JP2004037246A5 - - Google Patents
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- JP2004037246A5 JP2004037246A5 JP2002194539A JP2002194539A JP2004037246A5 JP 2004037246 A5 JP2004037246 A5 JP 2004037246A5 JP 2002194539 A JP2002194539 A JP 2002194539A JP 2002194539 A JP2002194539 A JP 2002194539A JP 2004037246 A5 JP2004037246 A5 JP 2004037246A5
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- JP
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- Prior art keywords
- position data
- difference
- encoder
- maximum
- speed
- Prior art date
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Claims (3)
モータの実際の使用時の最大回転速度とエンコーダの分解能より、サンプリング周期間の最大位置変化量を算出し、
今回サンプリング時点での位置データと前回サンプリング時点での位置データの差分を算出し、
前記差分が前記最大位置変化量よりも大きく、かつエンコーダ分解能と前記差分の差が前記最大位置変化量よりも大きい場合、今回サンプリング時点の位置データに大きなビット誤りがあると判定し、今回サンプリング時の本当の位置データの推定値を、前回サンプリング時の位置データと前回サンプリング周期の速度とサンプリング周期により計算する、エンコーダ検出位置データのビット誤り検出・推定方法。In an AC servo driver that creates position and speed feedback from position data detected by an encoder, and creates a command for motor drive from the deviation of the position command and speed command and position and speed feedback,
Calculate the maximum amount of change in position during the sampling period from the maximum rotation speed during actual use of the motor and the resolution of the encoder.
Calculate the difference between the position data at the current sampling time and the position data at the previous sampling time,
When the difference is larger than the maximum position change amount and the difference between the encoder resolution and the difference is larger than the maximum position change amount, it is determined that there is a large bit error in the position data at the current sampling time, A bit error detection / estimation method for encoder detection position data, in which an estimated value of true position data is calculated from position data at the time of previous sampling, speed of the previous sampling period, and sampling period.
モータの実際の使用時の最大回転速度とエンコーダの分解能より、サンプリング周期間の最大位置変化量を算出する手段と、 Means for calculating the maximum amount of change in position between sampling cycles from the maximum rotational speed during actual use of the motor and the resolution of the encoder;
今回サンプリング時点での位置データと前回サンプリング時点での位置データの差分を算出する手段と、 Means for calculating the difference between the position data at the current sampling time and the position data at the previous sampling time;
前記差分が前記最大位置変化量よりも大きく、かつエンコーダ分解能と前記差分の差が前記最大位置変化量よりも大きい場合、今回サンプリング時点の位置データに大きなビット誤りがあると判定し、今回サンプリング時の本当の位置データの推定値を、前回サンプリング時の位置データと前回サンプリング周期の速度とサンプリング周期により計算する手段と、 When the difference is larger than the maximum position change amount and the difference between the encoder resolution and the difference is larger than the maximum position change amount, it is determined that there is a large bit error in the position data at the current sampling time, Means for calculating the estimated value of the true position data from the position data at the time of the previous sampling, the speed of the previous sampling period, and the sampling period;
を備えたエンコーダ検出位置データのビット誤り検出・推定機能付ＡＣサーボドライバ。AC servo driver with bit error detection / estimation function for encoder detection position data.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002194539A JP4240195B2 (en) | 2002-07-03 | 2002-07-03 | Bit error detection / estimation method of encoder detection position data, AC servo driver with encoder bit error detection / estimation function, and motor |
| PCT/JP2003/008331 WO2004005856A1 (en) | 2002-07-03 | 2003-06-30 | Method of detecting/estimating bit error of encoder detection position data |
| TW092118106A TW200401880A (en) | 2002-07-03 | 2003-07-02 | Method of detecting/estimating bit error of encoder detection position data |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002194539A JP4240195B2 (en) | 2002-07-03 | 2002-07-03 | Bit error detection / estimation method of encoder detection position data, AC servo driver with encoder bit error detection / estimation function, and motor |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2004037246A JP2004037246A (en) | 2004-02-05 |
| JP2004037246A5 true JP2004037246A5 (en) | 2005-10-20 |
| JP4240195B2 JP4240195B2 (en) | 2009-03-18 |
Family
ID=30112306
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2002194539A Expired - Fee Related JP4240195B2 (en) | 2002-07-03 | 2002-07-03 | Bit error detection / estimation method of encoder detection position data, AC servo driver with encoder bit error detection / estimation function, and motor |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4240195B2 (en) |
| TW (1) | TW200401880A (en) |
| WO (1) | WO2004005856A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3059555B1 (en) * | 2011-06-20 | 2017-12-06 | SEW-EURODRIVE GmbH & Co. KG | Method and device for the cyclical digital transmission of a position value of a moving object with inertial mass |
| JP5943671B2 (en) * | 2012-03-28 | 2016-07-05 | 日本電産サンキョー株式会社 | Encoder device and position data generation method |
| WO2017216938A1 (en) * | 2016-06-16 | 2017-12-21 | 三菱電機株式会社 | Servo control diagnostic system |
| CN109116771B (en) * | 2017-06-22 | 2020-07-28 | 东元电机股份有限公司 | Control command generating method and device |
| TWI733951B (en) * | 2017-11-20 | 2021-07-21 | 達明機器人股份有限公司 | Method for dynamically sampling encoder in motor ripple of a motor |
| CN111614301B (en) * | 2019-02-26 | 2022-01-04 | 达明机器人股份有限公司 | Dynamic sampling method of motor encoder |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0781879B2 (en) * | 1987-03-18 | 1995-09-06 | 株式会社東芝 | Rotation detector |
| DE3860375D1 (en) * | 1987-03-18 | 1990-09-06 | Toshiba Kawasaki Kk | TURNING DETECTOR WITH A SYNCHRO. |
| JP2519426Y2 (en) * | 1988-03-18 | 1996-12-04 | 本田技研工業株式会社 | Vehicle steering angle detector |
| JPH0232060U (en) * | 1988-08-23 | 1990-02-28 | ||
| JPH05312592A (en) * | 1992-05-08 | 1993-11-22 | Matsushita Electric Ind Co Ltd | Position detector |
| JP3367260B2 (en) * | 1995-03-24 | 2003-01-14 | 三菱電機株式会社 | Encoder device and servo motor control device |
| JP3423211B2 (en) * | 1998-03-18 | 2003-07-07 | ブラザー工業株式会社 | Encoder misalignment detector |
-
2002
- 2002-07-03 JP JP2002194539A patent/JP4240195B2/en not_active Expired - Fee Related
-
2003
- 2003-06-30 WO PCT/JP2003/008331 patent/WO2004005856A1/en active Application Filing
- 2003-07-02 TW TW092118106A patent/TW200401880A/en unknown
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