JP7403825B2 - Encoder and control system - Google Patents

Description

The present invention relates to encoders and control systems, and in particular to improving the reliability of encoders that detect the state of controlled equipment.

For example, when a controller controls a rotating device as a device to be controlled, an encoder having a sensing section detects the rotation of the rotating shaft, and the controller performs control calculations for the rotating device based on the obtained angle signal. .

Utility Model Publication No. 6-44245

The multifunctional encoder described in Patent Document 1 transmits a plurality of state detection signals such as velocity data and acceleration data to a controller as the state of a device to be controlled.

Incidentally, although an encoder has a function of detecting the state of a controlled device to be measured and transmitting information to a controller, it does not have a function of detecting the state of the encoder itself.

Therefore, when vibration or shock is applied to the encoder, electronic components mounted on the circuit board of the encoder may fall off, wiring patterns may be damaged, and so on, resulting in failure.

If the encoder malfunctions and the state of the controlled device cannot be detected while the controlled device is in operation, there is a risk that the controlled device may lose its function or be damaged. That is, if a malfunction occurs in the encoder that detects the state of the controlled device, there is a problem that the operating controlled device cannot be protected.

An object of the present invention is to provide an encoder and a control system that can detect a malfunction in an encoder that detects the state of a controlled device and can protect the controlled device.

The encoder according to the present invention is an encoder that detects the state of a controlled device driven by a controller, and includes a sensing section that detects the state of the controlled device, and a signal that generates state detection information from the detection result of the sensing section. A processing unit, an acceleration sensor that detects acceleration generated in the encoder and generates acceleration detection information, and a communication unit that communicates with the controller, and the communication unit transmits the state detection information and acceleration detection information to the controller. Send to.

The encoder according to the present invention further includes a storage unit that stores acceleration detection information indicating a maximum value of acceleration.

The encoder according to the present invention further includes a control section that controls each section of the encoder, and when the control section receives a request signal from the controller through the communication section, the control section transmits the acceleration detection information stored in the storage section through the communication section. Send to controller.

In the encoder according to the present invention, the sensing section detects the angle of the movable section of the device to be controlled, and the signal processing section generates angle information as state detection information from the detection result of the sensing section.

A control system according to the present invention includes an encoder that detects the state of a device to be controlled and generates state detection information, and a controller that drives the device to be controlled by referring to the state detection information from the encoder. , refers to the acceleration detection information received from the encoder, and stops the controlled device if the acceleration generated in the encoder exceeds a predetermined threshold. The threshold value for the acceleration generated in the encoder is set to a value at which a malfunction occurs in the encoder due to vibration or shock.

In the control system according to the present invention, the controller transmits a request signal to the encoder, and when the encoder receives the request signal from the controller, the encoder transmits acceleration detection information stored in the storage unit to the controller.

According to the encoder according to the present invention, since the state detection information of the controlled device and the acceleration detection information detected by the encoder are output, it is possible to detect a malfunction of the encoder while detecting the state of the controlled device. It becomes possible.

According to the control system according to the present invention, when driving the controlled device with reference to state detection information from the encoder, the controlled device is stopped when the acceleration generated in the encoder exceeds a threshold value. It becomes possible to protect equipment from malfunctions such as damage or loss of functionality.

1 is a configuration diagram showing the configuration of a control system including an encoder in Embodiment 1. FIG. FIG. 3 is an explanatory diagram showing the flow of information in the control system in the first embodiment.

Embodiments of the encoder and control system of the present invention will be described below with reference to the drawings. In addition, in each figure, the same parts are given the same reference numerals.

Embodiment 1.
First, the configuration of the control system 1 in Embodiment 1 will be described with reference to FIG. 1. FIG. 1 is a configuration diagram showing the configuration of a control system 1 including an encoder 300 in the first embodiment.

[Configuration of control system 1]
In FIG. 1, a control system 1 mainly includes a controller 100, a controlled device 200, and an encoder 300.

The controller 100 refers to various information from the encoder 300 and supplies a drive signal to the controlled device 200. The controller 100 controls the state of the controlled device 200, such as the rotation direction, rotation speed, rotation angle, and rotation stop, using a drive signal supplied to the controlled device.

The controlled device 200 is a mechanical element that converts a drive signal supplied from the controller 100 into physical motion, and is, for example, a rotating device such as a motor. When the controlled device 200 is a rotating device, it includes a fixed stator, a rotor that can rotate with respect to the stator, and a drive shaft that can supply rotation of the rotor to the outside.

The encoder 300 detects the state of the controlled device 200 to generate state detection information, and also detects the acceleration generated in the encoder 300 to generate acceleration detection information. The encoder 300 is provided with a control section 301, a sensing section 310, a signal processing section 320, an acceleration sensor 330, a communication section 340, and a storage section 350.

