JP4254321B2 - Encoder device, robot system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an encoder device used for a robot or the like.
[0002]
[Prior art]
The robot is controlled by mounting a plurality of motors and a plurality of encoder devices on a plurality of axes, respectively. There has also been proposed an encoder device in which an electrically rewritable ROM is provided in the encoder device and data relating to performance such as resolution and communication method can be written from an external device (see, for example, Patent Document 1).
[0003]
[Patent Document 1]
JP-A-11-304536
[Problems to be solved by the invention]
However, in an encoder device capable of writing data related to performance (specifications) such as the resolution and communication method described above from an external device, one encoder device to which data is to be written is specified from a plurality of encoder devices connected to the external device. Can not do it. For example, setting data relating to performance such as resolution and communication method of one encoder device cannot be written from the outside in a state where a plurality of encoder devices in a robot are connected by a bus.
[0004]
The present invention provides an encoder device capable of easily setting the specifications of a plurality of encoder devices connected by a bus, and a robot system using the encoder device.
[0005]
[Means for Solving the Problems]
Claim 1 The invention is applied to an encoder device, and includes an encoder identification information storage means for storing unique encoder identification information, specification setting data storage means for storing specification setting data for determining an operating environment of the encoder device, and an encoder from an external device When the same encoder identification information as the encoder identification information stored in the identification information storage means is received, the specification setting data attached to the encoder identification information transmitted from the external device is processed to be stored in the specification setting data storage means Processing means, and transmission / reception means for transmitting and receiving data to and from an external device by serial communication,
When the transmission / reception means receives specification setting data together with encoder identification information from an external device, First The transmission speed is determined by physical transmission / reception means for transmitting / receiving encoder data related to the position information of the encoder device with the external device. Second The transmission / reception means is slower than the transmission speed. The first transmission rate signal is allowed to pass, and the second transmission rate signal is not allowed to pass. A low-pass filter, A second low-pass filter that passes both the first transmission rate signal and the second transmission rate signal, and the first transmission rate signal and the second transmission rate signal that have passed through the second low-pass filter. Among them, the first transmission rate signal is detected by error checking. With error checking means, First Transmission speed And the second transmission rate It is characterized by distinguishing the difference of received data due to the difference of.
Claim 2 In the encoder apparatus according to claim 1, the encoder identification information is an encoder identification code or an encoder address unique to the encoder apparatus.
Claim 3 The invention of claim Or 2 In the encoder device described in (1), the specification of the encoder device includes at least one of the communication format, resolution, and transmission speed of the encoder device.
Claim 4 The present invention is applied to a robot system, and is connected to a plurality of encoder devices, bus means, and a plurality of encoder devices via the bus means, and controls a plurality of encoder devices and an encoder related to position information from the plurality of encoder devices. Control means for receiving data and performing control related to a predetermined robot, and each encoder device of the plurality of encoder devices determines an encoder identification information storage means for storing unique encoder identification information, and an operating environment of the encoder device Specification setting data storage means for storing specification setting data to be transmitted, and encoder identification information transmitted from the control means when receiving the same encoder identification information as the encoder identification information stored in the encoder identification information storage means from the control means The specification setting data stored in the And processing means for processing to store the specification setting data of an arbitrary encoder device together with the encoder identification information of the arbitrary encoder device via the bus. And when the control means transmits the specification setting data of the arbitrary encoder device together with the encoder identification information of the arbitrary encoder device to the plurality of encoder devices via the bus. First The transmission speed is the physical rate of data transmitted to the plurality of encoder devices when the control means transmits / receives encoder data. Second Each encoder device of the plurality of encoder devices is further provided with a transmission / reception means for transmitting / receiving data by serial communication with the control device, the transmission / reception means, The first transmission rate signal is allowed to pass, and the second transmission rate signal is not allowed to pass. A low-pass filter, A second low-pass filter that passes both the first transmission rate signal and the second transmission rate signal, and the first transmission rate signal and the second transmission rate signal that have passed through the second low-pass filter. Among them, the first transmission rate signal is detected by error checking. With error checking means, First Transmission speed And the second transmission rate It is characterized by distinguishing the difference of received data due to the difference of.
Claim 5 The invention of claim 4 In the robot system described in (1), the encoder identification information is an encoder identification code or an encoder address unique to the encoder device.
Claim 6 The invention of claim 4 or 5 In the robot system described in (1), the specification of the encoder device includes at least one of the communication format, resolution, and transmission speed of the encoder device.
