), an encoder cable and a connection cable, the encoder connection can be connected to the encoder via the encoder cable in order to receive the encoder signal from the encoder and the signal connection must be connected to the control unit via the connection cable in order to transmit the encoder signal and the additional encoder signal to the control unit.
- the signal connection is preferably designed to forward the further encoder signal as such to the control unit.
- the additional encoder signal can also be processed (e.g. modulated onto a suitable encoder carrier signal) and transmitted to the control unit in this way.
- the encoder signal and the further encoder signal are transmitted to the control unit via an encoder signal line of the connecting cable. This can be done by modulating the encoder signal (and the additional encoder signal) onto a common encoder carrier signal.
- the signal connection can be configured to receive the control signal from the control unit.
- the control signal is preferably transmitted from the control unit to the electric motor via the connecting cable.
- the signal connection is designed to transmit the encoder signal to the control unit and to receive the actuating signal from the control unit, then in an arrangement comprising the electric motor, a control unit of an encoder, an encoder cable and a connection cable, the encoder connection to the encoder via the encoder cable be connected in order to receive the encoder signal from the encoder and the signal connection of the electric motor be connected to the control unit via a connecting cable in order to transmit the encoder signal to the control unit and to receive an actuating signal from the control unit.
- the signal connection is designed to transmit the encoder signal and the further encoder signal to the control unit, as well as to receive the actuating signal from the control unit, then in an arrangement consisting of the electric motor, the control unit, the further encoder (which can also be integrated on the electric motor) , an encoder, an encoder cable and a connecting cable, the encoder connection can be connected to the encoder via the encoder cable in order to receive the encoder signal from the encoder and the signal connection of the electric motor can be connected to the control unit via a connection cable to send the encoder signal and the other encoder signal to the control unit to transmit and to receive a control signal from the control unit.
- the cabling effort can thus be further reduced. If the encoder signal, another encoder signal and control signal are routed via the same connecting cable, for example via a connecting cable with two-wire lines, only one connecting cable is required between the control unit and the electric motor. All that is required is an additional encoder cable between the encoder and the electric motor for the transmission of the encoder signal from the encoder to the electric motor. If a two-wire line is formed by two wires in the connecting cable, signals are transmitted as voltage between the two wires.
- the encoder cable can also be designed as a hybrid cable and transmit other signals in addition to the encoder signal.
- FIGS. 1 a to 4 show exemplary, schematic and non-limiting advantageous embodiments of the invention. It shows
- 1a shows an arrangement of an electric motor, a control unit and a transmitter according to the prior art
- FIG. 2b shows the arrangement with a further encoder 2a shows an arrangement according to the invention comprising an electric motor, a control unit and a transmitter,
- Fig. 1 a known from the prior art arrangement of an electric motor 10 with a control unit 3 and a transmitter 2 is shown.
- the encoder 2 transmits an encoder signal s2 directly to the control unit 3 via a direct line d2.
- the encoder signal s2 can also be modulated onto an encoder carrier and transmitted via the direct line d2.
- the control unit 3 uses the encoder signal s2, calculates a manipulated variable, which is transmitted as a control signal u via a control signal line lu to the electric motor 10 in order to control a controlled variable, for example a torque or a speed, of the electric motor 10.
- FIG. 1b shows the arrangement from FIG. 1 a, with a further encoder 1 integrated here on the electric motor 10 being provided.
- the further transmitter 1 provides the electric motor 10 with a further transmitter signal s1.
- the other encoder 1 can act as a master encoder and the encoder 2 as a slave encoder, with the electric motor 10 serving as the master.
- a slave itself (for example a roller connected to the electric motor 10) is not shown in FIG. 1b.
- the further encoder signal s1 is also transmitted from the electric motor 10 via a further encoder signal line 11 to the control unit 3, wherein the further encoder signal s1 can be transmitted as such via the further encoder signal line 11, or also processed first (for example, modulated onto a further encoder carrier) and then (modulated on the further encoder carrier) can be transmitted via the further encoder signal line 11.