A control section 301 controls each section of the encoder 300. Specifically, the control unit 301 performs control to generate state detection information and acceleration detection information, control to transmit the state detection information and acceleration detection information to the controller 100, and storage of acceleration detection information indicating the maximum value of acceleration. The control unit 350 performs control for storing acceleration detection information in the controller 350 and control for transmitting acceleration detection information to the controller 100 in response to a request signal from the controller 100.

The sensing unit 310 is attached to the movable part of the controlled device 200 and detects the state of the controlled device 200. For example, when the controlled device 200 is a rotating device, the sensing unit 310 is provided to detect the rotational state of the rotating shaft of the rotating device.

The signal processing unit 320 generates state detection information that can be processed by the controller 100 from the detection result of the sensing unit 310.

Acceleration sensor 330 detects acceleration generated in encoder 300 and generates acceleration detection information that can be processed by controller 100. For example, the acceleration sensor 330 is provided on a circuit board on which circuits of various parts of the encoder 300 are mounted, and detects acceleration generated on the circuit board.

The communication unit 340 is a communication means for communicating with the controller 100. Under the control of the control unit 301, the communication unit 340 transmits state detection information detected from the controlled device 200 and acceleration detection information obtained by detecting the acceleration generated in the encoder 300 to the controller 100, and receives a request signal from the controller 100. Receive. The communication unit 340 transmits the state detection information and acceleration detection information to the controller 100, for example, by serial communication.

The storage unit 350 stores, under the control of the control unit 301, information indicating the maximum value of acceleration among the acceleration detection information generated by the acceleration sensor 330. That is, when new acceleration detection information indicating a larger acceleration than the previously stored acceleration detection information is input, the storage unit 350 stores the new acceleration detection information.

[Signal processing procedure of control system 1]
Next, the flow of information in the control system 1 will be explained using FIG. 2. FIG. 2 is an explanatory diagram showing the flow of signals or information in the control system 1 in the first embodiment.

[Processing procedure (1)]
The controller 100 supplies a drive signal (a) to the controlled device 200. The controlled device 200 performs rotational movement or the like in response to a drive signal supplied from the controller 100.

[Processing procedure (2)]
The sensing unit 310 detects the state of the controlled device 200. For example, when the controlled device 200 is a rotating device, the sensing unit 310 detects the rotational state of the rotating shaft of the rotating device. The signal processing unit 320 generates state detection information (b) from the detection result of the sensing unit 310. For example, when the controlled device 200 is a rotating device, the signal processing section 320 generates angle information as the state detection information from the detection result of the sensing section 310. The communication unit 340 transmits the state detection information (b) generated by the signal processing unit 320 to the controller 100.

[Processing procedure (3)]
Acceleration sensor 330 detects acceleration occurring in encoder 300 and generates acceleration detection information (c). This acceleration detection information may include, in addition to the acceleration value, the direction of the acceleration and the time of occurrence.

The communication unit 340 transmits acceleration detection information (c) generated by the acceleration sensor 330 to the controller 100. The transmission of this acceleration detection information (c) to the controller 100 is performed in parallel with the transmission of the state detection information (b) in the above processing procedure (2). The communication unit 340 transmits the state detection information (b) and the acceleration detection information (c) to the controller 100 at a predetermined timing and in accordance with a predetermined format by serial communication or the like. In this case, the controller 100 can know the acceleration generated in the encoder 300 in real time.

[Processing procedure (4)]
The storage unit 350 stores, under the control of the control unit 301, information indicating the maximum value of acceleration among the acceleration detection information generated by the acceleration sensor 330. That is, the control unit 301 compares the acceleration included in the acceleration detection information stored in the storage unit 350 and the acceleration newly detected by the acceleration sensor 330, and if the newly detected acceleration is large, the acceleration included in the acceleration detection information stored in the storage unit 350 is The new acceleration detection information (d) is stored in the section 350.

[Processing procedure (5)]
The controller 100 transmits a request signal (e) requesting acceleration detection information (d) indicating the maximum value of acceleration stored in the storage unit 350 to the encoder 300 at a predetermined timing.

In the encoder 300, the control section 301 receives the request signal (e) through the communication section 340. The control unit 301 that has received the request signal (e) reads acceleration detection information indicating the maximum value of acceleration stored in the storage unit 350, and transmits the read acceleration detection information (f) to the controller (100) through the communication unit 340. ). In this case, the controller 100 can know the acceleration generated in the encoder 300 at a timing suitable for the controller 100 or at a predetermined timing.