[0006]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 is a diagram showing a configuration diagram of an encoder apparatus according to the present embodiment. The light from the light emitting unit 1 enters the light receiving unit 3 through the slit of the rotating disk 2. The output signal from the light receiving unit 3 is subjected to waveform shaping by the waveform shaping circuit 4 and input to the signal processing unit 5. The signal processing unit 5 performs a predetermined calculation process and detects a position displacement. A minute slit is formed in the circumferential direction in the rotating disk 2, and light is transmitted or shielded when a positional displacement occurs due to the rotation. This light change is detected by the light receiving unit 3, and the position displacement is detected through the waveform shaping circuit 4 and the signal processing unit 5. The method for detecting the position displacement is a known content.
[0007]
The signal processing unit 5 transmits the position displacement detected by performing predetermined arithmetic processing to the transmission / reception driver unit 6 as an encoder signal 5a. The transmission / reception driver unit 6 outputs the encoder signal 5 a to the external controller 9 via the bus communication line 8. The signal processing unit 5 also receives a command signal 6 a received by the transmission / reception driver unit 6 from the external controller 9 via the bus communication line 8.
[0008]
The encoder signal 5a and the command signal 6a are digital data and are constituted by serial data. In the signal processor 5, the output timing of the encoder signal 5a is synchronized (start-stop synchronization) with the command signal 6a. _
[0009]
A non-volatile memory 7 is connected to the signal processing unit 5. In the nonvolatile memory 7, an encoder address 7a, an encoder identification code 7b, and various mode data 7c are held. The encoder address 7a is for self-recognizing the encoder sections ENC1 to ENCn in the n-axis (n ≧ 1 integer) encoder device connected to the bus communication line. The encoder identification code 7b is, for example, a motor manufacturing serial number or an encoder manufacturing serial number described on a label (name plate) of a motor product to which the encoder is attached. These are product-specific numbers that can be visually identified from the appearance of the encoder device, and are set in advance before being attached to the robot. Various mode data 7c will be described later.
[0010]
FIG. 2 is a diagram showing a configuration of a robot (robot system) including n-axis (n ≧ 1 integer) encoder devices ENC1 to ENCn and an external controller 9. The plurality of encoder devices ENC1 to ENCn are mounted on a plurality of motors (not shown) that drive the n-axis of the robot, and detect the rotational position displacement of each motor. The external controller unit 9 receives an encoder signal 5a (also referred to as encoder data) that is a position displacement of each motor from the encoder devices ENC1 to ENCn, and performs control related to various robots based on the data. For example, control for rotating each motor by a predetermined amount is performed.
[0011]
The external controller unit 9 and the encoder devices ENC1 to ENCn have a bus line configuration as shown in FIG. The bus communication line 8 is constituted by a pair of SD + 8a and SD-8b differential transmission signals (RS485 standard compliant), and a termination resistor 10 is connected between SD + 8a and SD-8b. A pair of power supply lines VCC and GND are connected to each encoder from the external controller unit 9. That is, the external controller unit 9 supplies power to the encoder devices ENC1 to ENCn.
[0012]
In the communication with the external controller unit 9, this encoder apparatus has a communication method related to mode data that can read and write encoder mode data 7 c in addition to a communication method related to encoder data that outputs position information of a normal encoder. There are two types of communication methods. The mode data 7c is data that determines the performance and specifications of the encoder device such as the communication format, resolution, and transmission speed of the encoder device. The mode data 7c can be set to a predetermined value from the external controller unit 9. The mode data 7c will be described in detail later.
[0013]
In both communication methods, serial transmission is performed via the bus communication line 8. The transmission rate is set to be different between the two. In the present embodiment, a transmission rate of 2.5 Mbps (or 4 Mbps) is set for encoder data, and a transmission rate of 100 Kbps is set for mode data. By making the frequency band of the serial transmission signal different, it is configured so that serial data is not misrecognized between the two, and at the same time, by reducing the frequency band for mode data important for the encoder, it is more effective against disturbance noise etc. It has a robust configuration.
[0014]
FIG. 3 is a block diagram showing an internal configuration of the signal processing unit 5. An encoder data communication circuit 101, a mode data communication circuit 102, an encoder data count calculation unit 103, and a nonvolatile memory interface unit 104 are provided. The encoder data communication circuit 101 includes a DLPF (digital low-pass filter) 105, a reception unit 106, a transmission unit 107, and a control unit 108. The mode data communication circuit 102 includes a DLPF (digital low-pass filter) 109, a reception unit 110, a transmission unit 111, and a control unit 112. The control unit 108 of the encoder data communication circuit 101 is connected to the encoder data count calculation unit 103 and the nonvolatile memory interface unit 104. The control unit 112 of the mode data communication circuit 102 is connected to the nonvolatile memory interface unit 104.
