JP2015009349A - Rotation angle position detector - Google Patents

Abstract

PROBLEM TO BE SOLVED: To propose a rotation angle position detector capable of outputting a signal when a detection object is arranged in an optionally set rotation angle position.SOLUTION: The rotation angle position detector 1 comprises an absolute encoder 10 for outputting sn absolute rotation angle position of a camshaft 105 (the detection object), an input connector 7 for accepting input of a set command, a control part 11 for outputting the signal when the absolute rotation angle position is included in a detection rotation angle range by setting the detection rotation angle range based on the set command and an output connector 8 for outputting the signal to an external part. Since the detection rotation angle range can be optionally set by the set command, the signal can be outputted when the camshaft 105 is arranged in the optional rotation angle position.

Description

  The present invention relates to a rotation angle position detection device that outputs a signal when an object to be detected is arranged at an arbitrarily set rotation angle position.

  Patent Document 1 discloses a turret lathe that uses a rotation angle position detection device to determine the rotation angle position of a turret. The rotation angle position detection device of the same document detects the absolute rotation angle position of the turret by an absolute encoder, and divides rotation angle position information output from the absolute encoder by a predetermined number of divisions during one rotation of the turret. Is output as a signal. The number of divisions is a number corresponding to the number of turrets, and can be set to 6, 8, 10, 12, etc. by operating a dip switch mounted on the rotation angle position detection device.

JP 2007-326157 A

  The rotation angle position detection device of Patent Document 1 is specialized as a turret indexing device. For this reason, it cannot be set to output a signal when an object to be detected is arranged at an arbitrary rotation angle position that is not related to the number of divisions. Therefore, the rotation angle position detection device of Patent Document 1 is mounted on a machine tool or the like that repeats repetitive operations using a cam, and a signal is output when the cam shaft that rotates the cam is placed at an arbitrary rotation angle position. It cannot be used for output purposes.

  In view of this point, an object of the present invention is to propose a rotation angle position detection device capable of outputting a signal when an object to be detected is arranged at an arbitrarily set rotation angle position.

  In order to solve the above problems, a rotational angle position detection device of the present invention includes an absolute encoder that outputs an absolute rotational angle position, an input unit that receives an input of a setting command, and a detected rotational angle range based on the setting command. And a control unit that outputs a signal when the absolute rotation angle position is included in the detected rotation angle range, and an output unit that outputs the signal to the outside. .

  According to the present invention, the detection rotation angle range can be arbitrarily set by a setting command. Therefore, a signal can be output when the detected object whose absolute rotation angle position is acquired by the absolute encoder is arranged at an arbitrary rotation angle position. In addition, when the absolute rotation angle position is included in the detected rotation angle range, the case where the absolute rotation angle position and the detected rotation angle range match is also included.

  In the present invention, the output unit includes a plurality of output ports, and the control unit sets one output port that outputs the signal from the plurality of output ports based on the setting command, and sets the signal It is desirable to output to the one output port. If it does in this way, the signal from a control part can be outputted outside from the output port set up arbitrarily. Therefore, for example, when a plurality of detection rotation angle ranges that do not overlap each other are set using a plurality of setting commands, the same output port is used every time the absolute rotation angle position of the detected object is included in each detection rotation angle range. It is possible to output a signal. In addition, when setting a plurality of detection rotation angle ranges that do not overlap each other using a plurality of setting commands, a signal independent from a different output port every time the absolute rotation angle position of the detected object is included in each detection rotation angle range Can also be output.

  In the present invention, the input unit accepts a first setting command and a second setting command as the setting command, and the first setting command sets a first detection rotation angle range as the detection rotation angle range, A first output port is set as the one output port, and the second setting command is a second detected rotation angle range that at least partially overlaps the first detected rotation angle range as the detected rotation angle range. And the second output port different from the first output port is set as the one output port, and the control unit uses the first detected rotation angle as the signal as the absolute rotation angle position. When it is included in the range, the first signal is output to the first output port, and the absolute rotation angle position is the first detection circuit. The second output port if included in the angle range can be made to output a second signal. In this way, a plurality of overlapping detection rotation angle ranges can be set as the detection rotation angle range, and when the absolute rotation angle position of the detected object is included in each detection rotation angle range, An independent signal can be output from a different output port for each detected rotation angle range.

