JP2004318439A - Encoder device and robot system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an encoder device for easily setting the encoder address of a plurality of encoder devices connected to a bus as an arbitrary encoder address, and provide a robot system using this encoder device. <P>SOLUTION: A plurality of encoder devices are attached to a robot system. In this case, an encoder identification code 7b such as the manufacture number of the encoder device is preliminarily stored in a non-volatile memory 7 of a new encoder device. After the encoder device is connected to a bus 8, an external controller part 9 transmits the encoder identification code 7b and an encoder address 7a to be set to the bus 8 by using an encoder address setting command 21b. The encoder device recognizes that its own device is the target according to the encoder identification code 7b, and sets its own encoder address 7a. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an encoder device used for a robot or the like.
[0002]
[Prior art]
The robot is controlled by mounting a plurality of motors and a plurality of encoder devices on a plurality of axes. The plurality of encoder devices are connected by a bus. In some cases, it is necessary to replace an arbitrary encoder device among a plurality of encoder devices connected to the bus. In such a case, as a method of setting the encoder address of the encoder device after replacement, an initial encoder address different from the normally used encoder address is set in the encoder device in advance, and this initial encoder address is used later. There is known a method of setting a desired encoder address (see, for example, Patent Document 1).
[0003]
For example, an initial encoder address is set in advance for a new encoder device to be replaced, and the encoder device is replaced with an old encoder device. Thereafter, a command is transmitted to the replaced new encoder device using the initial encoder address, and a desired encoder address is set.
[0004]
[Patent Document 1]
JP-A-8-313299
[Problems to be solved by the invention]
However, in the above-described method of the related art, an encoder address that is not normally used is assigned to a preset initial encoder address, and only one type can be used. Therefore, when it is necessary to replace a plurality of encoder devices, first, one encoder device is replaced and the command processing using the above-described initial encoder address is performed. Next, another encoder device is replaced again and the same processing is performed. When replacing a plurality of encoder devices, there has been a problem that such processing must be repeated. Further, in such a method, when assembling a new robot, there has been a problem that it is not possible to answer a request to set each encoder address after attaching a plurality of encoder devices.
[0005]
The present invention provides an encoder device capable of easily setting an encoder address of a plurality of bus-connected encoder devices to an arbitrary encoder address, and a robot system using the encoder device.
[0006]
[Means for Solving the Problems]
The invention according to claim 1 is applied to an encoder device, and includes a rewritable encoder address storage unit for storing its own encoder address, an encoder identification information storage unit for storing unique encoder identification information, and a unique encoder from an external device. Processing means for receiving the same encoder identification information as the identification information and storing the encoder address attached to the received encoder identification information as its own encoder address in the encoder address storage means. Things.
The invention according to claim 2 is applied to an encoder device, and sets rewritable encoder address storage means for storing its own encoder address, encoder identification information storage means for storing unique encoder identification information, and encoder identification information. A command receiving means for receiving an encoder address setting command including a power encoder address, and unique encoder identification information stored in the encoder identification information storage means and encoder identification information included in the encoder address setting command received by the command receiving means. It recognizes whether it is an encoder address setting command to its own encoder device based on the, and when it recognizes that it is an encoder address setting command to its own encoder device, the encoder included in the received encoder address setting command Da address is characterized in further comprising a processing means for processing to store the encoder address storage means as its own encoder address.
According to a third aspect of the present invention, a plurality of encoder devices, bus means, and a plurality of encoder devices are connected via the bus means to control the plurality of encoder devices and to receive the encoder data from the plurality of encoder devices and to perform a predetermined operation. Applied to a robot system having control means for controlling the robot of each of the plurality of encoder devices, each encoder device of the plurality of encoder devices, rewritable encoder address storage means for storing its own encoder address, and unique encoder identification information When receiving the same encoder identification information as the unique encoder identification information from the control means, the encoder address attached to the received encoder identification information is stored in the encoder address storage means as its own encoder address. Process to store Control means, when setting an encoder address of an arbitrary encoder device to an arbitrary encoder address, a plurality of encoder addresses via a bus together with an arbitrary encoder address together with unique encoder identification information of the arbitrary encoder device. The data is transmitted to the device.
According to a fourth aspect of the present invention, in the encoder device according to the first or second aspect, the unique encoder identification information is information capable of visually identifying the encoder device from the outside.