[0015]
The cutoff frequency of the DLPF 109 is set such that, for example, the above-mentioned 2.5 Mbps encoder data command signal is cut off and the 100 Kbps mode data command signal can pass. The cutoff frequency of the DLPF 105 is set to a value that allows a 2.5 Mbps encoder data command signal to pass through. Therefore, the cutoff frequency of the DLPF 105 is higher than the cutoff frequency of the DLPF 109.
[0016]
This is because, in the receiving unit 110 of the mode data communication circuit 102, the encoder data command signal is removed and only the mode data command signal is input, but in the receiving unit 106 of the encoder data communication circuit 101, the encoder data Both the command signal for mode and the command signal for mode data are input. However, since both frequencies are different and the frame lengths are different, the reception unit 106 detects a command signal for mode data as a framing error or the like. Therefore, the receiving unit 106 of the encoder data communication circuit 101 does not erroneously detect a mode data command. With such a configuration, the encoder data command and the mode data command are distinguished.
[0017]
−Encoder address setting−
Next, control for setting an encoder address in the encoder apparatus using a communication system related to encoder data will be described. The command signal 6a here is a command signal related to encoder data, and has a baud rate of 2.5 Mbps, for example, as described above. Therefore, the encoder data communication circuit 101 in FIG. 3 detects and analyzes the command signal 6a, and performs processing according to each command.
[0018]
FIG. 4 is a configuration diagram of the frame format of the command signal 6a. The command signal 6a from the external controller unit 9 is composed of a maximum of four frames: a command data frame CDF, a memory data frame 0MDF0, a memory data frame 1MDF1, and a memory data frame 2MDF2. The idle H state is maintained between frames.
[0019]
FIG. 5 is a configuration diagram of a command data frame. FIG. 6 is a configuration diagram of a memory data frame. Within each frame, there is a different frame code 2 bit 23 for each frame, and it is possible to identify which frame. Further, the function of the command and the structure of the frame differ depending on the type of the command code 21 in the command data frame of FIG. FIG. 7 is a configuration diagram of the command code 21 of the command data frame. In FIG. 7, there are a data request command, a clear request command, a memory read request command, and a memory write request command as functions of normal encoder data exchange commands. Other functions include an encoder address setting I command 21a and an encoder address setting II command 21b.
[0020]
The encoder address setting I command 21a is an encoder address setting command used in a conventional encoder device configured by one command data frame. The encoder apparatus that has received the command signal 21a rewrites the encoder address 7a held in the nonvolatile memory 7 to the encoder address 20 set in the command data frame of FIG. The encoder address setting I command 21a is a command used when a one-to-one connection is made with the encoder device because the encoder device cannot be selected by the encoder address.
[0021]
As shown in FIG. 7, the encoder address setting II command 21b is an encoder address setting command for an encoder device composed of one command data frame and three memory data frames. FIG. 8 is a configuration diagram of the frame code 23 and the data bit 22 of the memory data frame. As shown in FIG. 8, the memory data frames MDF0 to MDF2 include data bits D0 [0 to 7], D1 [0 to 7], and D2 [0 to 7] in each frame. An identification code (24 bits) 22 is set.
[0022]
When the encoder devices ENC1 to ENCn connected to the bus line receive this command signal 21b, each encoder device has an encoder identification code 7b held in the nonvolatile memory 7 and an encoder identification set in the memory data frame. The code 22 is compared. Only the encoder device that matches as a result of the comparison recognizes that it is the encoder address setting II command 21b to its own encoder device, and the encoder address 7a held in the nonvolatile memory 7 is included in the command data frame of FIG. Rewrite to the set encoder address 20. FIG. 9 is a configuration diagram of the encoder address 20 of the command data frame.
[0023]
FIG. 10 is a flowchart illustrating an encoder address setting process in the encoder device. The signal processing unit 5 is configured by an ASIC, and each circuit is configured by a logic circuit. The flowchart in FIG. 10 is described for understanding the flow of processing of the logic circuit. Specifically, this is a processing flow of the encoder data communication circuit 101.
