JP2006214929A - 光学式エンコーダ - Google Patents
光学式エンコーダ Download PDFInfo
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- JP2006214929A JP2006214929A JP2005029336A JP2005029336A JP2006214929A JP 2006214929 A JP2006214929 A JP 2006214929A JP 2005029336 A JP2005029336 A JP 2005029336A JP 2005029336 A JP2005029336 A JP 2005029336A JP 2006214929 A JP2006214929 A JP 2006214929A
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- 230000003287 optical effect Effects 0.000 title claims description 29
- 238000001514 detection method Methods 0.000 claims abstract description 114
- 230000008859 change Effects 0.000 claims abstract description 24
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 238000012545 processing Methods 0.000 claims description 2
- 230000007613 environmental effect Effects 0.000 abstract description 10
- 238000005259 measurement Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 13
- 230000000630 rising effect Effects 0.000 description 6
- 239000000758 substrate Substances 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24428—Error prevention
- G01D5/24433—Error prevention by mechanical means
- G01D5/24438—Special design of the sensing element or scale
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
- G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
- G01D5/2457—Incremental encoders having reference marks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
- G01D5/366—Particular pulse shapes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
- G01D5/38—Forming the light into pulses by diffraction gratings
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Transform (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
Abstract
【解決手段】スケール11に対し対向して2つの検出ヘッド13、14を配置し、スケール11には反射部12中に原点位置が検出できるように不連続部15を設ける。1つの検出ヘッド13で不連続部15を検知して原点を求め、この時点での他の検出ヘッド14からの出力信号をも加味して計測上の原点の絶対位置を求め、これを基準として位置情報を演算することにより、環境変化などによる原点位置ずれを少なくする。
【選択図】図1
Description
12 反射部
13、14 検出ヘッド
15 不連続部
16 基板
Claims (7)
- 光学格子を形成した円板状又は円弧状のスケールと、該スケールに対して光を照射する光源と、前記スケールに対して相対移動可能に設けると共に前記光学格子のピッチに関係付けして配設され、前記光学格子による回折光を受光する複数の受光センサを有する検出ヘッドを備える光学式エンコーダにおいて、前記スケールの光学格子に不連続部を設け、それぞれ複数の受光センサを配列した第1及び第2の検出ヘッドを、前記スケールの回転中心を基準にしてほぼ180°の位置に配置し、これら第1及び第2の検出ヘッドの少なくとも一方から、前記スケールの不連続部が前記検出ヘッドを横切るときに出力されるエンコーダ信号の変化を基に原点位置を決定し、該原点位置を基に前記第1及び第2の検出ヘッドから出力されるエンコーダ信号を演算処理して位置情報を決定することを特徴とする光学式エンコーダ。
- 前記不連続部が前記検出ヘッドを通過したときに発生する前記エンコーダ信号の中心電圧の変化を検出することにより、前記原点位置を求めることを特徴とする請求項1に記載の光学式エンコーダ。
- 前記受光センサに一定の光量が得られるように前記光源のパワーを制御するフィードバック系において、前記不連続部が前記検出ヘッドを通過するときに発生する前記光源の駆動電流の変化を検出することにより、前記原点位置を求めることを特徴とする請求項2に記載の光学式エンコーダ。
- 前記位置情報は前記第1及び第2の検出ヘッドから出力するアナログ正弦波信号を電気的に逓倍して演算して求めることを特徴とする請求項1〜3の何れか1つの請求項に記載の光学式エンコーダ。
- 最初に前記原点位置を決定したときの前記原点位置情報を記憶しておき、次回からは前記原点位置情報を基準にして前記位置情報を得ることを特徴とする請求項1〜4の何れか1つの請求項に記載の光学式エンコーダ。
- 最初に前記原点位置を決定して位置情報を得たときの状態に前記スケールを移動し、前記原点位置でリセット動作をするようにしたことを特徴とする請求項1〜4の何れか1つの請求項に記載の光学式エンコーダ。
- 前記スケールの中心を基準に前記第1の検出ヘッドの原点位置を決定し、前記第1の検出ヘッドの絶対位置を求めた後に、前記第2の検出ヘッドの原点位置を決定し、前記第2の検出ヘッドの絶対位置を求め、前記第2の検出ヘッドが原点位置に基づいて前記第1及び第2の検出ヘッドから出力されるエンコーダ信号を演算して位置情報を得ることを特徴とする請求項1〜6の何れか1つの請求項に記載の光学式エンコーダ。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005029336A JP4908764B2 (ja) | 2005-02-04 | 2005-02-04 | 光学式エンコーダ |