According to a fifth aspect of the present invention, in the robot system according to the third aspect, the unique encoder identification information is information capable of visually identifying the encoder device from the outside.
A sixth aspect of the present invention is the encoder device according to the first, second or fourth aspect, further comprising a display unit for displaying unique encoder identification information.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
FIG. 1 is a diagram illustrating a configuration diagram of an encoder device according to the present embodiment. The light from the light emitting unit 1 enters the light receiving unit 3 through the slit of the rotating disk 2. The output signal from the light receiving unit 3 is waveform-shaped by the waveform shaping circuit 4 and input to the signal processing unit 5. The signal processing unit 5 performs a predetermined calculation process to detect a position displacement. A minute slit is formed in the rotating disk 2 in the circumferential direction, and transmits or blocks light when a positional displacement occurs due to rotation. This light change is detected by the light receiving unit 3, and the positional displacement is detected via the waveform shaping circuit 4 and the signal processing unit 5. The method of detecting the position displacement is a known content.
[0008]
The signal processing unit 5 transmits the position displacement detected by performing predetermined arithmetic processing to the transmission / reception driver unit 6 as an encoder signal 5a. The transmission / reception driver unit 6 outputs the encoder signal 5a to the external controller 9 via the bus communication line 8. The signal processing unit 5 receives a command signal 6 a received by the transmission / reception driver unit 6 from the external controller 9 via the bus communication line 8.
[0009]
The encoder signal 5a and the command signal 6a are digital data and are composed of serial data. In the signal processing unit 5, the output timing of the encoder signal 5a is synchronized (start-stop synchronization) with the command signal 6a.
_
[0010]
The nonvolatile memory 7 is connected to the signal processing unit 5. The non-volatile memory 7 stores an encoder address 7a, an encoder identification code 7b, and various mode data 7c. The encoder address 7a is for self-recognizing the encoder divisions ENC1 to ENCn in an n-axis (n ≧ 1 integer) encoder device connected to the bus communication line. Further, the encoder identification code 7b is, for example, a motor serial number described on a label (nameplate) of a motor product to which the encoder is attached, or an encoder serial number. These are product-specific numbers that can be visually identified from the appearance of the encoder device, and are set in advance before being attached to the robot. The various mode data 7c will be described later.
[0011]
FIG. 2 is a diagram illustrating a configuration of a robot (robot system) including n-axis (n ≧ 1 integer) encoder devices ENC <b> 1 to ENCn and an external controller 9. The plurality of encoder devices ENC1 to ENCn are respectively mounted on a plurality of motors (not shown) that drive the n-axis of the robot, and detect rotational displacement of each motor. The external controller unit 9 receives an encoder signal 5a (also referred to as encoder data), which is a position displacement of each motor, from the encoder devices ENC1 to ENCn, and controls various robots based on the data. For example, control is performed to rotate each motor by a predetermined amount.
[0012]
The external controller unit 9 and the encoder devices ENC1 to ENCn have a bus line configuration as shown in FIG. The bus communication line 8 is constituted by a pair of differential transmission signals of SD + 8a and SD-8b (based on the RS485 standard), and a terminating resistor 10 is connected between SD + 8a and SD-8b. Further, a pair of power supply lines VCC and GND are connected to each encoder by the external controller unit 9. That is, the power of the encoder devices ENC1 to ENCn is supplied by the external controller unit 9.
[0013]
In the communication with the external controller unit 9, the present encoder device uses a communication method relating to mode data capable of reading and writing mode data 7 c of the encoder, in addition to a communication method relating to encoder data for outputting position information of a normal encoder. It has two types of communication systems. The mode data 7c is data that determines the performance and specifications of the encoder device such as the communication format, resolution, and transmission speed of the encoder device. The mode data 7c can be set to a predetermined value from the external controller unit 9. The mode data 7c will be described later in more detail.
[0014]
In both communication systems, serial transmission is performed via the bus communication line 8. The transmission speed is set to be different between the two. In the present embodiment, the transmission speed is set to 2.5 Mbps (or 4 Mbps) for encoder data, and to 100 Kbps for mode data. By making the frequency band of the serial transmission signal different so that the serial data is not erroneously recognized between the two, at the same time, by lowering the frequency band for mode data that is important for the encoder, Has a robust configuration.
