JP5108165B1 - エンコーダ - Google Patents
エンコーダ Download PDFInfo
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- JP5108165B1 JP5108165B1 JP2012502790A JP2012502790A JP5108165B1 JP 5108165 B1 JP5108165 B1 JP 5108165B1 JP 2012502790 A JP2012502790 A JP 2012502790A JP 2012502790 A JP2012502790 A JP 2012502790A JP 5108165 B1 JP5108165 B1 JP 5108165B1
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- 238000001514 detection method Methods 0.000 claims abstract description 101
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims description 11
- 238000002360 preparation method Methods 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 13
- 238000003860 storage Methods 0.000 description 7
- 238000012937 correction Methods 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 3
- 230000001186 cumulative effect Effects 0.000 description 2
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
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- 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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
-
- 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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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- 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
- G01D5/24457—Failure detection
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- 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
- G01D5/24457—Failure detection
- G01D5/24461—Failure detection by redundancy or plausibility
-
- 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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Optical Transform (AREA)
Abstract
【選択図】図1
Description
図1は、本発明の実施の形態のエンコーダの構成を示す図である。図示するように、実施の形態のエンコーダは、光源1と、モータの回転体としての回転軸2と、回転軸2に取り付けられ、3つのトラック(トラック3a、3b、3c)が形成されたスケールを有する回転板3と、受光素子ユニット4a〜4cとを備えている。光源1は、例えばLEDが採用され、光源1が放射する光はトラック3a〜3cの夫々に入射する。トラック3a〜3cの夫々に入射した光は、トラック3a〜3cの夫々によって変調せしめられ、夫々受光素子ユニット4a〜4cに入射する。受光素子ユニット4a〜4cは、入射した光を光電変換によって電気信号(位置検出信号)に変換する。
2 回転軸
3 回転板
3a〜3c トラック
4a〜4c 受光素子ユニット
5a〜5c 増幅回路
6、7 MCU
8 電気角第1算出部
9 1回転内位置データ第1作成部
10 比較部
11 電気角第2算出部
12 1回転内位置データ第2作成部
13 しきい値記憶部
14 通信制御部
Claims (6)
- 回転体の1回転内位置を演算するエンコーダであって、
周期が異なる前記回転体にかかる位置検出信号を夫々発生させる複数系統の位置検出信号発生系であって、前記回転体の1回転につき1周期の位置検出信号を発生させる位置検出信号発生系を含む複数系統の位置検出信号発生系と、
前記複数系統の位置検出信号発生系が夫々発生させた位置検出信号に基づいて第1の1回転内位置を算出する第1演算部と、
前記複数系統の位置検出信号発生系のうちの一部の、前記第1演算部よりも少ない数の系統の位置検出信号発生系が発生させた位置検出信号に基づいて第2の1回転内位置を算出する第2演算部と、
前記第1の1回転内位置と前記第2の1回転内位置との比較に基づいて自エンコーダが故障しているか否かを判定する故障判定部と、
を備え、
前記第2演算部は、前記回転体の1回転につき1周期の位置検出信号を発生させる位置検出信号発生系が発生させた位置検出信号に基づいて前記第2の1回転内位置を算出する、
ことを特徴とするエンコーダ。 - 前記故障判定部は、前記第1の1回転内位置と前記第2の1回転内位置との差分が所定のしきい値を越える場合、自エンコーダが故障していると判定し、前記差分が前記所定のしきい値を越えない場合、自エンコーダが故障していないと判定する、
ことを特徴とする請求項1に記載のエンコーダ。 - 前記複数系統の位置検出信号発生系のうちの二つの位置検出信号発生系は、夫々位置検出信号の発生方式が異なる、
ことを特徴とする請求項2に記載のエンコーダ。 - 前記第1演算部は、前記複数系統の位置検出信号発生系が夫々発生させた位置検出信号に基づいて系統毎の電気角を演算する電気角算出部と、
前記電気角算出部が演算した系統毎の電気角を合成して前記第1の1回転内位置を算出する1回転内位置作成部と、
を備えることを特徴とする請求項2に記載のエンコーダ。 - 前記所定のしきい値は不揮発性メモリに記録されたことを特徴とする請求項2に記載のエンコーダ。
- 前記所定のしきい値は外部入力されることを特徴とする請求項2に記載のエンコーダ。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2011/067490 WO2013018168A1 (ja) | 2011-07-29 | 2011-07-29 | エンコーダ |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012222116A Division JP5591295B2 (ja) | 2012-10-04 | 2012-10-04 | エンコーダ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP5108165B1 true JP5108165B1 (ja) | 2012-12-26 |
JPWO2013018168A1 JPWO2013018168A1 (ja) | 2015-02-23 |
Family
ID=47528581
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012502790A Active JP5108165B1 (ja) | 2011-07-29 | 2011-07-29 | エンコーダ |
Country Status (7)
Country | Link |
---|---|
US (1) | US9157770B2 (ja) |
JP (1) | JP5108165B1 (ja) |
KR (1) | KR101532185B1 (ja) |