US11/341,627 US7282699B2 (en) | 2005-02-04 | 2006-01-30 | Optical encoder for improved detection of the absolute position of an origin point |
EP06101217.5A EP1688711B1 (en) | 2005-02-04 | 2006-02-02 | Optical encoder |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2005029336A JP4908764B2 (ja) | 2005-02-04 | 2005-02-04 | 光学式エンコーダ |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2006214929A true JP2006214929A (ja) | 2006-08-17 |
JP2006214929A5 JP2006214929A5 (ja) | 2008-03-21 |
JP4908764B2 JP4908764B2 (ja) | 2012-04-04 |
Family
ID=36128265
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005029336A Expired - Fee Related JP4908764B2 (ja) | 2005-02-04 | 2005-02-04 | 光学式エンコーダ |
Country Status (3)
Country | Link |
---|---|
US (1) | US7282699B2 (ja) |
EP (1) | EP1688711B1 (ja) |
JP (1) | JP4908764B2 (ja) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009524039A (ja) * | 2006-01-20 | 2009-06-25 | レニショウ パブリック リミテッド カンパニー | 回転エンコーダー装置、および、方法 |
EP2343510A2 (en) | 2009-12-24 | 2011-07-13 | Canon Kabushiki Kaisha | Rotary encoder |
US8035724B2 (en) | 2006-10-06 | 2011-10-11 | Canon Kabushiki Kaisha | Method and apparatus for controlling lens position |
EP2423646A1 (en) | 2010-08-30 | 2012-02-29 | Canon Kabushiki Kaisha | A rotary encoder and method of assembling the same |
EP2434261A2 (en) | 2010-09-24 | 2012-03-28 | Canon Kabushiki Kaisha | Optical rotation encoder |
KR101272654B1 (ko) | 2012-03-16 | 2013-06-10 | (주)동부로봇 | 엔코더 보정 방법 및, 그 장치 |
US8497469B2 (en) | 2010-06-15 | 2013-07-30 | Canon Kabushiki Kaisha | Rotary encoder that detects rotation angle |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4928206B2 (ja) * | 2006-09-22 | 2012-05-09 | キヤノン株式会社 | エンコーダ |
KR20090067654A (ko) | 2007-12-21 | 2009-06-25 | 김봉주 | 재귀반사소자 및 이를 구비한 재귀반사체 |
WO2012050130A1 (ja) * | 2010-10-12 | 2012-04-19 | 株式会社ニコン | エンコーダ、駆動装置及びロボット装置 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0389112A (ja) * | 1989-08-31 | 1991-04-15 | Topcon Corp | インクリメンタル式エンコーダ |
JPH09152357A (ja) * | 1995-11-30 | 1997-06-10 | Sankyo Seiki Mfg Co Ltd | 回転角検出装置 |
JPH10274548A (ja) * | 1997-03-31 | 1998-10-13 | Brother Ind Ltd | エンコーダの原点検出装置 |
JP2000314640A (ja) * | 1999-04-28 | 2000-11-14 | Asahi Optical Co Ltd | エンコーダ |
JP2003247864A (ja) * | 2002-02-26 | 2003-09-05 | Mitsutoyo Corp | アブソリュートエンコーダ用スケール、その製造方法及びアブソリュートエンコーダ |
Family Cites Families (17)
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JPS57104815A (en) * | 1980-12-20 | 1982-06-30 | Asahi Optical Co Ltd | Angle measuring apparatus employing line sensor |
US5155355A (en) * | 1991-04-25 | 1992-10-13 | Mitutoyo Corporation | Photoelectric encoder having a grating substrate with integral light emitting elements |
JP3254737B2 (ja) * | 1992-06-17 | 2002-02-12 | キヤノン株式会社 | エンコーダー |
JP3227206B2 (ja) * | 1992-06-30 | 2001-11-12 | キヤノン株式会社 | 光学式エンコーダ |
JPH0656304A (ja) | 1992-07-03 | 1994-03-01 | Nec Eng Ltd | 記録紙残量表示機構 |
JP3170902B2 (ja) * | 1992-09-30 | 2001-05-28 | キヤノン株式会社 | 信号処理方法及びそれを用いたエンコーダ |
