JP2008076284A - 光学式エンコーダの原点検出方法 - Google Patents
光学式エンコーダの原点検出方法 Download PDFInfo
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- JP2008076284A JP2008076284A JP2006257199A JP2006257199A JP2008076284A JP 2008076284 A JP2008076284 A JP 2008076284A JP 2006257199 A JP2006257199 A JP 2006257199A JP 2006257199 A JP2006257199 A JP 2006257199A JP 2008076284 A JP2008076284 A JP 2008076284A
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- 230000003287 optical effect Effects 0.000 title claims description 29
- 238000000034 method Methods 0.000 title claims description 6
- 230000008859 change Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims description 19
- 238000004364 calculation method Methods 0.000 claims description 9
- 230000001678 irradiating effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 238000002834 transmittance Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 239000011295 pitch Substances 0.000 description 4
- 230000000630 rising effect Effects 0.000 description 4
- 230000007704 transition Effects 0.000 description 4
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 238000006073 displacement reaction Methods 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
- G01D5/26—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
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
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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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Abstract
【解決手段】原点検出を次のステップで行う。
(S1)原点検出開始。スケールを移動させ信号発生させる。
(S2)デジタル信号DBの立ち上りと立ち下りタイミングでアナログ信号Aの信号を検出することで、アナログ信号Aの最大値Amaxと最小値Aminを検出する。
(S3)(Amax+Amin)/2からアナログ信号Aの中心電圧を求める。
(S4)SA=(現在の中心電圧−6個前の中心電圧)を演算する。
(S5)SA>閾値LV1になるパルス値のときのデジタル信号DAの立ち上りを原点とする。
このようにして、デジタル信号の或る特定のパルスエッジを原点位置とすることにより、精度の良い原点位置を得ることが可能となる。
【選択図】図8
Description
振幅=Amax−Amin
中心電圧=(Amax+Amin)/2
12 受光部
13 スケール
13a 反射部分
13b、13b’ 非反射部分
14 フォトダイオード
21 アナログ増幅器
22 コンパレータ
23 差動増幅器
A、B アナログ信号
DA、DB デジタル信号
Claims (8)
- 光学格子を形成したスケールと、該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した複数の受光素子と、前記スケールを介して前記受光素子に光を照射する光源とを有す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光学的に不連続部分を設け、該不連続部分に該当する光束が前記受光素子を通過するときに発生する一定区間分の変化を検出し、該区間で発生した変化を検出して演算を行い、該演算結果により原点位置を検出することを特徴とする光学式エンコーダの原点検出方法。
- 前記受光素子のセグメントの数と前記スケールの不連続部分の関係から前記区間の変化を検出す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の原点検出方法。
- 前記受光素子のセグメント数と前記スケールの不連続部分の大きさの関係から決まる一定間隔データの差分を求め、該差分値が目標範囲に入ったときを前記原点位置とす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の原点検出方法。
- 前記受光素子から得られる前記一定間隔データは、前記受光素子から得られる信号の1周期の中の最大値、最小値から演算した中心電圧とすることを特徴とする請求項3に記載の光学式エンコーダの原点検出方法。
- 前記演算において、前記スケールの不連続部分の大きさが1周期のとき、前記受光素子のセグメント数が差分をとる間隔が等しくな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の原点検出方法。
- 前記中心電圧データを前記スケールの移動の1ピッチ分通過したときに得られる検出信号の最小値から最大値の区間のときの中心電圧データと、前記検出信号が最大値から最小値の区間のときの中心電圧データとの2つのデータを用いることで、前記原点位置を検出することを特徴とする請求項4に記載の光学式エンコーダの原点検出方法。
- 前記中心電圧を前記スケールの移動の1ピッチ分に1個のデータを取り込み、前記不連続部分が前記スケールの明暗スリットn個分のときの区間データ数が(セグメント数−n+1)の関係により演算して、前記原点位置を検出することを特徴とする請求項4に記載の光学式エンコーダの原点検出方法。
- 前記中心電圧を前記スケールの移動の1ピッチ分に1個のデータを取り込み、前記不連続部分が前記スケールの明暗スリットn個分のときの区間データ数が(セグメント数+n−1)の関係により演算して、前記原点位置を検出することを特徴とする請求項4に記載の光学式エンコーダの原点検出方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006257199A JP4928206B2 (ja) | 2006-09-22 | 2006-09-22 | エンコーダ |
US11/854,941 US7425697B2 (en) | 2006-09-22 | 2007-09-13 | Origin detection method for optical encoder |
EP07018090.6A EP1903314B1 (en) | 2006-09-22 | 2007-09-14 | Origin detection method for optical encoder |
US12/193,208 US7732757B2 (en) | 2006-09-22 | 2008-08-18 | Origin detection method for optical encoder |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2006257199A JP4928206B2 (ja) | 2006-09-22 | 2006-09-22 | エンコーダ |