[0015]
FIG. 3 is a block diagram illustrating an internal configuration of the signal processing unit 5. An encoder data communication circuit 101, a mode data communication circuit 102, an encoder data counting operation unit 103, and a non-volatile memory interface unit 104 are provided. The encoder data communication circuit 101 includes a DLPF (Digital Low Pass Filter) 105, a receiving unit 106, a transmitting unit 107, and a control unit 108. The mode data communication circuit 102 includes a DLPF (digital low-pass filter) 109, a receiving unit 110, a transmitting unit 111, and a control unit 112. The control unit 108 of the encoder data communication circuit 101 is connected to the encoder data counting operation unit 103 and the non-volatile memory interface unit 104. The control unit 112 of the mode data communication circuit 102 is connected to the non-volatile memory interface unit 104.
[0016]
The cutoff frequency of the DLPF 109 is set to a value such that, for example, the above-mentioned 2.5 Mbps encoder data command signal is cut off and the 100 Kbps mode data command signal can pass. The cutoff frequency of the DLPF 105 is set to a value that allows a 2.5 Mbps encoder data command signal to pass through. Therefore, the cutoff frequency of the DLPF 105 is higher than the cutoff frequency of the DLPF 109.
[0017]
This means that the receiving unit 110 of the mode data communication circuit 102 removes the encoder data command signal and receives only the mode data command signal, but the receiving unit 106 of the encoder data communication circuit 101 outputs the encoder data command signal. Command signal and the mode data command signal are input. However, since the two frequencies are different and the frame lengths are different, the receiving unit 106 detects the command signal for mode data as a framing error or the like. Therefore, the receiving unit 106 of the encoder data communication circuit 101 does not erroneously detect the mode data command. With this configuration, the command for encoder data and the command for mode data are distinguished.
[0018]
−Setting of encoder address−
Next, control for setting an encoder address in an encoder device by using a communication method related to encoder data will be described. The command signal 6a here is a command signal relating to encoder data, and has a baud rate of, for example, 2.5 Mbps as described above. Therefore, the encoder data communication circuit 101 of FIG. 3 detects and analyzes the command signal 6a and performs processing corresponding to each command.
[0019]
FIG. 4 is a configuration diagram of the frame format of the command signal 6a. The command signal 6a from the external controller unit 9 is composed of a maximum of four frames of a command data frame CDF, a memory data frame 0MDF0, a memory data frame 1MDF1, and a memory data frame 2MDF2. The idle H state is maintained between each frame.
[0020]
FIG. 5 is a configuration diagram of the command data frame. FIG. 6 is a configuration diagram of a memory data frame. In each frame, a different frame code 2 bit 23 exists for each frame, and it is possible to identify which frame. Further, the function of the command and the configuration of the frame differ depending on the type of the command code 21 in the command data frame in FIG. FIG. 7 is a configuration diagram of the command code 21 of the command data frame. In FIG. 7, functions of a normal encoder data exchange command include a data request command, a clear request command, a memory read request command, and a memory write request command. Other functions include an encoder address setting I command 21a and an encoder address setting II command 21b.
[0021]
The encoder address setting I command 21a is a command for setting an encoder address used in a conventional encoder device constituted by one command data frame. The encoder device that has received the command signal 21a rewrites the encoder address 7a held in the nonvolatile memory 7 with the encoder address 20 set in the command data frame in FIG. The encoder address setting I command 21a is a command used when one-to-one connection with the encoder device is made because the encoder device cannot be selected by the encoder address.
[0022]
As shown in FIG. 7, the encoder address setting II command 21b is a command for setting an encoder address for the encoder device including one command data frame and three memory data frames. FIG. 8 is a configuration diagram of the frame code 23 and the data bits 22 of the memory data frame. As shown in FIG. 8, the memory data frames MDF0 to MDF2 have a predetermined encoder having data bits D0 [0 to 7], D1 [0 to 7], and D2 [0 to 7] in a total of 24 bits. An identification code (24 bits) 22 is set.
[0023]
When the encoder devices ENC1 to ENCn connected to the bus line receive this command signal 21b, each encoder device determines the encoder identification code 7b held in the nonvolatile memory 7 and the encoder identification code set in the memory data frame. Compare with code 22. Only the encoder device that matches as a result of the comparison recognizes that it is the encoder address setting II command 21b for its own encoder device, and stores the encoder address 7a held in the nonvolatile memory 7 in the command data frame of FIG. Rewrite to the set encoder address 20. FIG. 9 is a configuration diagram of the encoder address 20 of the command data frame.