[0024]
The external controller unit 9 sets and transmits an encoder identification code and an encoder address of an encoder apparatus for which an encoder address is desired to be set manually through a controller control panel (not shown) or the like. When the external controller unit 9 is instructed to transmit an encoder address, the external controller unit 9 generates an encoder address setting II command 21b based on the set encoder identification code and encoder address, and transmits the command to the bus communication line 8. The communication speed at this time is set to 2.5 Mbps as described above.
[0025]
In the encoder device, when the power is turned on, an initialization process is performed in step S1 of FIG. In step S2, it is determined whether the command signal 6a has been received. If it determines with having received, it will progress to step S3, and when not having received, determination of step S2 is repeated. In step S3, the command type is determined based on the command code of the command signal 6a. If it is determined that the encoder address setting II command 21b, the process proceeds to step S4. In step S4, it is determined whether the encoder identification code set in the data bit of the memory data frame of the encoder address setting II command 21b matches the encoder identification code stored in advance in the nonvolatile memory 7. If it is determined in step S4 that they do not match, the process returns to step S2 and is repeated. If it is determined in step S4 that they match, the process proceeds to step S5.
[0026]
In step S5, the encoder address 7a held in the nonvolatile memory 7 is rewritten to the encoder address 20 set in the command data frame of FIG. 5 via the nonvolatile memory interface unit 104. In step S6, data transmission processing of the status information of the encoder device to the external controller unit 9 is performed.
[0027]
If it is determined in step S3 that the command signal 6a is the encoder address setting I command 21a, the process proceeds to step S5. In this case, the external controller unit 9 or a device instead thereof and the encoder device are connected on a one-to-one basis. If it is determined in step S3 that the command signal 6a is a data request 1 command, a data request 2 command, etc., processing relating to the encoder corresponding to each command is performed. Since this command has an encoder address inserted in the command data frame, it is compared with its own encoder address stored in the nonvolatile memory 7 to recognize whether it is a command to its own encoder device. When it is recognized that the command is for its own encoder device, processing based on each command is performed.
[0028]
FIG. 11 is a flowchart for explaining the flow of attachment work of the encoder device during assembly of the robot. The robot attaches a plurality of encoder devices and makes a bus connection.
[0029]
In step S11, an encoder identification code is set in the encoder device to be attached. Generally, the encoder identification code is necessary because the motor capacity, serial number, etc. are set in the encoder in advance as the encoder identification code in the upstream process prior to the installation work of the encoder device. Absent. In step S12, an encoder device is attached to each axis of the robot. The plurality of attached encoder devices are connected by a bus line. In step S13, the encoder identification code of the encoder device installed on the specific axis is input to the external controller unit 9. The external controller unit 9 uses an encoder identification code to associate with an encoder device installed on each axis of the robot. For example, the external controller unit 9 has an association table.
[0030]
In step S14, a predetermined command signal (encoder address setting II) is sent from the external controller unit 9 to the encoder device. In the command signal, an encoder identification code of the encoder device and an encoder address to be changed are designated. In step S15, it is confirmed whether the encoder address of the encoder device has been set correctly. For example, it is confirmed whether data communication with the encoder device is possible. Steps S13 to S15 are repeated for all the attached encoder devices. In this way, the installation work of the encoder device is completed.
[0031]
-Mode data setting-
Next, control for setting mode data in the encoder apparatus using a communication method related to mode data will be described. The command signal 6a here is a command signal related to mode data, and has a baud rate of 100 Kbps, for example, as described above. Therefore, the mode data communication circuit 102 in FIG. 3 detects and analyzes the command signal 6a, and performs processing according to each command.
[0032]
FIG. 12 is a configuration diagram of a frame format of the mode data command signal 6a. The command signal 6a is composed of three frames: a command data frame CDF, a memory data frame MDF, and a memory address frame MAF. The idle H state is maintained between frames.
[0033]
FIG. 13 is a configuration diagram of the command data frame CDF. FIG. 14 is a configuration diagram of a memory data frame. FIG. 15 is a configuration diagram of a memory address frame. In each frame, there is a frame code 2 bit 31 which is different for each frame, and it is possible to identify which frame. FIG. 16 is a configuration diagram of the command code 32 of the command data frame. In FIG. 16, there are a mode data read command and a mode data write command 32a depending on the type of command code 32 in the command data frame.
[0034]
The mode data write command 32a is a mode data setting command for the encoder device, which is composed of a command data frame, a memory data frame, and a memory address frame. In the bit of the encoder address 33 in the command data frame, the encoder classifications ENC1 to ENCn (FIG. 9) of the encoder that is the target of mode setting in the encoder devices connected to the bus line are designated.