CN (1) | CN103703345B (ja) |
DE (1) | DE112011105479B4 (ja) |
TW (1) | TWI558983B (ja) |
WO (1) | WO2013018168A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5449634B1 (ja) * | 2013-04-24 | 2014-03-19 | 三菱電機株式会社 | サーボモータおよびエンコーダ |
WO2014061380A1 (ja) * | 2012-10-18 | 2014-04-24 | 三菱電機株式会社 | 位置検出装置 |
JP7142359B2 (ja) | 2019-07-27 | 2022-09-27 | 公立大学法人公立諏訪東京理科大学 | 可動部制御装置、可動部制御方法及びプログラム |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20160079896A1 (en) * | 2014-09-12 | 2016-03-17 | Seiko Epson Corporation | Control device of stepping motor, electronic apparatus, recording apparatus, robot, control method of stepping motor, and control program of stepping motor |
US9863790B1 (en) * | 2015-06-08 | 2018-01-09 | X Development Llc | Devices and methods for a rotary encoder |
CN106707937B (zh) * | 2017-01-11 | 2019-01-25 | 山信软件股份有限公司 | 一种在线监测旋转编码器异常状态的方法及装置 |
TWI673940B (zh) * | 2018-08-27 | 2019-10-01 | 台達電子工業股份有限公司 | 編碼器及其位置檢測方法 |
Citations (3)
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JPH04279817A (ja) * | 1991-03-07 | 1992-10-05 | Mitsutoyo Corp | アブソリュートエンコーダ |
JP2005345375A (ja) * | 2004-06-04 | 2005-12-15 | Mitsutoyo Corp | 電磁誘導式absエンコーダ |
JP2006194766A (ja) * | 2005-01-14 | 2006-07-27 | Toyo Electric Mfg Co Ltd | 初期位相検出装置 |
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JPH041522A (ja) * | 1990-04-18 | 1992-01-07 | Nikon Corp | 異常事態を検出可能なアブソリュート・エンコーダ |
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JPH06147814A (ja) | 1992-11-10 | 1994-05-27 | Sankyo Seiki Mfg Co Ltd | 回転角度検出装置 |
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JP4682598B2 (ja) | 2004-11-25 | 2011-05-11 | 株式会社ニコン | エンコーダ及びエンコーダシステム |
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-
2011
- 2011-07-29 JP JP2012502790A patent/JP5108165B1/ja active Active
- 2011-07-29 WO PCT/JP2011/067490 patent/WO2013018168A1/ja active Application Filing
- 2011-07-29 US US14/119,236 patent/US9157770B2/en active Active
- 2011-07-29 KR KR1020147000488A patent/KR101532185B1/ko active IP Right Grant
- 2011-07-29 DE DE112011105479.3T patent/DE112011105479B4/de active Active
- 2011-07-29 CN CN201180072465.2A patent/CN103703345B/zh active Active
- 2011-10-27 TW TW100139086A patent/TWI558983B/zh active
Patent Citations (3)
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JPH04279817A (ja) * | 1991-03-07 | 1992-10-05 | Mitsutoyo Corp | アブソリュートエンコーダ |
JP2005345375A (ja) * | 2004-06-04 | 2005-12-15 | Mitsutoyo Corp | 電磁誘導式absエンコーダ |
JP2006194766A (ja) * | 2005-01-14 | 2006-07-27 | Toyo Electric Mfg Co Ltd | 初期位相検出装置 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2014061380A1 (ja) * | 2012-10-18 | 2014-04-24 | 三菱電機株式会社 | 位置検出装置 |
JP5449634B1 (ja) * | 2013-04-24 | 2014-03-19 | 三菱電機株式会社 | サーボモータおよびエンコーダ |
WO2014174614A1 (ja) * | 2013-04-24 | 2014-10-30 | 三菱電機株式会社 | サーボモータおよびエンコーダ |
US9410828B2 (en) | 2013-04-24 | 2016-08-09 | Mitsubishi Electric Corporation | Servomotor and encoder |
DE112013006990B4 (de) * | 2013-04-24 | 2021-05-20 | Mitsubishi Electric Corporation | Encoder und Servomotor |
JP7142359B2 (ja) | 2019-07-27 | 2022-09-27 | 公立大学法人公立諏訪東京理科大学 | 可動部制御装置、可動部制御方法及びプログラム |
Also Published As
Publication number | Publication date |
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CN103703345B (zh) | 2016-06-08 |
US20140091213A1 (en) | 2014-04-03 |
KR101532185B1 (ko) | 2015-06-26 |
TWI558983B (zh) | 2016-11-21 |
DE112011105479T5 (de) | 2014-04-10 |
CN103703345A (zh) | 2014-04-02 |
WO2013018168A1 (ja) | 2013-02-07 |
KR20140036302A (ko) | 2014-03-25 |
JPWO2013018168A1 (ja) | 2015-02-23 |
US9157770B2 (en) | 2015-10-13 |
TW201305535A (zh) | 2013-02-01 |
DE112011105479B4 (de) | 2020-06-04 |
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