[0024]
FIG. 10 is a diagram showing a flowchart relating to an encoder address setting process in the encoder device. The signal processing unit 5 is configured by an ASIC, and each circuit is configured by a logic circuit. The flowchart of FIG. 10 is provided for understanding the flow of processing of the logic circuit. Specifically, this is the flow of processing of the encoder data communication circuit 101.
[0025]
The external controller unit 9 sets and transmits an encoder identification code and an encoder address of an encoder device to which an encoder address is to be set by manual operation through a controller control panel (not shown) or the like. When the transmission of the encoder address is instructed, the external controller unit 9 generates an encoder address setting II command 21b based on the set encoder identification code and the encoder address, and transmits the command to the bus communication line 8. At this time, the communication speed is set to 2.5 Mbps as described above.
[0026]
In the encoder device, when the power is turned on, an initialization process is performed in step S1 of FIG. In step S2, it is determined whether the command signal 6a has been received. If it is determined that it has been received, the process proceeds to step S3, and if it has not been received, the determination of step S2 is repeated. In step S3, the type of command is determined based on the command code of the command signal 6a. If it is determined that the command is the encoder address setting II command 21b, the process proceeds to step S4. In step S4, it is determined whether or not the encoder identification code set in the data bit of the memory data frame of the encoder address setting II command 21b matches the encoder identification code stored in the nonvolatile memory 7 in advance. If it is determined in step S4 that they do not match, the process returns to step S2 to repeat the processing. If it is determined in step S4 that they match, the process proceeds to step S5.
[0027]
In step S5, the encoder address 7a held in the nonvolatile memory 7 is rewritten to the encoder address 20 set in the command data frame in FIG. 5 via the nonvolatile memory interface unit 104. In step S6, data transmission processing of status information of the encoder device to the external controller unit 9 is performed.
[0028]
If it is determined in step S3 that the command signal 6a is the encoder address setting I command 21a, the process proceeds to step S5. In this case, the external controller unit 9 or an alternative device and the encoder device are connected one-to-one. In step S3, when the command signal 6a determines that the command is a data request 1 command, a data request 2 command, or the like, processing relating to an encoder corresponding to each command is performed. Since this command has an encoder address inserted in the command data frame, the command is compared with its own encoder address stored in the nonvolatile memory 7 to determine whether the command is a command to its own encoder device. If it recognizes that it is a command to its own encoder device, it performs processing based on each command.
[0029]
FIG. 11 is a flowchart illustrating a flow of an operation of mounting the encoder device when assembling the robot. The robot attaches a plurality of encoder devices and connects them with a bus.
[0030]
In step S11, an encoder identification code is set in an encoder device to be attached. Generally, the encoder identification code is necessary because the motor capacity, serial number, etc. are set in the encoder in advance in the upstream process before the mounting work of the encoder device. Absent. In step S12, an encoder device is attached to each axis of the robot. The plurality of mounted encoder devices are connected by a bus line. In step S13, an encoder identification code of the encoder device installed on the specific axis is input to the external controller unit 9. The external controller unit 9 associates with the encoder device installed on each axis of the robot using the encoder identification code. For example, an association table is provided inside the external controller 9.
[0031]
In step S14, a predetermined command signal (encoder address setting II) is sent from the external controller unit 9 to the encoder device. The command signal specifies an encoder identification code of the encoder device and an encoder address to be changed. In step S15, it is confirmed whether or not the encoder address of the encoder device has been correctly set. For example, it checks whether data communication with the encoder device is possible. Steps S13 to S15 are repeated for all of the plurality of attached encoder devices. Thus, the mounting operation of the encoder device is completed.
[0032]
−Setting of mode data−
Next, control for setting mode data in the encoder device by using a communication method for mode data will be described. The command signal 6a here is a command signal relating to mode data, and has a baud rate of, for example, 100 Kbps as described above. Therefore, the mode data communication circuit 102 of FIG. 3 detects and analyzes the command signal 6a and performs processing corresponding to each command.
[0033]
FIG. 12 is a configuration diagram of a frame format of the mode data command signal 6a. The command signal 6a is composed of three frames: a command data frame CDF, a memory data frame MDF, and a memory address frame MAF. The idle H state is maintained between each frame.