[0035]
In the address bit 35 in the memory address frame and the data bit 34 in the memory data frame, the EEPROM address (Da0 to Da0) corresponding to the predetermined mode data in the non-volatile memory 7 storing various mode data of the encoder device. Da7) and write data (Dd0 to Dd7) to the address are designated. When the encoder devices ENC1 to ENCn connected to the bus line receive this command signal 32a, each encoder device stores the encoder address 7a held in the nonvolatile memory 7 and the encoder address specified in the command data frame. 33 is compared. Only the encoder device that matches as a result of the comparison rewrites the predetermined mode data held in the nonvolatile memory based on the data and address specified in the memory data frame and the memory address frame.
[0036]
When mode data is individually set for the n-axis (n ≧ 1) encoders ENC1 to ENCn connected to the bus communication line 8, a unique encoder address 7a held by each encoder device is used as a command signal. The command data frame is specified, and predetermined mode data is specified for the memory data frame and the memory address frame. Thereby, the mode data of a plurality of encoder devices connected to the bus line can be freely rewritten.
[0037]
FIG. 17 is a flowchart illustrating mode data setting processing in the encoder device. The signal processing unit 5 is configured by an ASIC, and each circuit is configured by a logic circuit. The flowchart in FIG. 17 is described for understanding the flow of processing of the logic circuit. Specifically, this is a process flow of the mode data communication circuit 102.
[0038]
In the external controller unit 9, mode data is instructed by manual operation through a controller control panel (not shown) or the like. The mode data is, for example, the type of communication format of the encoder device, resolution, transmission speed, and the like. There are various types of communication formats, such as those due to differences in the bit configuration and number of bits of the frame, and those due to differences in command systems. That is, the mode data is data that determines the performance and specifications of the encoder device. The performance and specifications of the encoder device determine the operating environment of the encoder device and are typically referred to as the specifications of the encoder device. The external controller unit 9 generates a mode data write command 32a according to the instructed mode data and transmits the command to the bus communication line 8. The communication speed at this time is set to 100 Kbps as described above.
[0039]
In the encoder device, when the power is turned on, initialization processing is performed in step S21 of FIG. In step S22, it is determined whether the command signal 6a has been received. If it determines with having received, it will progress to step S23, and when not having received, determination of step S22 is repeated. In step S23, it is determined whether or not the encoder address specified by the command signal 6a matches the encoder address stored in the nonvolatile memory 7. If it is determined that there is a mismatch, the process returns to step S22 to repeat the process. If it is determined that they match, the process proceeds to step S24. The coincidence means recognizing that it is a command to its own encoder device.
[0040]
In step S24, the command type is determined based on the command code of the command signal 6a. If it is determined that the command is the mode data write command 32a, the process proceeds to step S25. In step S25, the predetermined mode data held in the nonvolatile memory 7 is rewritten based on the data and address specified in the memory data frame and memory address frame of the mode data write command 32a.
[0041]
If it is determined in step S24 that the command is a mode data read command, the process proceeds to step S26. In step S26, predetermined mode data held in the nonvolatile memory 7 is read based on the address specified in the memory address frame of the mode data read command. In step S27, the read mode data is transmitted.
[0042]
FIG. 18 is a diagram for explaining the relationship between the mode data 7 c of the nonvolatile memory 7 and each functional block of the signal processing unit 5. Reference numeral 201 indicates mode data stored at address 0xFF of the mode data 7 c in the nonvolatile memory 7. Bits 0 and 1 store resolution SRES202. Bits 2 and 3 store the transmission rate SBPS 203. Bits 4-7 store the communication format SMFT204. The address 0xFF is specified by the address bit 35 of the address frame in FIG. Mode data 201 corresponds to data bit 34 of the data frame of FIG.
[0043]
The register 205 is a register provided in the signal processing unit 5, and the mode data is written into the nonvolatile memory 7 at the same time as the mode data write command 32 a is written into the register 205. Also in the initialization step S21 of FIG. 17, the mode data 201 of the nonvolatile memory 7 is written into the register 205. When the initialization is performed, the other mode data in the nonvolatile memory 7 is similarly written in the corresponding register in the signal processing unit 5. The resolution SRES 206, transmission rate SBPS 207, and communication format SMFT 208 of the register 205 correspond to the resolution SRES 202, transmission rate SBPS 203, and communication format SMFT 204 of the mode data 201.