Publications (3)
Publication Number | Publication Date |
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JP2008076284A true JP2008076284A (ja) | 2008-04-03 |
JP2008076284A5 JP2008076284A5 (ja) | 2009-11-12 |
JP4928206B2 JP4928206B2 (ja) | 2012-05-09 |
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Application Number | Title | Priority Date | Filing Date |
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JP2006257199A Expired - Fee Related JP4928206B2 (ja) | 2006-09-22 | 2006-09-22 | エンコーダ |
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US (2) | US7425697B2 (ja) |
EP (1) | EP1903314B1 (ja) |
JP (1) | JP4928206B2 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2581710A2 (en) | 2011-10-12 | 2013-04-17 | Canon Kabushiki Kaisha | Encoder system, machine tool, and transfer apparatus |
JP2014098666A (ja) * | 2012-11-15 | 2014-05-29 | Canon Inc | インクリメンタルエンコーダ |
Families Citing this family (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9440812B2 (en) * | 2007-01-11 | 2016-09-13 | 3M Innovative Properties Company | Web longitudinal position sensor |
KR101493115B1 (ko) * | 2007-06-19 | 2015-02-12 | 쓰리엠 이노베이티브 프로퍼티즈 컴파니 | 웨브의 위치를 나타내는 시스템 및 방법 |
JP2010530543A (ja) * | 2007-06-19 | 2010-09-09 | スリーエム イノベイティブ プロパティズ カンパニー | 変位スケールを製作するシステム及び方法 |
KR20100049540A (ko) * | 2007-06-19 | 2010-05-12 | 쓰리엠 이노베이티브 프로퍼티즈 컴파니 | 내부 전반사 변위 스케일 |
EP2380067B1 (en) | 2008-12-29 | 2019-06-26 | 3M Innovative Properties Company | Method and system for determining a longitudinal position of an elongated web |
US8992104B2 (en) | 2008-12-30 | 2015-03-31 | 3M Innovative Properties Company | Apparatus and method for making fiducials on a substrate |
JP2010256081A (ja) * | 2009-04-22 | 2010-11-11 | Fujifilm Corp | 光学式位置検出器及び光学装置 |
JP5822008B1 (ja) * | 2014-08-08 | 2015-11-24 | 日本精工株式会社 | 角度検出装置、この角度検出装置を備えるモータ、トルクセンサ、電動パワーステアリング装置及び自動車 |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006003126A (ja) * | 2004-06-15 | 2006-01-05 | Canon Inc | 光学式エンコーダ |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
US5929789A (en) | 1997-04-09 | 1999-07-27 | Hewlett-Packrd Company | Single channel incremental position encorder with incorporated reference mark |
EP1045227B2 (en) * | 1999-04-16 | 2012-04-18 | Canon Kabushiki Kaisha | Encoder |
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 |
JP2003161645A (ja) | 2001-11-28 | 2003-06-06 | Canon Inc | 光学式エンコーダ |
JP4908764B2 (ja) | 2005-02-04 | 2012-04-04 | キヤノン株式会社 | 光学式エンコーダ |
DE102005006247A1 (de) | 2005-02-11 | 2006-08-17 | Dr. Johannes Heidenhain Gmbh | Positionsmesseinrichtung |
-
2006
- 2006-09-22 JP JP2006257199A patent/JP4928206B2/ja not_active Expired - Fee Related
-
2007
- 2007-09-13 US US11/854,941 patent/US7425697B2/en not_active Expired - Fee Related
- 2007-09-14 EP EP07018090.6A patent/EP1903314B1/en not_active Not-in-force
-
2008
- 2008-08-18 US US12/193,208 patent/US7732757B2/en not_active Expired - Fee Related
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2006003126A (ja) * | 2004-06-15 | 2006-01-05 | Canon Inc | 光学式エンコーダ |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2581710A2 (en) | 2011-10-12 | 2013-04-17 | Canon Kabushiki Kaisha | Encoder system, machine tool, and transfer apparatus |
JP2014098666A (ja) * | 2012-11-15 | 2014-05-29 | Canon Inc | インクリメンタルエンコーダ |
Also Published As
Publication number | Publication date |
---|---|
US7732757B2 (en) | 2010-06-08 |
US7425697B2 (en) | 2008-09-16 |
JP4928206B2 (ja) | 2012-05-09 |
EP1903314B1 (en) | 2017-01-04 |
US20090050794A1 (en) | 2009-02-26 |
US20080073493A1 (en) | 2008-03-27 |
EP1903314A3 (en) | 2013-04-17 |
EP1903314A2 (en) | 2008-03-26 |
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