- the control unit 3 calculates the manipulated variable using the encoder signal s2 and the further encoder signal s1. As in the arrangement from FIG.
- FIG. 2a an arrangement according to the invention comprising an electric motor 10 with a control unit 3 and a transmitter 2 is shown in FIG. 2a.
- the control unit 3 calculates a manipulated variable using an encoder signal s2, which is transmitted as a control signal u via the control signal line lu to the electric motor 10, for example to control a torque and / or a speed of the electric motor 10 .
- the electric motor 10 has an encoder connection 11 which is designed to receive the encoder signal u2 from the encoder 2.
- an encoder cable 5 with an encoder line I5 can be provided, which connects the encoder 2 to the electric motor 10 (an encoder cable 5 not shown in FIG. 2a).
- the electric motor 10 has a signal connection 12, which is designed to transmit the encoder signal s2 to the control unit 3.
- the encoder 2 thus generates the encoder signal s2.
- this is not transmitted directly to the control unit 3 via a direct line d2, but to the electric motor 10 via an encoder line I5.
- the electric motor 10 transmits the encoder signal s2 to the control unit 3. This can be done by the encoder signal s2, as such, ie unchanged, is passed on (i.e. looped through) or the encoder signal s2 is first processed (via a processing unit, preferably a modulation unit) and transmitted in processed form (e.g. modulated onto a suitable encoder carrier signal) to the control unit 3.
- a processing unit preferably a modulation unit
- FIG. 2b shows the arrangement from FIG. 2a, but with a further transmitter 1, preferably integrated on the electric motor 10, the further transmitter 1 making a further transmitter signal s1 available to the electric motor 10.
- the further encoder signal s1 is transmitted from the electric motor 10 to the control unit 3 via a further encoder signal line 11.
- the control unit 4 thus calculates a manipulated variable using the encoder signal s2 and the further encoder signal u1, which is transmitted as a control signal u via the control signal line lu to the electric motor 10, for example to control a torque and / or a speed of the electric motor 10.
- Additional encoders can also be connected to the electric motor 10 via additional encoder lines and further encoder signals can be transmitted to the electric motor 10.
- the electric motor 10 preferably also transmits the additional encoder signals to the control unit 3 by forwarding the additional encoder signals as such, i.e. unchanged, or first processed and transmitted in processed form, preferably modulated onto an encoder carrier signal.
- the processing of the further encoder signal s1 can be carried out by a further processing unit (preferably another modulation unit) or - if available - the processing unit (preferably the modulation unit) which is already provided for processing (preferably modulation) the encoder signal s2.
- the encoder connection 11 can be left free or closed with a cover. This is advantageous when the Electric motor 10 also has a further encoder 1, which is preferably integrated on electric motor 10.
- the encoder 2 can be designed as a slave encoder, the other encoder 1 as a master encoder. Slave encoders are preferably provided in order to detect a rotary movement as an encoder signal, the control unit 2 regulating a linear or other kinematic movement and correspondingly calculating a manipulated variable and transmitting it to the electric motor 10.
- linear axes spindle drives
- a linear measuring system in which a linear measuring system is attached
- a winding temperature sensor of the electric motor 10 can be provided as a further encoder 1 (in particular designed as a master encoder), wherein a winding temperature of the electric motor 10 can be provided as a further encoder signal s1.
- the electric motor 10 master
- the electric motor 10 can be connected to a printing roller (slave), e.g. via a gear, with the encoder 2 (as a slave encoder) being arranged on the printing roller.
- the encoder 2 transmits, for example, a speed or an angle of rotation of the printing roller as an encoder signal s2 to the electric motor 10, which forwards the encoder signal s2 to the control unit 4 via the encoder signal line I2.
- the electric motor 10 can, if a further encoder 1 is provided, as shown in FIG.
- the control unit 4 can, for example by means of a cascade control, specify a setpoint speed or a setpoint angle of rotation as a manipulated variable.
- the manipulated variable is transmitted as a manipulated signal u via the manipulated signal line lu to the electric motor 10 in order, for example, to regulate the torque and / or the speed of the electric motor 10.