[0044]
In the present embodiment, for example, four types of communication formats are provided. Each communication format block 209 to 212 is provided as an independent circuit and is selected by the selector 213. The selector 213 is connected to bit data of the communication format SMFT 208, and the communication format is selected according to the bit configuration. Each of the communication format blocks 209 to 212 corresponds to the encoder data communication circuit 101 of FIG. 3, and it can be considered that there are four encoder data communication circuits 101 of FIG. 3 corresponding to the type of each communication format.
[0045]
The communication format blocks 209 to 212 are connected to bit data of the transmission speed SBPS 207, and the transmission speed of serial communication can be selected. In the present embodiment, as described above, two types of baud rates of 2.5 Mbps and 4 Mbps can be selected. This is the encoder data transmission rate, and the mode data transmission rate is fixed at 100 Kbps as described above.
[0046]
The bit data of the resolution SRES 206 is connected to the encoder data count calculation unit 103 (FIG. 3). In the present embodiment, for example, 17-bit resolution and 20-bit resolution can be selected. The pseudo sine wave A-phase and B-phase signals input from the light receiving unit 3 of FIG. 1 to the signal processing unit 5 via the waveform shaping circuit 4 are A / D converted and subdivided ( The encoder data having a predetermined number of bits is generated. At this time, it is possible to select whether the resolution is 17-bit data or 20-bit data.
[0047]
The encoder apparatus and robot system of the present embodiment described above have the following excellent effects.
(1) In a state where a plurality of n-axis encoder devices are connected via a bus line, the encoder address of each encoder device can be arbitrarily set. Therefore, a predetermined encoder address can be set after the encoder is attached to the robot. Thereby, the attachment work of the encoder device to the robot can be greatly facilitated as compared with the prior art. As a result, when the robot is assembled, the assembly work of the robot becomes easy.
(2) This is also effective when replacing a plurality of encoder devices. After replacing a plurality of encoder devices, the encoder address of each encoder device can be arbitrarily set later. Thereby, the replacement | exchange work of an encoder apparatus becomes easy.
(3) Since the encoder identification code can be visually identified from the outside, the encoder identification code can be confirmed at any time. Thereby, even if the encoder identification code stored in the encoder device is forgotten, it can be confirmed immediately. That is, it is not necessary to store or record what encoder identification code is stored.
(4) The encoder identification code may be, for example, a motor manufacturing serial number or an encoder device manufacturing serial number. Thus, the encoder identification code can be set when the encoder device is attached at the motor manufacturing factory. That is, regardless of the process in which the encoder device is used, the encoder identification code can be set in any process, particularly in the upstream process.
(5) Since the motor identification number is used as the encoder identification code, an unlimited number can be set without substantial overlap. In the example of the above embodiment, combinations of numbers that can be specified by 24 bits are possible, and the number is virtually unlimited. On the other hand, the encoder address used for the exchange of normal encoder data uses only 3 bits in the above embodiment. The encoder identification code with a long bit number is used only when the encoder address is set, but the short encoder address is used in the subsequent normal processing, so the encoder identification code with a long bit number has no effect on the throughput of the encoder device. Does not affect.
(6) In a state where a plurality of n-axis encoders are connected via a bus line, mode data of each encoder can be arbitrarily set. For this reason, the setting can be changed to a predetermined operation mode after the encoder device is attached at the time of assembling the robot or after the replacement encoder device is attached at the time of replacement. As a result, it is possible to greatly facilitate the work of attaching or replacing the encoder to the robot as compared with the conventional case.
(7) It is not necessary to determine the specifications of the encoder device before attaching to the robot.
(8) By using the mode setting of the present invention even when the robot is completed, it is possible to change the performance and specifications of the encoder without separating and dismantling the robot.
(9) In the communication with the external controller unit 9, the encoder apparatus has two types of communication methods relating to encoder data for outputting position information of a normal encoder having a high communication speed and communication methods relating to mode data having a low communication speed. A communication system is adopted. As a result, normal processing can be performed at high speed, and important processing such as mode data setting can be performed with high reliability without being affected by noise.
(10) Since the two communication methods are distinguished by a simple circuit such as a filter, problems such as an increase in cost and an increase in the encoder device do not occur.
[0048]
In the above embodiment, an example of an encoder device that obtains the rotational position of a motor has been described. However, the present invention is not necessarily limited to this content. It may be an encoder device for obtaining a linear position. That is, it can be applied to any encoder device and a robot system using the encoder device.