  In the present invention, the input unit receives a reference setting command, and the control unit acquires a reference angular position acquisition unit that acquires the absolute rotation angle position at the time when the reference setting command is received as a reference angular position; When a reference angular position is acquired, a correction for correcting the detected rotational angle range to a corrected detected rotational angle range based on the reference angular position based on an angular difference between the origin angular position of the absolute encoder and the reference angular position When the detected rotation angle range is corrected, the signal is preferably output when the absolute rotation angle position is included in the corrected detection rotation angle range. In this way, it is possible to flexibly set the reference angular position that serves as a reference for detecting the rotational angular position. Therefore, the rotation angle position detection device can be easily installed as compared with the case where the reference for rotation angle position detection is fixed at the original origin angle position of the absolute encoder.

  In the present invention, in order to easily set the detection rotation angle range from an external device connected to the input unit of the rotation angle position detection device, the input unit includes a first input port and a second input port. The control unit includes, as operation modes, a detection mode for outputting the signal based on the setting command, and a setting mode capable of setting the detection rotation angle range, and the operation mode includes the first input port. The setting mode is maintained when a setting mode signal is input to the first input port, and the setting command is received at the second input port while the setting mode signal is input to the first input port. desirable. In this case, when an external device that sets the detected rotation angle range is connected to the input unit, the setting mode signal is continuously input to the first input port until the connection is released. deep. For this external device, a setting command is input to the second input port while a setting mode signal is input to the first input port. In this way, the detected rotation angle range can be set by shifting the operation mode of the control unit to the setting mode simply by connecting an external device to the input unit.

  In the present invention, the absolute encoder includes a permanent magnet and an encoder body having a magnetic sensor, and the encoder body, the control unit, the input unit, and the output unit are mounted on a single casing. It is desirable. If it does in this way, a rotation angle position of a detected object can be detected by non-contact by attaching a permanent magnet to a detected object. Therefore, the lifetime of the device is long. In addition, since the encoder main body, the control unit, the input unit, and the output unit are mounted on a single casing, it is possible to reduce the size of the device and facilitate installation of the device.

  According to the present invention, the detection rotation angle range in which a signal is output by a setting command can be arbitrarily set. Therefore, a signal can be output from the rotation angle position detection device when the object to be detected is arranged at an arbitrarily set rotation angle position.

(A) is explanatory drawing of the conveyance machine by which the rotation angle position detection apparatus of this invention is mounted, (b) is a perspective view of the rotation angle position detection apparatus of this invention. It is a schematic block diagram which shows the control system of the rotation angle position detection apparatus of this invention. It is explanatory drawing of the signal output operation | movement by a rotation angle position detection apparatus.

  Hereinafter, a rotation angle position detection device according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1A is an explanatory view of a transport machine equipped with the rotation angle position detection device of the present invention, and FIG. 1B is a perspective view of the rotation angle position detection device of the present invention. The rotation angle position detection apparatus 1 of this example is mounted on, for example, a transport machine 100 that transports a workpiece W in a production line. As shown in FIG. 1A, the transport machine 100 includes an arm 102 on which a gripping device 101 is mounted. The transport machine 100 is driven and controlled by a PLC (programmable logic controller: not shown), and moves the workpiece W arranged at the standby position A on the turntable 103 to the machining position B on the work table 104.