- the signal connection 12 is designed to transmit the encoder signal s2 and the further encoder signal s1 to the control unit 3.
- the connecting cable 4 comprises a transmitter signal line I2 and a further transmitter signal line 11 in order to transmit the transmitter signal u2 together with the further transmitter signal s1 via the connecting cable 4.
- the signal connection 12 is designed to receive the control signal u from the control unit 3, which is why the connecting cable 4 also includes the control signal line lu in order to transmit the control signal u from the control unit 3 to the electric motor 10.
- an encoder cable 5 with an encoder line I5 is preferably provided, which is connected to the encoder 2 and the encoder connection 11 of the electric motor 10 and thus connects the encoder 2 to the electric motor 10.
- the encoder signal u2 and / or control signal u can of course also be transmitted to / from the control unit 3 via a separate connecting cable, which naturally increases the cabling effort compared to a transmission via a common connecting cable 4.
- a particularly advantageous embodiment is shown in FIG.
- the encoder signal s2 and the further encoder signal s1 are transmitted here together via an encoder signal line 112 of the connecting cable 4.
- Encoder signal line 112 required.
- a two-wire connection for example, can be provided as the transmitter signal line 112.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
ATA50129/2020A AT523594A1 (de) | 2020-02-21 | 2020-02-21 | Anordnung eines Elektromotors mit einem Geber |
PCT/EP2021/054094 WO2021165439A1 (de) | 2020-02-21 | 2021-02-19 | Anordnung eines elektromotors mit einem geber |
Publications (1)
Publication Number | Publication Date |
---|---|
EP4088376A1 true EP4088376A1 (de) | 2022-11-16 |
Family
ID=74673212
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP21707212.3A Pending EP4088376A1 (de) | 2020-02-21 | 2021-02-19 | Anordnung eines elektromotors mit einem geber |
Country Status (5)
Country | Link |
---|---|
US (1) | US20230074502A1 (de) |
EP (1) | EP4088376A1 (de) |
CN (1) | CN115104252A (de) |
AT (1) | AT523594A1 (de) |
WO (1) | WO2021165439A1 (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20230142572A1 (en) * | 2021-11-09 | 2023-05-11 | Nidec Motor Corporation | Dual encoder system for electric motor |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6844692B1 (en) * | 2003-08-22 | 2005-01-18 | Hella Electronics Corp. | Climate control system and motor actuator therefor |
DE102010027938A1 (de) * | 2010-04-20 | 2011-10-20 | Robert Bosch Gmbh | Schaltung zum Anschluss einer elektrischen Last an ein Steuergerät |
DE102010043172A1 (de) * | 2010-10-29 | 2012-06-06 | Continental Teves Ag & Co. Ohg | Aktuatorsystem und Betriebsverfahren für ein Aktuatorsystem |
CN203104203U (zh) * | 2012-12-12 | 2013-07-31 | 东莞市黑泽精密机械有限公司 | 凸轮机构 |
ES2765408T3 (es) * | 2013-10-22 | 2020-06-09 | Nidec Motor Corp | Codificador de diagnóstico de máquina |
JP2016123237A (ja) * | 2014-12-25 | 2016-07-07 | 株式会社ジェイテクト | モータユニット |
WO2017130268A1 (ja) * | 2016-01-25 | 2017-08-03 | 三菱電機株式会社 | 制御装置 |
-
2020
- 2020-02-21 AT ATA50129/2020A patent/AT523594A1/de unknown
-
2021
- 2021-02-19 US US17/800,911 patent/US20230074502A1/en active Pending
- 2021-02-19 EP EP21707212.3A patent/EP4088376A1/de active Pending
- 2021-02-19 CN CN202180014603.5A patent/CN115104252A/zh active Pending
- 2021-02-19 WO PCT/EP2021/054094 patent/WO2021165439A1/de active Search and Examination
Also Published As
Publication number | Publication date |
---|---|
WO2021165439A1 (de) | 2021-08-26 |
US20230074502A1 (en) | 2023-03-09 |
AT523594A1 (de) | 2021-09-15 |
CN115104252A (zh) | 2022-09-23 |
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