JP3330460B2 - Encoder signal output method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an encoder signal output method, and more particularly, to a method in which the function of an encoder provided for each axis can be set in advance in a programmable manner, and each encoder output is taken out through a common bus line to save the line. And a new improvement for achieving two-way communication.

[0002]

2. Description of the Related Art Conventionally, as this kind of encoder signal output method, for example, in the case of multi-axis control, an encoder is provided for each axis, so that an encoder for each axis is individually provided. Was one-to-one communication with the receiving side.

[0003]

Since the conventional method is configured as described above, there are the following problems. That is, the encoder signals from the encoders provided for each axis require a one-to-one communication route with the receiving side provided for each of the axes, and the same number of receiving devices as the number of axes are used. The number of lines required for the wiring has become enormous, which has been a major obstacle in manufacturing robots and the like. Also, a method of switching channels using a rotary switch or the like has been proposed, but a drip-proof structure could not be provided, resulting in an increase in cost. Further, when the stroke is different for each axis, a multi-rotation N-ary counter and a glass code plate for one rotation must be created with custom specifications, and changing and following each user specification is extremely complicated. Had to work.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. In particular, the function of an encoder provided for each axis can be set in advance in a programmable manner, and the output of each encoder can be set via a common bus line. It is an object of the present invention to provide an encoder signal output method for extracting line data to achieve line saving and enabling two-way communication.

[0005]

According to the encoder signal output method of the present invention, first and second encoder signals from encoders each having a memory provided on a plurality of axes of the apparatus are provided.
In an encoder signal output method adapted to take out to a control panel as a receiving side via a common bus line and first and second transmission lines, at least an axis number of each of the axes is provided for each of the encoders. A first input terminal provided on the panel and connected to the first transmission line requests a functional specification comprising at least the axis number, a multi-rotation resolution corresponding to the stroke of each axis and a one-rotation resolution from the control panel. / Input and set to the memory via a serial data signal, read the encoder output of each encoder for each axis number via the common bus line and transmission line connected to the encoder, Is changed, a request / serial data bar signal is applied to a second input terminal connected to the second transmission line. And a force to reset the settings, a method for bidirectional communication between the encoder and the control board by changing the contents of the memory again by the request / serial data.

[0006]

In the encoder signal output method and the encoder according to the present invention, the axis number of each axis is provided to the encoder of each axis, and the encoder output of each encoder is sequentially or freely transmitted through a common bus line connected to each encoder. Can be taken out. In addition, each encoder can use a battery backup or a non-volatile readable memory provided in each encoder, so that the axis number, the multi-rotation resolution, and the function of one-rotation resolution can be arbitrarily set in advance in a programmable manner. Function data corresponding to the stroke of the shaft or the like can be set or canceled by remote control from the receiving side.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the encoder signal output method according to the present invention will be described below in detail with reference to the drawings. In FIG. 1, a device denoted by reference numeral 1 is a device such as a robot. Each of the shafts 2, 2 a, and 2 n of the device 1 has an encoder body 3, 3 a having a configuration in which an encoder body having a known detection unit and the like is covered by a case. , 3n are mounted, and the encoder bodies of the encoders 3, 3a, 3n incorporate a well-known battery backup (having a memory) or a non-volatile readable memory (EEPROM) not shown.

[0008] Each encoder 3, 3a, 3n of the device 1
The first and second common bus lines 4, 4a connecting the first and second transmission lines 5 and 5a are connected to one of the control panels 6 via a pair of first and second transmission lines 5 and 5a.
One of the first input terminals 7 is connected to a first / second input terminal 7, 7a of the pair.
Is input to the other second input terminal 7a.
The serial data bar signal 8a is configured to be input.

Next, the operation will be described. First, the device 1
Encoders 3, 3 connected to respective axes 2, 2a, 2n
a, 3n axis number, multi-rotation resolution according to stroke of each axis 2, 2a, 2n
When an input is set in the memory of each of the encoders 3, 3a, 3n via a request / serial data signal 8 from the control panel 6, the function specifications of each of the encoders 3, 3a, 3n are set as set.

When the apparatus 1 is operated in the state described above, the rotation information of each shaft 2, 2a, 2n
a, 3n, the common bus lines 4, 4a, and the transmission lines 5, 5a. Further, for example, when the operating range of the device 1 is converted, and the above-described functional specifications of the encoders 3, 3 a, and 3 n are changed, and it is desired to obtain a signal having a content different from the content of the encoder signal output so far. Resets the above-mentioned setting by the request / serial data bar signal 8a, and again
Therefore, it can be easily achieved by changing the contents of the memory having the function specifications different from those described above.

Further, according to the present invention, it is possible to perform not only one-sided communication but also two-way communication between the encoders 3, 3a, 3n and the control panel 6 which is the receiving side, and it is possible to perform writing by using another code. Mode, setting change using a setting change code at the time of multi-rotation control, and prevention of reduction of set values set using an EEPROM.

[0012]

Since the encoder signal output method according to the present invention is configured as described above, the following effects can be obtained. That is, since the encoder outputs of the encoders provided for the respective axes are taken out in common via the common bus line, only two transmission lines are required for multi-axis control, and a significant line saving can be achieved as compared with the related art. . Also,
In each encoder, the optimal resolution for each axis stroke can be freely set for the memory, so the encoder can be completed by one type of hardware configuration and software writing at the time of encoder production, improving the efficiency of encoder production Can be done.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing an encoder according to the present invention.

[Explanation of symbols]

 2, 2a, 2n axis 3, 3a, 3n encoder 4, 4a First, second common bus line 5, 5a First, second transmission line 6 Control panel 7, 7a First, second input terminal 8 Request / serial Data signal 8a Request / serial data bar signal

Claims (1)

(57) [Claims] An encoder signal from an encoder (3, 3a, 3n) provided on each of a plurality of axes (2.2a, 2n) of a device (1) and having a memory is transmitted to first and second common bus lines (4, 2). 4a) and the first,
Control panel (6) on the receiving side via the second transmission line (5, 5a)
In the encoder signal output method to take out to
For each of the encoders (3, 3a, 3n), at least an axis number of each of the axes (2, 2a, 2n) is provided and connected to the first transmission line (5) provided on the control panel (6). By the first input terminal (7), at least the axis number and each of the axes (2,
2a, 2n) A function specification comprising a multi-rotation resolution and a one-rotation resolution according to the stroke is input and set to the memory via a request / serial data signal (8) from the control panel (6), and each encoder is set. The encoder output of (3, 3a, 3n) is connected to each of the encoders (3, 3a, 3n) through the common bus lines (4, 4a) and the transmission lines (5, 5a) connected to the respective axis numbers. If you want to read out each time and change the function specifications,
A second input terminal (7a) connected to the second transmission line (5a);
Control the encoder (3, 3a, 3n) by inputting a request / serial data bar signal (8a) to reset the setting and changing the contents of the memory again by the request / serial data (8a). An encoder signal output method characterized by performing bidirectional communication between boards (6).