  The arm 102 of the transport machine 100 is operated by a cam (not shown). That is, the arm 102 can place the workpiece W at the transfer start position M where the workpiece W arranged at the standby position A can be gripped and the processing position B while the cam shaft 105 that rotates the cam rotates once. It is reciprocated between the conveyance end positions N along a predetermined route. When the arm 102 is arranged at the conveyance start position M by the rotation of the cam shaft 105, the gripping device 101 is driven by a command from the PLC, and the gripping device 101 grips the workpiece W. Thereafter, when the arm 102 moves to the conveyance end position N with the rotation of the cam shaft 105, the gripping device 101 is driven by a command from the PLC, and the gripping device 101 releases the workpiece W. As a result, the workpiece W moves from the standby position A to the machining position B. Further, when the gripping device 101 starts an opening operation for releasing the workpiece W, the turntable 103 rotates by a predetermined angle in parallel with the opening operation, and the next workpiece W is at the standby position A on the turntable 103. Be placed. After that, the cam shaft 105 rotates and the arm 102 returns to the original transfer start position M, and the next workpiece W can be gripped. Thereafter, the gripping device 101 is driven by the PLC, and the above-described transport operation is repeated.

  Here, the rotation angle position detection device 1 outputs a signal for confirming the position of the arm 102 when the cam shaft 105 is positioned within a preset rotation angle range. Further, the rotation angle position detection device 1 outputs a signal for driving the gripping device 101 and the turntable 103 when the cam shaft 105 is positioned in a preset rotation angle range. The PLC drives and controls the transport machine 100 based on a signal output from the rotation angle position detection device 1.

  As shown in FIG. 1B, the rotational angle position detection device 1 includes a permanent magnet 2 attached to a cam shaft 105 and a device main body 3 arranged to face the permanent magnet 2 with a slight gap. Yes. The permanent magnet 2 has a flat cylindrical shape and is coaxially connected to the end of the cam shaft 105. A circular plane facing the apparatus main body 3 in the permanent magnet 2 is a magnetized surface 4. The magnetized surface 4 is divided into two in the circumferential direction, one being an S pole and the other being an N pole.

  The apparatus main body 3 includes a rectangular parallelepiped housing 5. The rectangular end surface of the housing 5 facing the permanent magnet 2 is a sensor surface 6 and is located on the rotation center axis L of the cam shaft 105. An input connector (input unit) 7 and an output connector (output unit) 8 are mounted on each side surface portion of the housing 5 located on both sides of the sensor surface 6.

(Control system)
FIG. 2 is a schematic block diagram showing a control system of the rotation angle position detection apparatus 1. As shown in FIG. 2, the apparatus main body 3 is mainly configured of a control unit 11 including a CPU and a RAM. An input connector 7 and an encoder body 12 are connected to the input side of the control unit 11. An output connector 8 is connected to the output side of the control unit 11. Further, a rewritable nonvolatile memory 13 is connected to the control unit 11. The control unit 11, the encoder main body 12, and the memory 13 are mounted on the housing 5.

  The input connector 7 is an input interface that connects a setting device (external device: not shown) for setting the detection rotation angle range and the like to the rotation angle position detection device 1 so as to communicate with each other. The input connector 7 includes a first input port 15 and a second input port 16. The input connector 7 receives a setting mode signal from the setting device via the first input port 15, and receives a setting command and a reference setting command from the setting device via the second input port 16.

  The encoder body 12 constitutes an absolute encoder 10 together with the permanent magnet 2. The encoder body 12 includes a magnetic sensor 17 that detects a change in the magnetic field of the permanent magnet 2, and a calculation unit 18 that outputs the absolute rotation angle position of the cam shaft 105 based on the output from the magnetic sensor 17. In addition, as the absolute encoder 10, the encoder part in which the magnetic sensor 17 is mounted may be configured separately from the calculation part 18.

  The output connector 8 is a communication interface for connecting the PLC and the rotation angle position detection device 1 in a communicable manner. The output connector 8 includes first to eighth output ports 21 to 28. An ON / OFF signal is output from the output connector 8. The signal from each output port 21-28 is an open collector output.