[0034]
FIG. 13 is a configuration diagram of the command data frame CDF. FIG. 14 is a configuration diagram of a memory data frame. FIG. 15 is a configuration diagram of a memory address frame. In each frame, a different frame code 2 bit 31 exists for each frame, and it is possible to identify which frame. FIG. 16 is a configuration diagram of the command code 32 of the command data frame. In FIG. 16, there are a mode data read command, a mode data write command 32a, and the like, depending on the type of the command code 32 in the command data frame.
[0035]
The mode data write command 32a is a mode data setting command for the encoder device, which is composed of a command data frame, a memory data frame, and a memory address frame. In the bits of the encoder address 33 in the command data frame, the encoder sections ENC1 to ENCn (FIG. 9) of the encoders whose mode is to be set in the encoder devices connected to the bus line are specified.
[0036]
Address bits 35 in the memory address frame and data bits 34 in the memory data frame include EEPROM addresses (Da0 to Da0) corresponding to predetermined mode data in the nonvolatile memory 7 storing various mode data of the encoder device. Da7) and write data (Dd0 to Dd7) to the address. When the encoder devices ENC1 to ENCn connected to the bus line receive this command signal 32a, each encoder device receives the encoder address 7a stored in the nonvolatile memory 7 and the encoder address specified in the command data frame. Compare with 33. Only the encoder device that matches as a result of the comparison rewrites the predetermined mode data stored in the nonvolatile memory based on the data and the address specified in the memory data frame and the memory address frame.
[0037]
When mode data is individually set for the encoders ENC1 to ENCn of n axes (n ≧ 1) connected to the bus communication line 8, a unique encoder address 7a held by each encoder device is transmitted to a command signal. , And predetermined mode data is specified in a memory data frame and a memory address frame. Thereby, the mode data of the plurality of encoder devices connected to the bus line can be freely rewritten.
[0038]
FIG. 17 is a view showing a flowchart relating to mode data setting processing in the encoder device. The signal processing unit 5 is configured by an ASIC, and each circuit is configured by a logic circuit. The flowchart of FIG. 17 is provided for understanding the flow of the processing of the logic circuit. Specifically, it is a flow of processing of the mode data communication circuit 102.
[0039]
In the external controller 9, mode data is instructed by manual operation through a controller control panel (not shown) or the like. The mode data includes, for example, the type of communication format of the encoder device, the resolution, the transmission speed, and the like. The types of communication formats include those depending on the bit configuration and the number of bits of the frame and those based on the command system. That is, the mode data is data that determines the performance and specifications of the encoder device. The performance and specifications of the encoder device determine the operating environment of the encoder device, and are typically referred to as specifications of the encoder device. The external controller 9 generates a mode data write command 32 a according to the instructed mode data, and transmits the command 32 a to the bus communication line 8. The communication speed at this time is set to 100 Kbps as described above.
[0040]
In the encoder device, when the power is turned on, an initialization process is performed in step S21 of FIG. In step S22, it is determined whether the command signal 6a has been received. If it is determined that it has been received, the process proceeds to step S23. If it has not been received, the determination of step S22 is repeated. In step S23, it is determined whether the encoder address specified by the command signal 6a matches the encoder address stored in the nonvolatile memory 7. If it is determined that they do not match, the process returns to step S22 and the process is repeated. If it is determined that they match, the process proceeds to step S24. Matching means recognizing that it is a command to the own encoder device.
[0041]
In step S24, the type of command is determined based on the command code of the command signal 6a. If it is determined that the command is the mode data write command 32a, the process proceeds to step S25. In step S25, predetermined mode data stored in the nonvolatile memory 7 is rewritten based on the data and address specified in the memory data frame and the memory address frame of the mode data write command 32a.
[0042]
If it is determined in step S24 that the command is a mode data read command, the process proceeds to step S26. In step S26, predetermined mode data stored in the nonvolatile memory 7 is read based on the address specified in the memory address frame of the mode data read command. In step S27, transmission processing of the read mode data is performed.
