JP4270616B2 - Method and apparatus corresponding to encoder type - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a method and apparatus corresponding to the determined type by determining the type from the output of an encoder.
[0002]
[Prior art]
FIG. 3 is a block diagram showing a conventional example. An encoder 22 is connected to the rotating shaft of the motor 21, and the output of the encoder 22 is input to the counter 24 and the CPU 25 via the input circuit 23. In this case, the type of the encoder 22 (for example, an incremental encoder or an absolute encoder, the number of pulses, etc.) is set by a switch 26 connected to the CPU 25 set in advance by an operator or the like. Therefore, the type of the encoder 22 must be set by the switch 26 before the power is turned on. If the setting is incorrect, an abnormal operation may be caused.
[0003]
[Problems to be solved by the invention]
In the conventional method described above, the operator has to set the type of encoder with a switch or the like before turning on the power, which is inefficient because it requires manpower, and a setting error occurs due to manpower. May cause abnormal operation. In view of the above problems, an object of the present invention is to provide a method by which the CPU can automatically identify the encoder type without the need to set the encoder type or the like when the power is turned on.
[0004]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, an invention of a motor rotational position detection method corresponding to an encoder type according to claim 1 is provided by an A-phase pulse having a phase difference of a predetermined angle from an encoder connected to a rotating shaft of a motor. In a motor rotational position detection method for outputting a B-phase pulse to a counter and a CPU, and the counter obtains a rotational position of the motor by counting the A-phase pulse and the B-phase pulse .
Incremental encoder, absolute encoder, pulse for type identification with a specific pattern for identifying the type of encoder such as the number of pulses is preliminarily set on the encoder side by the waveform obtained by up and down the A phase pulse and B phase pulse, respectively. To form,
When the power is turned on , the type identification pulse is output to the CPU at the power-on timing from the encoder side ,
The CPU identifies the type of the encoder by the type identifying pulse, and calculates the relationship between the number of pulses output from the encoder and the rotational position of the motor based on the identified type of the encoder. To do.
According to a second aspect of the present invention, the motor control device outputs an A-phase pulse and a B-phase pulse having a phase difference of a predetermined angle from an encoder mounted on a controlled object to the counter and the CPU, and the counter In a motor control device that performs position control by inputting an A-phase pulse and a B-phase pulse ,
A type identification pulse having a specific pattern for identifying the type of an encoder such as an incremental encoder, an absolute encoder, and the number of pulses is formed in advance with waveforms obtained by raising and lowering the A-phase pulse and the B-phase pulse, respectively. The type identification pulse generating means for outputting the type identification pulse to the CPU at the timing of power on when the encoder is turned on is incorporated in the encoder.
The CPU inputs the type identification pulse, identifies the type of the encoder by the type identification pulse, the number of pulses output from the encoder based on the identified type of encoder, the rotational position of the motor, The relationship is calculated, and control corresponding to the identified encoder type is performed .
[0005]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a block diagram showing an embodiment of an apparatus capable of dealing with the type of encoder according to the present invention. In the apparatus 10 of FIG. 1, an encoder 12 is connected to a rotating shaft of a motor 11 that is a control target, and an output of the encoder 12 is passed to a control unit including an input circuit 13, a counter 14, and a CPU 15. That is, the output of the encoder 12 is input to the counter 14 and the CPU 15 via the input circuit 13. In such a configuration, when the apparatus 10 is powered on, power is supplied to the encoder 12, and the encoder 12 supplies a specific pattern corresponding to the type of the encoder 12 (for example, an incremental encoder or an absolute encoder, the number of pulses, etc.). Is output. That is, the encoder 12 outputs a type identification pulse corresponding to the type of the encoder 12 among a plurality of type identification pulses (for example, two types in FIG. 2) determined according to the type of the encoder ( (Not shown) is incorporated.
[0006]
The CPU 15 holds a control program corresponding to each type of the encoder 12. The CPU 15 inputs the type identification pulse from the encoder 12 via the input circuit 13, determines the type of the encoder 12, and determines the type of the encoder 12 from the control program based on the determined type of the encoder 12. The control program corresponding to is selected, and the subsequent control is performed. As the subsequent control, for example, the rotational position of the motor 11 or the position of the machine connected to the motor 11 is calculated and controlled based on the output of the counter 14 that counts the pulses sent from the encoder 12. Therefore, the CPU 15 can automatically accurately determine the type of the encoder 12 without an instruction from the operator, based on the type identification pulse sent from the encoder 12 when the apparatus 10 is turned on. It is possible to prevent abnormal operation due to the above.
[0007]
【The invention's effect】
As described above, according to the present invention, the type of the encoder can be automatically and accurately identified by the type identifying pulse output from the encoder. Since there is no setting error of the encoder type due to, there is an effect that the control corresponding to the encoder type can be executed accurately.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an embodiment of a control device of the present invention.
FIG. 2 is a diagram showing an example of a pattern of type identification pulses used in the control device of FIG. 1;
FIG. 3 is a block diagram showing a conventional example.
[Explanation of symbols]
10 Device 11 Motor 12 Encoder 13 Input Circuit 14 Counter 15 CPU

Claims (2)

An A-phase pulse and a B-phase pulse having a phase difference of a predetermined angle are output to a counter and a CPU from an encoder connected to a rotating shaft of the motor, and the counter counts the A-phase pulse and the B-phase pulse, thereby In the motor rotational position detection method for obtaining the rotational position of the motor,
Incremental encoder, absolute encoder, pulse for type identification with a specific pattern for identifying the type of encoder such as the number of pulses is preliminarily set on the encoder side by the waveform obtained by up and down the A phase pulse and B phase pulse, respectively. To form,
When the power is turned on , the type identification pulse is output to the CPU at the power-on timing from the encoder side ,
The CPU identifies the type of the encoder by the type identifying pulse, and calculates the relationship between the number of pulses output from the encoder and the rotational position of the motor based on the identified type of the encoder. Motor rotation position detection method corresponding to the encoder type . An A phase pulse and a B phase pulse having a phase difference of a predetermined angle from each other are output to the counter and the CPU from the encoder mounted on the controlled object, and the counter inputs the A phase pulse and the B phase pulse to perform position control. In the motor control device to perform,
A type identification pulse having a specific pattern for identifying the type of an encoder such as an incremental encoder, an absolute encoder, and the number of pulses is formed in advance with waveforms obtained by raising and lowering the A-phase pulse and the B-phase pulse, respectively. The type identification pulse generating means for outputting the type identification pulse to the CPU at the timing of power on when the encoder is turned on is incorporated in the encoder.
The CPU inputs the type identification pulse, identifies the type of the encoder by the type identification pulse, the number of pulses output from the encoder based on the identified type of encoder, the rotational position of the motor, The motor control device is characterized in that the control is calculated in accordance with the identified encoder type .

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