  The control unit 11 sets the detection rotation angle range and the output ports 21 to 28 based on a setting command input from the setting device to the apparatus main body 3 via the input connector 7. More specifically, the setting command includes a detection rotation angle range setting command for setting a detection rotation angle range and an output port setting command for selecting one output port 21 to 28 among the eight output ports 21 to 28. Contains. When the setting command is input to the apparatus body 3, the control unit 11 stores the detected rotation angle range in the memory 13 based on the detected rotation angle range setting command. The control unit 11 selects one output port among the output ports 21 to 28 based on the output port setting command, and stores the selected output port and the detected rotation angle range in association with each other in the memory 13. Thereby, a detection rotation angle range and an output port are set.

  Further, the control unit 11 refers to the memory 13 and acquires the detected rotation angle range and one output port recorded and held therein, and acquires the absolute rotation angle position of the cam shaft 105 output from the encoder body 12. When it is included in the detected rotation angle range, an ON signal is output to the acquired output port. In addition, the case where the absolute rotation angle position is included in the detected rotation angle range includes the case where the absolute rotation angle position matches the detected rotation angle range.

  The control unit 11 further includes a reference angular position acquisition unit 31 and a correction unit 32 that perform processing when a reference setting command is input from the setting device to the apparatus main body 3 via the input connector 7. The reference angle position acquisition unit 31 acquires the absolute rotation angle position of the cam shaft 105 output from the encoder body 12 at the time when the reference setting command is input to the apparatus body 3 as the reference angle position. When the reference angle position is acquired, the correction unit 32 corrects the detected rotation angle range based on the angle difference between the original origin angle position of the absolute encoder 10 and the acquired reference angle position. That is, the detected rotation angle range stored and held in the memory 13 is corrected (rewritten) to the corrected detected rotation angle range with the reference angle position as a reference.

  When the detected rotation angle range is corrected, the control unit 11 acquires the corrected detected rotation angle range when referring to the memory 13. Therefore, the control unit 11 outputs an ON signal when the absolute rotation angle position is included in the correction detection rotation angle range.

  Here, the control unit 11 includes, as operation modes, a detection mode for outputting a signal based on a setting command and a setting mode capable of setting a detection rotation angle range. The normal operation mode in the control unit 11 is the detection mode, and the control unit 11 shifts to the setting mode only while a setting mode signal is input from the setting device to the apparatus main body 3 via the first input port 15.

  In this example, when the setting device is connected to the input connector 7, the setting mode signal is continuously input from the setting device to the apparatus body 3 via the first input port 15. The setting device inputs a setting command or a reference setting command to the apparatus main body 3 via the second input port 16 in parallel with the input of the setting mode signal via the first input port 15. . Accordingly, when the setting device is connected to the input connector 7, the control unit 11 automatically enters the setting mode, and the detection rotation angle range and the like in the control unit 11 can be set. Further, when the connection between the setting device and the input connector 7 is released, the setting mode signal is not input to the first input port 15, so that the control unit 11 automatically shifts to the detection mode.

(Installation of rotation angle position detector)
When installing the rotation angle position detection device 1, first, the permanent magnet 2 is attached to the end of the cam shaft 105 of the transport machine 100 that is to be detected. Next, the apparatus main body 3 is disposed at a position facing the permanent magnet 2, and the setting apparatus is connected to the input connector 7. Further, a PLC is connected to the output connector 8.

  When the setting device is connected to the input connector 7, a setting mode signal is input from the setting device to the device body 3 via the first input port 15, so that the control unit 11 shifts to the setting mode. Thereafter, when a setting command is input from the setting device to the apparatus main body 3 via the second input port 16, the control unit 11 sets the detected rotation angle range and the output ports 21 to 28 based on the setting command.

  In this example, it is assumed that the following first to fifth commands are input as setting commands. The first setting command outputs a signal from the first output port 21 with the detected rotation angle range set to 355 ° to 5 °. The second setting command outputs a signal from the second output port 22 with the detected rotation angle range set to 0 ° to 15 °. The third setting command outputs a signal from the first output port 21 with the detected rotation angle range set to 175 ° to 185 °. The fourth setting command outputs a signal from the second output port 22 with the detected rotation angle range set to 180 ° to 195 °. The fifth setting command outputs a signal from the third output port 23 with the detected rotation angle range set to 190 ° to 220 °. The detected rotation angle range and output port of each setting command are stored and held in the memory 13 by the control unit 11.

