JP2020051809A - エンコーダ及びエンコーダの制御システム - Google Patents
エンコーダ及びエンコーダの制御システム Download PDFInfo
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- JP2020051809A JP2020051809A JP2018179344A JP2018179344A JP2020051809A JP 2020051809 A JP2020051809 A JP 2020051809A JP 2018179344 A JP2018179344 A JP 2018179344A JP 2018179344 A JP2018179344 A JP 2018179344A JP 2020051809 A JP2020051809 A JP 2020051809A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
-
- 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
-
- 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
- G01D21/00—Measuring or testing not otherwise provided for
-
- 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
-
- 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
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
-
- 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
- G01D5/249—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 pulse code
-
- 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
- G01D2205/00—Indexing scheme relating to details of means for transferring or converting the output of a sensing member
- G01D2205/20—Detecting rotary movement
- G01D2205/26—Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/11—Plc I-O input output
- G05B2219/1103—Special, intelligent I-O processor, also plc can only access via processor
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
Description
T=t0−t1=t0−s1+Δts1
T=t0−r1−Δt1
ここで、時刻r1は制御装置2がエンコーダ1に位置情報要求信号を送信した時刻であり、制御装置2の第2記憶部24に記憶することができる。また、時刻t0は、制御装置2が補正量を計算する時刻であり、制御装置2の第2記憶部24に記憶することができる。また、遅れ時間Δt1は制御装置2の第2受信部22がエンコーダ1から位置情報生成タイミング情報として受信しているため、制御装置2の第2記憶部24に記憶することができる。
v=(pn+1−pn)/(tn+1−tn)
Δθ=v×T
θ=θ1+Δθ
2 制御装置
11 第1受信部
12 位置情報生成部
13 第1送信部
14 第1記憶部
15 センサ部
16 A/Dコンバータ
21 第2送信部
22 第2受信部
23 補正部
24 第2記憶部
Claims (5)
- 被検知体の位置情報を要求する位置情報要求信号を受信する第1受信部と、
前記位置情報要求信号を受信してから所定の遅れ時間後の位置情報生成タイミングで前記位置情報を生成する位置情報生成部と、
前記位置情報をシリアル通信により外部に送信する第1送信部と、を備え、
前記第1送信部は、前記所定の遅れ時間を表す位置情報生成タイミング情報を少なくとも1回シリアル通信により外部に送信する、
エンコーダ。 - 前記位置情報生成タイミング情報を記憶する第1記憶部をさらに有する、請求項1に記載のエンコーダ。
- 前記第1送信部は、前記位置情報生成タイミング情報を、前記第1受信部が前記位置情報要求信号を受信した後に1回だけ出力する、請求項1または2に記載のエンコーダ。
- エンコーダと制御装置とが通信により接続された制御システムであって、
前記エンコーダは、
被検知体の位置情報を要求する位置情報要求信号を受信する第1受信部と、
前記位置情報要求信号を受信してから所定の遅れ時間後の位置情報生成タイミングで前記位置情報を生成する位置情報生成部と、
前記位置情報をシリアル通信により外部に送信する第1送信部と、を備え、
前記第1送信部は、前記所定の遅れ時間を表す位置情報生成タイミング情報を少なくとも1回シリアル通信により外部に送信し、
前記制御装置は、
前記位置情報要求信号を送信する第2送信部と、
前記所定の遅れ時間を表す前記位置情報生成タイミング情報及び前記位置情報を受信する第2受信部と、
前記位置情報及び前記所定の遅れ時間に基づいて、前記第2受信部が受信した前記位置情報を補正する補正部と、
を備えるエンコーダの制御システム。 - 前記補正部は、
前記第2送信部が前記位置情報要求信号を送信してから前記第2受信部が前記位置情報を受信するまでの期間と、前記所定の遅れ時間との差である通信遅延時間を計算し、
前記通信遅延時間と被検知体の移動速度との積から前記位置情報を補正する、請求項4に記載のエンコーダの制御システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2018179344A JP6836563B2 (ja) | 2018-09-25 | 2018-09-25 | エンコーダ及びエンコーダの制御システム |
US16/579,166 US11293781B2 (en) | 2018-09-25 | 2019-09-23 | Encoder and encoder control system |
CN201910910210.7A CN110941231A (zh) | 2018-09-25 | 2019-09-25 | 编码器和编码器的控制系统 |
DE102019006726.6A DE102019006726A1 (de) | 2018-09-25 | 2019-09-25 | Encoder und Encodersteuersystem |
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JP2018179344A JP6836563B2 (ja) | 2018-09-25 | 2018-09-25 | エンコーダ及びエンコーダの制御システム |