[0043]
FIG. 18 is a diagram for explaining the relationship between the mode data 7c of the nonvolatile memory 7 and each functional block of the signal processing unit 5. Reference numeral 201 denotes the mode data stored at the address 0xFF of the mode data 7c in the nonvolatile memory 7. Bits 0 and 1 store the resolution SRES 202. Bits 2 and 3 store the transmission rate SBPS203. Bits 4-7 store the communication format SMFT204. The address 0xFF is specified by the address bit 35 of the address frame in FIG. The mode data 201 corresponds to the data bits 34 of the data frame in FIG.
[0044]
The register 205 is a register provided in the signal processing unit 5, and the mode data is written into the nonvolatile memory 7 at the same time as the mode data is written to the nonvolatile memory 7 by the mode data write command 32a. Also in the initialization step S21 of FIG. 17, the mode data 201 of the nonvolatile memory 7 is written in the register 205. At the time of initialization, other mode data in the non-volatile memory 7 are similarly written in the corresponding registers in the signal processing unit 5. The resolution SRES 206, the transmission speed SBPS 207, and the communication format SMFT 208 of the register 205 correspond to the resolution SRES 202, the transmission speed SBPS 203, and the communication format SMFT 204 of the mode data 201.
[0045]
In the present embodiment, for example, four types of communication formats are provided. Each of the communication format blocks 209 to 212 is provided as an independent circuit, and is selected by the selector 213. The selector 213 is connected to the bit data of the communication format SMFT208, and selects the communication format according to the bit configuration. Each of the communication format blocks 209 to 212 corresponds to the encoder data communication circuit 101 in FIG. 3, and it may be considered that there are four encoder data communication circuits 101 in FIG. 3 corresponding to the respective communication format types.
[0046]
Bit data of the transmission speed SBPS 207 is connected to the communication format blocks 209 to 212, and the transmission speed of serial communication can be selected. In this embodiment, as described above, two types of baud rates, 2.5 Mbps and 4 Mbps, can be selected. This is the transmission speed of the encoder data, and the transmission speed of the mode data is fixed to 100 Kbps as described above.
[0047]
The bit data of the resolution SRES 206 is connected to the encoder data counting operation unit 103 (FIG. 3). In the embodiment, for example, 17-bit resolution and 20-bit resolution can be selected. The signals of the pseudo sine waves A-phase and B-phase input from the light receiving unit 3 of FIG. Interpolation processing) is performed to generate encoder data of a predetermined number of bits. At this time, it is possible to select whether to use 17-bit data or 20-bit data as the resolution.
[0048]
The encoder device and the robot system according to the present embodiment described above have the following excellent effects.
(1) In a state where a plurality of n-axis encoder devices are connected to a bus line, an encoder address of each encoder device can be arbitrarily set, so that a predetermined encoder address can be set after an encoder is attached to a robot. Thereby, the work of attaching the encoder device to the robot can be greatly facilitated as compared with the related art. As a result, when assembling the robot, the task of assembling the robot is facilitated.
(2) This is also effective when replacing a plurality of encoder devices. After replacing a plurality of encoder devices, the encoder address of each encoder device can be arbitrarily set later. This also facilitates the replacement work of the encoder device.
(3) Since the encoder identification code allows the encoder device to be visually identified from the outside, the encoder identification code can be confirmed at any time. Thereby, even if the user forgets what encoder identification code is stored in the encoder device, it is possible to immediately confirm it. That is, there is no need to store or record what encoder identification code is stored.
(4) The encoder identification code may be, for example, a production serial number of a motor or a production serial number of an encoder device. This makes it possible to set the encoder identification code, for example, when the encoder device is attached at the motor manufacturing factory. That is, regardless of the process in which the encoder device is used, the encoder identification code can be set in any process, particularly in an upstream process. (5) Since the encoder identification code uses the serial number of the motor, an unlimited number can be set without substantial duplication. In the example of the above embodiment, a combination of numbers that can be specified by 24 bits is possible, and there is practically no limit. On the other hand, the encoder address used for normal exchange of encoder data uses only three bits in the above embodiment. Only when setting the encoder address, the encoder identification code with a longer number of bits is used.However, in the subsequent normal processing, the encoder identification code with a longer number of bits has no effect on the throughput of the encoder device. No effect.
(6) When a plurality of n-axis encoders are connected to a bus line, mode data of each encoder can be set arbitrarily. Therefore, the setting can be changed to a predetermined operation mode after the encoder device is attached at the time of assembling the robot, or after the replacement encoder device is attached at the time of replacement. As a result, the work of attaching and replacing the encoder to the robot can be greatly facilitated as compared with the related art.