  Next, the rotation angle position of the cam shaft 105 is adjusted to a desired rotation angle position, and a reference setting command is input from the setting device via the second input port 16. When the reference setting command is input to the apparatus main body 3, the absolute rotation angle position of the cam shaft 105 output from the encoder main body 12 when the apparatus main body 3 receives the reference setting command is acquired as the reference angular position. Further, the detected rotation angle range is corrected based on the angle difference between the acquired reference angular position and the original origin angular position of the absolute encoder 10. That is, the detected rotation angle range of each setting command stored and held in the memory 13 is rewritten to the corrected detected rotation angle range with the reference angle position as a reference.

  Thereafter, the connection between the setting device and the input connector 7 is released. As a result, the operation mode of the control unit 11 shifts from the setting mode to the detection mode. When the cam shaft 105 rotates after the control unit 11 shifts to the detection mode, the absolute rotation angle position of the cam shaft 105 output from the encoder body 12 becomes a corrected detection rotation angle range obtained by correcting the detection rotation angle range of each setting command. An ON signal is output from each of the output ports 21 to 23 set every time it is included, and is input to the PLC.

  The reference setting command may be input from the setting device to the apparatus body 3 any number of times, and the control unit 11 changes the detected rotation angle range based on the setting command to the corrected detection rotation angle range every time the reference setting command is input. to correct.

(Signal output operation by rotation angle position detector)
Next, with reference to FIG. 3, the signal output operation by the rotation angle position detection device 1 will be described. FIG. 3 is an explanatory diagram of a signal output operation by the rotation angle position detection device 1. 3 (a) to 3 (e), the left diagram shows the camshaft 105 as viewed from the side where the permanent magnet 2 in the direction of the rotation center axis L is attached. The time chart on the right side shows the timing at which signals are output from the first to third output ports 21 to 23.

  First, as shown in FIG. 3 (a), the cam shaft 105 starts rotating in one direction from the reference angular position (0 °) and rotates 5 ° from the reference angular position (0 °). The absolute rotation angle position of the cam shaft 105 output from the main body 12 is included in the corrected detection rotation angle position obtained by correcting the detection rotation angle range (355 ° to 5 °) of the first setting command. Accordingly, the ON signal S1 is output from the first output port 21. Here, when the camshaft 105 is disposed at the reference angular position (0 °), as shown in FIG. 1A, the arm 102 of the transport machine 100 is disposed at the transport start position M, and the gripping device. 101 is in a state in which the workpiece W placed at the standby position A on the turntable 103 can be gripped. The ON signal S1 from the first output port 21 is input to the PLC and is used as a signal for confirming that the arm 102 is disposed at the transfer start position M.

  Next, while the camshaft 105 rotates from the reference angular position (0 °) to 15 °, the absolute rotational angular position of the camshaft 105 output from the encoder body 12 is the first as shown in FIG. It is included in the corrected detected rotation angle position in which the detected rotation angle range (0 ° to 15 °) of the two setting commands is corrected. Accordingly, the ON signal S2 is output from the second output port 22. Here, while the camshaft 105 rotates from the reference angular position (0 °) to 5 °, the ON signal S1 is output from the first output port 21, and the ON signal S2 is output from the second output port 22. ing.

  The ON signal S2 from the second output port 22 is a signal for causing the gripping device 101 at the tip of the arm 102 to perform a gripping operation. That is, when the arm 102 is disposed at the transfer start position M, the PLC drives the gripping device 101 based on a signal from the second output port 22 to perform a gripping operation for gripping the workpiece W. As a result, the workpiece W is gripped by the gripping device 101.

  Thereafter, the arm 102 moves from the transfer start position M toward the transfer end position N as the cam shaft 105 rotates.