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JP2020051809A true JP2020051809A (ja) | 2020-04-02 |
JP6836563B2 JP6836563B2 (ja) | 2021-03-03 |
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US (1) | US11293781B2 (ja) |
JP (1) | JP6836563B2 (ja) |
CN (1) | CN110941231A (ja) |
DE (1) | DE102019006726A1 (ja) |
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JP6659656B2 (ja) * | 2017-12-01 | 2020-03-04 | ファナック株式会社 | エンコーダ及び制御システム |
JP2022054536A (ja) * | 2020-09-28 | 2022-04-07 | 日本電産サンキョー株式会社 | エンコーダ、およびエンコーダの通信制御方法 |
CN114421846A (zh) * | 2022-01-11 | 2022-04-29 | 重庆三电智能科技有限公司 | 一种伺服驱动器速度反馈采样延时减少的方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08261794A (ja) * | 1995-03-24 | 1996-10-11 | Mitsubishi Electric Corp | エンコーダ装置及びサーボモーター制御装置 |
JPH10301630A (ja) * | 1997-04-28 | 1998-11-13 | Okuma Mach Works Ltd | 検出位置データ送信出力装置 |
JP2002341943A (ja) * | 2001-05-18 | 2002-11-29 | Yaskawa Electric Corp | サーボモータの位置データをモーションコントローラへ入力する方法およびその方法を実施する装置 |
JP2003329485A (ja) * | 2002-05-14 | 2003-11-19 | Mitsutoyo Corp | 位置エンコーダの遅延補正システムおよび方法 |
JP2014202568A (ja) * | 2013-04-03 | 2014-10-27 | キヤノン株式会社 | エンコーダ |
JP2016038347A (ja) * | 2014-08-11 | 2016-03-22 | キヤノン株式会社 | 計測装置、計測方法、および処理装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6608574B1 (en) * | 2002-03-29 | 2003-08-19 | Siemens Energy & Automation, Inc. | Device, system, and method for compensating for isolation and cable delays in an SSI encoder interface circuit |
US8810169B2 (en) | 2011-10-14 | 2014-08-19 | Deere & Company | Method and system for estimating rotor angle of an electric machine |
JP6114638B2 (ja) * | 2013-06-07 | 2017-04-12 | 株式会社ミツトヨ | エンコーダ |
EP2835616A1 (en) * | 2013-08-09 | 2015-02-11 | Ams Ag | Position sensor device to determine a position of a moving device |
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2018
- 2018-09-25 JP JP2018179344A patent/JP6836563B2/ja active Active
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2019
- 2019-09-23 US US16/579,166 patent/US11293781B2/en active Active
- 2019-09-25 DE DE102019006726.6A patent/DE102019006726A1/de active Pending
- 2019-09-25 CN CN201910910210.7A patent/CN110941231A/zh active Pending
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08261794A (ja) * | 1995-03-24 | 1996-10-11 | Mitsubishi Electric Corp | エンコーダ装置及びサーボモーター制御装置 |
JPH10301630A (ja) * | 1997-04-28 | 1998-11-13 | Okuma Mach Works Ltd | 検出位置データ送信出力装置 |
JP2002341943A (ja) * | 2001-05-18 | 2002-11-29 | Yaskawa Electric Corp | サーボモータの位置データをモーションコントローラへ入力する方法およびその方法を実施する装置 |
JP2003329485A (ja) * | 2002-05-14 | 2003-11-19 | Mitsutoyo Corp | 位置エンコーダの遅延補正システムおよび方法 |
JP2014202568A (ja) * | 2013-04-03 | 2014-10-27 | キヤノン株式会社 | エンコーダ |
JP2016038347A (ja) * | 2014-08-11 | 2016-03-22 | キヤノン株式会社 | 計測装置、計測方法、および処理装置 |
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Publication number | Publication date |
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CN110941231A (zh) | 2020-03-31 |
JP6836563B2 (ja) | 2021-03-03 |
US11293781B2 (en) | 2022-04-05 |
DE102019006726A1 (de) | 2020-03-26 |
US20200096365A1 (en) | 2020-03-26 |
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