[0049]
In the above embodiment, an example in which a digital filter is used in the signal processing unit 5 has been described. However, the present invention is not necessarily limited to this content. An analog filter may be used.
[0050]
In the above embodiment, the example of the logic circuit using the ASIC has been described for the signal processing unit 5, but it is not necessarily limited to this content. A micro CPU or the like may be used. In that case, the processing of FIG. 10 and FIG. 17 described above is executed by a program.
[0051]
In the above embodiment, an example of serial line bus connection has been described, but it is not necessarily limited to this. It may be a parallel line bus composed of a plurality of lines. A connection such as a daisy chain is also regarded as a bus connection in this embodiment.
[0052]
In the above-described embodiment, an example of a motor manufacturing serial number or an encoder manufacturing serial number as an encoder identification code has been described. However, the present invention is not necessarily limited to this. Any unique device can be used as long as it can identify each of the plurality of encoder devices. In this case, it is more preferable that the information is such that a plurality of motors and encoder devices can be distinguished from each other visually.
[0053]
In the above embodiment, examples of the type of communication format, resolution, transmission speed, etc. have been described as mode data, but the present invention is not limited to these contents. For example, the overspeed detection speed may be selected. Further, whether to output a temperature abnormality may be selected. That is, any data that determines the performance and specifications of the encoder device may be used. The types of communication formats have been described by way of example based on the difference in the bit configuration and the number of bits of the frame and the difference in the command system, but may be based on other differences. The communication format is a concept including a communication protocol.
[0054]
In the above embodiment, four examples of communication formats, two types of encoder data transmission speeds of 2.5 Mbps and 4 Mbps, and two types of resolutions of 17-bit resolution and 20-bit resolution have been described. There is no need to limit. The number of types of communication formats may be five or more, or less than four. There may be three or more types of transmission speeds of encoder data, or other transmission speed values. The resolution may be three or more, and the resolution bit number may be another value.
[0055]
In the above embodiment, in the communication between the encoder device and the external controller unit 9, the communication method relating to the encoder data for outputting the position information of the normal encoder having a high communication speed (transmission speed) and the communication relating to the mode data having the low communication speed. The example which employ | adopts two types of communication systems of a system was demonstrated. Such contents are not necessarily limited to application in an encoder device or a robot system. It is possible to apply to other systems. That is, in a system in which multiple devices connected via a bus are connected, normal data exchange is performed at a high transmission rate, and important data exchange such as setting the specifications of each device is slow. Do it by speed communication. As a result, normal processing can be performed at high speed, and important processing such as specification setting can be performed with high reliability without being affected by noise.
[0056]
In the above embodiment, an example in which a target encoder device is specified by an encoder address and mode data is transmitted has been described. However, the present invention is not necessarily limited to this content. For example, the target encoder device may be specified using the encoder identification code used for setting the encoder address, and the mode data may be transmitted. That is, any information may be used as long as it can identify or identify an arbitrary encoder device among a plurality of encoder devices connected by a bus.
[0057]
Although various embodiments and modifications have been described in the above embodiment, the present invention is not limited to these contents. Other embodiments conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention.
[0058]
【The invention's effect】
Since the present invention is configured as described above, the following effects can be obtained. In a state where a plurality of encoder devices are connected via a bus line, mode data of each encoder device can be arbitrarily set. For this reason, the setting can be changed to a predetermined operation mode after the encoder device is attached at the time of assembling the robot or after the replacement encoder device is attached at the time of replacement. As a result, it is possible to greatly facilitate the work of attaching or replacing the encoder to the robot as compared with the conventional case.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating a configuration diagram of an encoder apparatus according to an embodiment.
FIG. 2 is a diagram illustrating a configuration of a robot including an n-axis encoder device and an external controller.
FIG. 3 is a block diagram showing an internal configuration of a signal processing unit.
FIG. 4 is a configuration diagram of a frame format of a command signal.
FIG. 5 is a configuration diagram of a command data frame.
FIG. 6 is a configuration diagram of a memory data frame.
FIG. 7 is a configuration diagram of a command code of a command data frame.
FIG. 8 is a configuration diagram of a frame code and data bits of a memory data frame.
FIG. 9 is a configuration diagram of an encoder address of a command data frame.
FIG. 10 is a flowchart related to an encoder address setting process in the encoder device.
FIG. 11 is a flowchart for explaining a flow of replacement work of an encoder device of a robot.