  Thereafter, as shown in FIG. 3C, when the cam shaft 105 reaches a rotation angle position rotated by 180 ° from the reference angle position (0 °), the arm 102 is disposed at the conveyance end position N. That is, the arm 102 moves the gripped workpiece W to a position where it can be placed at the processing position B on the work table 104. Here, while the cam shaft 105 rotates from 175 ° to 185 ° with reference to the reference angular position (0 °), the absolute rotational angular position of the cam shaft 105 output from the encoder body 12 is detected by the third setting command. The rotation angle range (175 ° to 185 °) is included in the corrected detected rotation angle position. Accordingly, the ON signal S3 is output from the first output port 21. A signal from the first output port 21 is input to the PLC and is used as a signal for confirming that the arm 102 is disposed at the conveyance end position N.

  While the camshaft 105 rotates from 180 ° to 195 ° with reference to the reference angular position (0 °), the absolute rotational angular position of the camshaft 105 output from the encoder body 12 is detected by the fourth setting command. It is included in the corrected detection rotation angle position in which the angle range (180 ° to 195 °) is corrected. Accordingly, the ON signal S4 is output from the second output port 22. Here, while the camshaft 105 rotates from 180 ° to 185 ° with reference to the reference angular position (0 °), the ON signal S3 is output from the first output port 21, and the ON signal is output from the second output port 22. Signal S4 is output.

  The ON signal S4 from the second output port 22 is a signal for causing the gripping device 101 at the tip of the arm 102 to perform an opening operation. That is, when the arm 102 moves to the conveyance end position N, the PLC drives the gripping device 101 based on a signal from the second output port 22 to perform an opening operation for releasing the workpiece W. As a result, the workpiece W is placed at the processing position B on the work table 104.

  While the camshaft 105 rotates from 190 ° to 220 ° with reference to the reference angular position (0 °), the absolute rotational angular position of the camshaft 105 output from the encoder body 12 is detected by the fifth setting command. It is included in the corrected detection rotation angle position in which the angle range (190 ° to 220 °) is corrected. Accordingly, the ON signal S5 is output from the third output port 23. Here, while the cam shaft 105 rotates from 190 ° to 195 ° with reference to the reference angular position (0 °), the ON signal S4 is output from the second output port 22, and the ON signal is output from the third output port 23. Signal S5 is output.

  An ON signal S <b> 5 from the third output port 23 is a signal for rotating the turntable 103. That is, the PLC causes the gripping device 101 to perform an opening operation, and rotates the turntable 103 by a predetermined angle based on a signal output from the third output port 23 during the opening operation. The next workpiece W is placed at the standby position A.

  Thereafter, when the cam shaft 105 further rotates, the arm 102 moves from the transfer end position N toward the transfer start position M. Here, when the cam shaft 105 rotates 360 ° from the reference angular position (0 °) and returns to the reference angular position (0 °), the arm 102 is disposed at the conveyance start position M. Further, the gripping device 101 can grip the next workpiece W arranged at the standby position A on the turntable 103. Here, while the cam shaft 105 rotates from 355 ° to 0 ° with reference to the reference angular position (0 °), the absolute value of the cam shaft 105 output from the encoder body 12 is shown in FIG. The rotation angle position is included in the corrected detection rotation angle position obtained by correcting the detection rotation angle range (355 ° to 5 °) of the first setting command. Accordingly, the ON signal S1 is output from the first output port 21. The ON signal S1 from the first output port 21 is input to the PLC and is used as a signal for confirming that the arm 102 is disposed at the transfer start position M. If the camshaft continues to rotate further thereafter, the above operation is repeated.

(Function and effect)
According to this example, the detection rotation angle range can be arbitrarily set by the setting command. Therefore, it is possible to output a signal when the camshaft 105 whose absolute rotation angle position is acquired by the absolute encoder 10 is disposed at a rotation angle position that is arbitrarily set.