GB2288015B (en) * | 1994-03-31 | 1997-11-19 | Mitutoyo Corp | Optical encoder having a photodiode array that serves both for a light detector and an index scale |
JP3530573B2 (ja) * | 1994-04-27 | 2004-05-24 | キヤノン株式会社 | 光学式変位センサ |
KR100264312B1 (ko) * | 1995-10-13 | 2000-08-16 | 디지래드 | 개선된 전하 수집능력을 갖는 반도체 방사선 검출기 |
ATE229642T1 (de) * | 1997-08-07 | 2002-12-15 | Heidenhain Gmbh Dr Johannes | Abtasteinheit für eine optische positionsmesseinrichtung |
JP2000180212A (ja) * | 1998-12-10 | 2000-06-30 | Canon Inc | 角度位置検出器 |
JP4428781B2 (ja) * | 1999-12-28 | 2010-03-10 | キヤノン株式会社 | 光学式ロータリエンコーダ及びモータ制御装置 |
JP4726168B2 (ja) * | 2000-04-17 | 2011-07-20 | キヤノン株式会社 | 光学スケール及び光学式エンコーダ |
JP4280447B2 (ja) | 2001-02-20 | 2009-06-17 | キヤノン株式会社 | 反射スケールおよびそれを用いた変位検出装置 |
JP2003161645A (ja) | 2001-11-28 | 2003-06-06 | Canon Inc | 光学式エンコーダ |
JP4208483B2 (ja) * | 2002-05-21 | 2009-01-14 | キヤノン株式会社 | 光学式エンコーダ |
JP4498024B2 (ja) * | 2004-06-15 | 2010-07-07 | キヤノン株式会社 | 光学式エンコーダ |
-
2005
- 2005-02-04 JP JP2005029336A patent/JP4908764B2/ja not_active Expired - Fee Related
-
2006
- 2006-01-30 US US11/341,627 patent/US7282699B2/en not_active Expired - Fee Related
- 2006-02-02 EP EP06101217.5A patent/EP1688711B1/en not_active Expired - Fee Related
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0389112A (ja) * | 1989-08-31 | 1991-04-15 | Topcon Corp | インクリメンタル式エンコーダ |
JPH09152357A (ja) * | 1995-11-30 | 1997-06-10 | Sankyo Seiki Mfg Co Ltd | 回転角検出装置 |
JPH10274548A (ja) * | 1997-03-31 | 1998-10-13 | Brother Ind Ltd | エンコーダの原点検出装置 |
JP2000314640A (ja) * | 1999-04-28 | 2000-11-14 | Asahi Optical Co Ltd | エンコーダ |
JP2003247864A (ja) * | 2002-02-26 | 2003-09-05 | Mitsutoyo Corp | アブソリュートエンコーダ用スケール、その製造方法及びアブソリュートエンコーダ |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2009524039A (ja) * | 2006-01-20 | 2009-06-25 | レニショウ パブリック リミテッド カンパニー | 回転エンコーダー装置、および、方法 |
US8035724B2 (en) | 2006-10-06 | 2011-10-11 | Canon Kabushiki Kaisha | Method and apparatus for controlling lens position |
EP2343510A2 (en) | 2009-12-24 | 2011-07-13 | Canon Kabushiki Kaisha | Rotary encoder |
US8698071B2 (en) | 2009-12-24 | 2014-04-15 | Canon Kabushiki Kaisha | Rotary encoder having multiple slit arrays, which detects rotation angle |
US8497469B2 (en) | 2010-06-15 | 2013-07-30 | Canon Kabushiki Kaisha | Rotary encoder that detects rotation angle |
EP2423646A1 (en) | 2010-08-30 | 2012-02-29 | Canon Kabushiki Kaisha | A rotary encoder and method of assembling the same |
US8487237B2 (en) | 2010-08-30 | 2013-07-16 | Canon Kabushiki Kaisha | Rotary encoder and method of assembling the same |
EP2434261A2 (en) | 2010-09-24 | 2012-03-28 | Canon Kabushiki Kaisha | Optical rotation encoder |
US8546747B2 (en) | 2010-09-24 | 2013-10-01 | Canon Kabushiki Kaisha | Rotary encoder and optical apparatus |
KR101272654B1 (ko) | 2012-03-16 | 2013-06-10 | (주)동부로봇 | 엔코더 보정 방법 및, 그 장치 |
Also Published As
Publication number | Publication date |
---|---|
EP1688711B1 (en) | 2014-10-01 |
JP4908764B2 (ja) | 2012-04-04 |
EP1688711A2 (en) | 2006-08-09 |
EP1688711A3 (en) | 2012-05-02 |
US7282699B2 (en) | 2007-10-16 |
US20060192092A1 (en) | 2006-08-31 |
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