(7) There is no need to determine the specifications of the encoder device before attaching it to the robot.
(8) By using the mode setting of the present invention even in the robot completed state, it is possible to change the performance and specifications of the encoder without separating and dismantling the robot.
(9) In the communication with the external controller 9, the present encoder device has two types of communication systems, namely, a communication system relating to encoder data for outputting position information of a normal encoder having a high communication speed and a communication system relating to mode data having a low communication speed. The communication method is adopted. As a result, normal processing can be performed at high speed, and important processing of setting mode data can be performed with high reliability without being affected by noise.
(10) Since the two communication systems are distinguished by a simple circuit such as a filter, problems such as an increase in cost and an increase in the size of the encoder device do not occur.
[0049]
In the above-described embodiment, an example of the encoder device that determines the rotational position of the motor has been described. However, the present invention is not necessarily limited to this. An encoder device for obtaining a linear position may be used. That is, the present invention can be applied to any encoder device and a robot system using the encoder device.
[0050]
In the above-described embodiment, an example in which a digital filter is used inside the signal processing unit 5 has been described. However, the present invention is not necessarily limited to this. An analog filter may be used.
[0051]
In the above-described embodiment, the example in which the signal processing unit 5 is a logic circuit using an ASIC has been described. However, the signal processing unit 5 is not necessarily limited to this. It may use a micro CPU or the like. In this case, the above-described processing in FIGS. 10 and 17 is executed by a program.
[0052]
In the above embodiment, the example of the serial line bus connection has been described, but the present invention is not necessarily limited to this. A parallel line bus composed of a plurality of lines may be used. In this embodiment, a connection such as a daisy chain is also regarded as a bus connection.
[0053]
In the above-described embodiment, examples of the encoder serial code such as the motor serial number or the encoder serial number have been described. However, the present invention is not necessarily limited to this example. Any device may be used as long as it can uniquely identify a plurality of encoder devices. In this case, it is more preferable that the information be such that a plurality of motors and encoder devices can be visually distinguished and identified from the appearance.
[0054]
In the above embodiment, examples of the type of communication format, resolution, transmission speed, and the like have been described as mode data, but the present invention is not limited to these contents. For example, an overspeed detection speed may be selected. Alternatively, whether to output a temperature abnormality may be selected. That is, any data may be used as long as the data determines the performance and specifications of the encoder device. The type of the communication format has been described as an example based on the difference in the bit configuration and the number of bits of the frame, and also on the difference in the command system, but may be based on another difference. The communication format is a concept including a communication protocol.
[0055]
In the above embodiment, four types of communication formats, two types of encoder data transmission speeds of 2.5 Mbps and 4 Mbps, and two types of resolutions of 17-bit resolution and 20-bit resolution have been described. There is no need to limit. The number of types of communication formats may be five or more, or may be less than four. The transmission speed of the encoder data may be three or more types, or may be another transmission speed value. The resolution may be three or more, and the number of resolution bits may be another value.
[0056]
In the above embodiment, in the communication between the encoder device and the external controller 9, a communication method relating to encoder data for outputting position information of a normal encoder having a high communication speed (transmission speed) and a communication relating to mode data having a low communication speed are provided. An example in which two types of communication systems are adopted has been described. Such contents do not necessarily need to be limited to applications in encoder devices and robot systems. It is possible to apply to other systems. That is, in a system in which a plurality of devices connected via a bus are connected, normal data exchange is performed by high-speed communication, and important data exchange such as setting of specifications of each device is performed by slow transmission. It is performed by speed communication. As a result, normal processing can be performed at high speed, and important processing of setting specifications can be performed with high reliability without being affected by noise.
[0057]
In the above embodiment, an example has been described in which the target encoder device is specified by the encoder address and the mode data is transmitted. However, the present invention is not necessarily limited to this. For example, the target encoder device may be specified using the encoder identification code used for setting the encoder address, and the mode data may be transmitted. That is, any information may be used as long as it can specify or identify an arbitrary encoder device from a plurality of encoder devices connected to the bus.
[0058]
In the above embodiments, various embodiments and modified examples have been described, but the present invention is not limited to these contents. Other embodiments that can be considered within the scope of the technical idea of the present invention are also included in the scope of the present invention.