  Further, in this example, when a detection rotation angle range that does not overlap each other is set by a plurality of setting commands, such as the first setting command and the third setting command, or the second setting command and the fourth setting command. In other words, a signal can be output from the same output port every time the rotation angle position of the cam shaft 105 is included in each detection rotation angle range (correction detection rotation angle range).

  Furthermore, in this example, two detection rotation angle ranges that partially overlap with a plurality of setting commands, such as the fourth setting command and the fifth setting command, can be set. Independent signals can be output from different output ports every time they are included.

  In this example, the reference angle position (0 °) that serves as a reference for the rotation angle position detection can be flexibly set by the reference setting command. Therefore, the rotation angle position detection device 1 can be easily installed as compared with the case where the reference for rotation angle position detection is fixed to the original origin angle position of the absolute encoder 10.

  Further, in this example, when the setting device is connected to the input connector 7, the setting mode signal is continuously input to the first input port 15 until the connection is released, and the control unit 11 is maintained in the setting mode. Therefore, the detection rotation angle range, the output port, and the reference angle position can be set only by connecting the control device to the input connector 7. Further, when the connection of the setting device is released, the setting mode signal is not input to the first input port 15, so the control unit 11 automatically returns to the detection mode.

  Moreover, in this example, since the signal from the rotation angle position detection device 1 is an open collector output, connection to the PLC is easy.

  Furthermore, the absolute encoder 10 of this example can detect the rotational angle position of the cam shaft 105 in a non-contact manner. Therefore, the lifetime of the rotation angle position detection device 1 is long.

  In this example, the encoder main body 12, the control unit 11, the memory 13, the input connector 7, and the output connector 8 are mounted on the single casing 5, so that the rotation angle position detection device 1 can be miniaturized. The rotation angle position detection device 1 can be easily installed.

(Other embodiments)
In the above example, the signals output from the output ports 21 to 28 are open collector outputs, but may be open drain outputs, TTL outputs, voltage outputs, and the like. Further, when the eight output ports 21 to 28 are used in parallel for signal output and the absolute rotation angle range of the camshaft 105 is included in the detection rotation angle range (correction detection rotation angle range), the output connector It can also be configured to output 8- to 8-bit information.

  In the above example, the reference setting command is input from the setting device to the apparatus main body 3 via the input connector 7. The apparatus main body 3 is equipped with a push switch and is controlled by operating this switch. A reference setting command may be input to the unit 11. In this case, the control unit 11 may correct the detected rotation angle range based on the setting command to the corrected detected rotation angle range every time the reference setting command is input by the switch operation.

  Furthermore, in the above example, when the reference setting command is input, the detection rotation angle position set based on the setting command is corrected, but without correcting the detection rotation angle position, The absolute rotation angle position output from the encoder body 12 may be corrected. That is, the encoder 11 based on the angle difference between the original origin angle position of the absolute encoder 10 and the reference angle position (0 °) acquired by the reference angle position acquisition unit 31 when the reference setting command is received. You may comprise so that the absolute rotation angle position correction | amendment part which correct | amends the absolute rotation angle position output from the main body 12 may be provided. In this case, the absolute rotation angle position correction unit corrects the absolute rotation angle position output from the encoder body 12 after the reference angle position (0 °) is acquired with reference to the reference angle position (0 °). Correct to the absolute rotation angle position. Then, after the time when the reference angular position (0 °) is acquired, the control unit 11 outputs a signal when the corrected absolute rotational angle position is included in the detected rotational angle range.

  When the rotation angle position detection device 1 of the present invention is mounted on a machine tool or a robot that repeats repetitive operations by rotating the cam, and the cam shaft 105 that rotates the cam is arranged at an arbitrary rotation angle position. Of course, it can be used for the purpose of outputting a signal. Further, the rotation angle position detection device 1 can be used for indexing a machine tool index or a turret.