FIG. 12 is a configuration diagram of a frame format of a mode data command signal.
FIG. 13 is a configuration diagram of a command data frame.
FIG. 14 is a configuration diagram of a memory data frame.
FIG. 15 is a configuration diagram of a memory address frame.
FIG. 16 is a configuration diagram of a command code 32 of a command data frame.
FIG. 17 is a flowchart related to mode data setting processing in the encoder device.
FIG. 18 is a diagram illustrating the relationship between mode data of a nonvolatile memory and each functional block of a signal processing unit.
[Explanation of symbols]
1 Light emitting part
2 Rotating disc
3 Light receiver
4 Waveform shaping circuit
5 Signal processing section
5a Encoder signal
6 Transmitter / receiver driver
6a Command signal
7 Nonvolatile memory
8 Bus communication line
9 External controller
10 Terminating resistance
ENC1 to ENCn encoder device

Claims (6)

Encoder identification information storage means for storing unique encoder identification information;
Specification setting data storage means for storing specification setting data for determining the operating environment of the encoder device;
When the same encoder identification information as the encoder identification information stored in the encoder identification information storage means is received from an external device, the specification setting data attached to the encoder identification information transmitted from the external device is the specification setting data. Processing means for processing to store in the storage means;
A transmission / reception means for transmitting / receiving data by serial communication with the external device;
The physical first transmission speed when the transmission / reception means receives the specification setting data together with the encoder identification information from the external device is the transmission / reception of the encoder data related to the positional information of the encoder device with the external device. Slower than the physical second transmission rate of
The transmission / reception means includes a first low-pass filter that passes the first transmission rate signal and does not pass the second transmission rate signal , the first transmission rate signal, and the second transmission rate. Of the second low-pass filter that passes the signal together, the signal of the first transmission rate that has passed through the second low-pass filter, and the signal of the first transmission rate among the signals of the second transmission rate An encoder apparatus that distinguishes a difference in received data due to a difference between the first transmission rate and the second transmission rate by an error check unit that detects an error by an error check. The encoder device according to claim 1,
The encoder apparatus characterized in that the encoder identification information is an encoder identification code or an encoder address unique to the encoder apparatus. The encoder device according to claim 1 or 2 ,
The encoder device specification includes at least one of a communication format, a resolution, and a transmission rate of the encoder device. A plurality of encoder devices;
Bus means;
Control means connected to the plurality of encoder devices via the bus means, controlling the plurality of encoder devices, and receiving encoder data relating to position information from the plurality of encoder devices and performing control relating to a predetermined robot. A robot system comprising:
Each encoder device of the plurality of encoder devices,
Encoder identification information storage means for storing unique encoder identification information;
Specification setting data storage means for storing specification setting data for determining the operating environment of the encoder device;
When the same encoder identification information as the encoder identification information stored in the encoder identification information storage unit is received from the control unit, the specification setting data attached to the encoder identification information transmitted from the control unit is set as the specification setting. Processing means for processing to store in the data storage means,
When transmitting the specification setting data of an arbitrary encoder device, the control means transmits the specification setting data of the arbitrary encoder device together with the encoder identification information of the arbitrary encoder device to the plurality of encoder devices via the bus. And
Between the control device and the plurality of encoder devices, data is transmitted and received by serial communication via the bus means,
When the control means transmits the specification setting data of the arbitrary encoder device together with the encoder identification information of the arbitrary encoder device to the plurality of encoder devices via the bus, the first physical transmission speed is The control means is slower than the second physical transmission rate of data to be transmitted to the plurality of encoder devices when transmitting and receiving the encoder data,
Each encoder device of the plurality of encoder devices,
A transmission / reception means for transmitting / receiving data to / from the control device via the serial communication;
The transmission / reception means includes a first low-pass filter that passes the first transmission rate signal and does not pass the second transmission rate signal , the first transmission rate signal, and the second transmission rate. Of the second low-pass filter that passes the signal together, the signal of the first transmission rate that has passed through the second low-pass filter, and the signal of the first transmission rate among the signals of the second transmission rate A robot system characterized in that a difference in received data due to a difference between the first transmission rate and the second transmission rate is distinguished by error check means for detecting an error by error check. The robot system according to claim 4 , wherein
The robot identification system is characterized in that the encoder identification information is an encoder identification code or an encoder address unique to the encoder device. The robot system according to claim 4 or 5 ,
The specification of the encoder device includes at least one of a communication format, resolution, and transmission speed of the encoder device.

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