[0059]
【The invention's effect】
Since the present invention is configured as described above, it has the following effects. When a plurality of encoder devices are connected to the bus line, the encoder address of each encoder device can be set arbitrarily. For this reason, for example, after the encoder device is attached at the time of assembling the robot, a predetermined encoder address can be set, and the work of attaching the encoder device to the robot can be made much easier than before. Further, when replacing the encoder device, a predetermined encoder address can be set after the replacement encoder device is attached, and the work of replacing the encoder device of the robot can be greatly facilitated as compared with the related art.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration diagram of an encoder device according to the present embodiment.
FIG. 2 is a diagram illustrating a configuration of a robot including an n-axis encoder device and an external controller.
FIG. 3 is a block diagram illustrating an internal configuration of a signal processing unit.
FIG. 4 is a configuration diagram of a frame format of a command signal.
FIG. 5 is a configuration diagram of a command data frame.
FIG. 6 is a configuration diagram of a memory data frame.
FIG. 7 is a configuration diagram of a command code of a command data frame.
FIG. 8 is a configuration diagram of a frame code and a data bit of a memory data frame.
FIG. 9 is a configuration diagram of an encoder address of a command data frame.
FIG. 10 is a view showing a flowchart relating to an encoder address setting process in the encoder device.
FIG. 11 is a flowchart illustrating a flow of a mounting operation of the encoder device of the robot.
FIG. 12 is a configuration diagram of a frame format of a mode data command signal.
FIG. 13 is a configuration diagram of a command data frame.
FIG. 14 is a configuration diagram of a memory data frame.
FIG. 15 is a configuration diagram of a memory address frame.
FIG. 16 is a configuration diagram of a command code 32 of a command data frame.
FIG. 17 is a view showing a flowchart relating to mode data setting processing in the encoder device.
FIG. 18 is a diagram illustrating a relationship between mode data of a nonvolatile memory and each functional block of a signal processing unit.
[Explanation of symbols]
1 Light emitting unit
2 rotating disk
3 Receiver
4 Waveform shaping circuit
5 Signal processing unit
5a Encoder signal
6 Transmit / receive driver section
6a Command signal
7 Non-volatile memory
8 Bus communication line
9 External controller
10 Terminating resistor
ENC1 to ENCn encoder device

Claims (6)

Rewritable encoder address storage means for storing its own encoder address,
Encoder identification information storage means for storing unique encoder identification information;
When receiving the same encoder identification information as the unique encoder identification information from an external device, processing is performed so as to store the encoder address attached to the received encoder identification information as the own encoder address in the encoder address storage means. An encoder device comprising: processing means. Rewritable encoder address storage means for storing its own encoder address,
Encoder identification information storage means for storing unique encoder identification information;
Command receiving means for receiving an encoder address setting command including encoder identification information and an encoder address to be set,
Based on the unique encoder identification information stored in the encoder identification information storage means and the encoder identification information included in the encoder address setting command received by the command receiving means, is it an encoder address setting command to its own encoder device? And recognizes that the received command is an encoder address setting command to the own encoder device, and stores the encoder address included in the received encoder address setting command as the own encoder address in the encoder address storage means. An encoder device comprising: A plurality of encoder devices;
Bus means,
A control unit that is connected to the plurality of encoder devices via the bus unit, controls the plurality of encoder devices, and receives encoder data from the plurality of encoder devices and performs control related to a predetermined robot. The system
Each encoder device of the plurality of encoder devices,
Rewritable encoder address storage means for storing its own encoder address,
Encoder identification information storage means for storing unique encoder identification information;
When receiving the same encoder identification information as the unique encoder identification information from the control unit, a process of storing the encoder address attached to the received encoder identification information as the own encoder address in the encoder address storage unit. Processing means,
The control means, when setting an encoder address of an arbitrary encoder device to an arbitrary encoder address, transmits the arbitrary encoder address together with the unique encoder identification information of the arbitrary encoder device via the bus to the plurality of encoder devices. A robot system for transmitting to a robot. The encoder device according to claim 1 or 2,
The encoder device, wherein the unique encoder identification information is information by which the encoder device can be visually identified from the outside. The robot system according to claim 3,
The robot system according to claim 1, wherein the unique encoder identification information is information by which the encoder device can be visually identified from outside. The encoder device according to claim 1, 2 or 4,
An encoder device further comprising a display unit for displaying the unique encoder identification information.

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