DESCRIPTION OF SYMBOLS 1 ... Rotation angle position detection apparatus 2 ... Permanent magnet 3 ... Apparatus main body 4 ... Magnetized surface 5 ... Case 6 ... Sensor surface 7 ... Input connector (input part)
8 ... Output connector (output part)
DESCRIPTION OF SYMBOLS 10 ... Absolute encoder 11 ... Control part 12 ... Encoder main body 13 ... Memory 15-16 ... Input port 17 ... Magnetic sensor 18 ... Calculation part 21-28 ... Output Port 31 ... Reference angular position acquisition unit (acquisition unit)
32 ... Correction unit 100 ... Conveying machine 101 ... Gripping device 102 ... Arm 103 ... Turntable 104 ... Work table 105 ... Cam shaft A ... Standby position B of workpiece・ ・ ・ Work processing position L ・ ・ ・ Rotation center axis M of cam shaft ・ ・ ・ Arm transfer start position N ・ ・ ・ Arm transfer end position W ・ ・ ・ Work

In the present invention, the input unit accepts a first setting command and a second setting command as the setting command, and the first setting command sets a first detection rotation angle range as the detection rotation angle range, A first output port is set as the one output port, and the second setting command is a second detected rotation angle range that at least partially overlaps the first detected rotation angle range as the detected rotation angle range. And the second output port different from the first output port is set as the one output port, and the control unit uses the first detected rotation angle as the signal as the absolute rotation angle position. with a first signal output to the first output port if they are included in the scope, the absolute rotational angle position and the second detection times The second output port if included in the angle range can be made to output a second signal. In this way, a plurality of overlapping detection rotation angle ranges can be set as the detection rotation angle range, and when the absolute rotation angle position of the detected object is included in each detection rotation angle range, An independent signal can be output from a different output port for each detected rotation angle range.

Claims (6)

An absolute encoder that outputs the absolute rotation angle position;
An input unit that accepts input of setting commands;
A control unit configured to set a detection rotation angle range based on the setting command, and to output a signal when the absolute rotation angle position is included in the detection rotation angle range;
An output unit for outputting the signal to the outside;
A rotation angle position detection device comprising: In claim 1,
The output unit includes a plurality of output ports,
The control unit sets one output port that outputs the signal from the plurality of output ports based on the setting command, and outputs the signal to the set one output port. Angular position detector. In claim 2,
The input unit accepts a first setting command and a second setting command as the setting command,
The first setting command is to set a first detection rotation angle range as the detection rotation angle range, and to set a first output port as the one output port,
The second setting command sets a second detected rotation angle range that at least partially overlaps the first detected rotation angle range as the detected rotation angle range, and the first output port as the one output port. Set a different second output port,
The control unit outputs the first signal to the first output port when the absolute rotation angle position is included in the first detection rotation angle range as the signal, and the absolute rotation angle position is A rotation angle position detection device that outputs a second signal to the second output port when included in a first detection rotation angle range. In any one of claims 1 to 3,
The input unit accepts a reference setting command,
The control unit includes a reference angular position acquisition unit that acquires, as a reference angular position, the absolute rotation angle position at the time when the reference setting command is received, and an origin angular position of the absolute encoder when the reference angular position is acquired. And a correction unit that corrects the detected rotational angle range to a corrected detected rotational angle range based on the reference angular position based on an angular difference between the detected rotational angle range and the detected rotational angle range. The rotation angle position detection device, wherein the signal is output when the absolute rotation angle position is included in the correction detection rotation angle range. In any one of claims 1 to 4,
The input unit includes a first input port and a second input port,
The control unit includes, as operation modes, a detection mode for outputting the signal based on the setting command and a setting mode capable of setting the detection rotation angle range,
The operation mode is maintained in the setting mode when a setting mode signal is input to the first input port,
The rotation angle position detecting device, wherein the setting command is received at the second input port while the setting mode signal is being input to the first input port. In any one of claims 1 to 5,
The absolute encoder includes a permanent magnet and an encoder body having a magnetic sensor,
The encoder body, the control unit, the input unit, and the output unit are mounted in a single casing.

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