[Processing procedure (6)]
The controller 100 analyzes the acceleration included in the acceleration detection information (c) received from the encoder 300 in processing procedure (3) or the acceleration detection information (f) received from the encoder 300 in processing procedure (5).

After analyzing the acceleration, the controller 100 stops the controlled device 200 when determining that the acceleration generated in the encoder 300 exceeds a predetermined threshold. That is, the controller 100 stops supplying the drive signal (a) to the controlled device 200, or supplies the braking signal (g) to the controlled device 200.

The threshold value for the acceleration generated in the encoder 300 is desirably set to a value that may cause electronic components mounted on the circuit board of the encoder 300 to fall off, wiring patterns to be damaged, etc. due to vibration or impact.

[Processing procedure (7)]
After stopping the controlled device 200, or in parallel with the operation of stopping the controlled device 200, the controller 100 detects that the controlled device 200 has been stopped due to the acceleration generated in the encoder 300. The administrator is notified by display on the display unit 100 or by e-mail.

The controller 100 may also notify the administrator that the encoder 300 needs to be inspected. Further, the controller 100 may notify the administrator of the acceleration value, acceleration direction, occurrence time, etc. included in the acceleration detection information.

[Effects obtained by the embodiment]
The encoder 300 of the first embodiment includes, in addition to a sensing unit 310 that detects the state of the controlled device 200, an acceleration sensor 330 that detects acceleration generated in the encoder 300 and generates acceleration detection information. state detection information and acceleration detection information in the encoder 300 are transmitted to the controller 100. Therefore, the controller 100 can detect a malfunction in the encoder 300 while detecting the state of the controlled device 200.

Since the encoder 300 includes a storage unit 350 that stores acceleration detection information indicating the maximum value of acceleration, the acceleration generated in the encoder 300 can be confirmed.

The encoder 300 includes a control unit 301 , and when receiving a request signal from the controller 100 , the control unit 301 controls the encoder so as to read acceleration detection information stored in the storage unit 350 and transmit it to the controller 100 . 300. Therefore, the controller 100 can detect a malfunction in the encoder 300 while detecting the state of the controlled device 200.

Since the encoder 300 detects the angle of the movable part of the controlled device 200 and generates the angle information as state detection information, for example, when the controlled device 200 is a rotating device, the encoder 300 detects the rotation angle of the rotating shaft. Can be done. That is, the encoder 300 can output the acceleration detection information received by the encoder 300 itself while outputting the angle information as the state detection information.

In the control system 1, the controller 100 stops the controlled device 200 when the acceleration generated in the encoder 300 exceeds a threshold value when driving the controlled device 200. Therefore, it becomes possible to protect the controlled device 200 from damage or loss of function.

In the control system 1, the encoder 300 transmits acceleration detection information stored in the storage unit 350 to the controller 100 in response to a request signal from the controller 100. Therefore, the controller 100 can know the acceleration generated in the encoder 300 as necessary, and can protect the controlled device 200 from damage or loss of function.

[Other embodiments]
In the above description of Embodiment 1, it has been explained that the storage unit 350 stores acceleration detection information regarding the maximum acceleration, but the storage unit 350 is not limited to this. For example, in addition to the maximum acceleration detection information, a plurality of top acceleration detection information may be stored depending on the magnitude of acceleration.

The encoder 300 transmits the latest pieces of acceleration detection information stored in the storage unit 350 to the controller 100 in response to a request signal from the controller 100.

Then, the controller 100 may comprehensively judge the influence of multiple accelerations occurring on the encoder 300, and may stop the controlled device 200, for example, when acceleration close to a threshold value occurs multiple times. This makes it possible to prevent problems with the encoder 300 and protect the controlled device 200 from damage or loss of functionality.

The above processing procedure (3) and processing procedure (5) may be either one or both. That is, the acceleration detection information may be transmitted from the encoder 300 to the controller 100 at a timing determined by the encoder 300 or at a timing requested by the controller 100.

1 control system, 100 controller, 200 controlled device, 300 encoder, 301 control unit, 310 sensing unit, 320 signal processing unit, 330 acceleration sensor, 340 communication unit, 350 storage unit.

Claims (2)

An encoder (300) that detects the state of a controlled device (200) driven by a controller (100),
a sensing unit (310) that detects the angle of the movable part as the state of the controlled device (200) ;
a signal processing unit (320) that generates state detection information of the controlled device (200) from the detection result of the sensing unit (310);
an acceleration sensor (330) that detects acceleration generated in the encoder ( 300) and generates acceleration detection information;
a communication unit (340) that communicates with the controller (100);
a storage unit (350) that stores the acceleration detection information indicating the maximum value of the acceleration generated in the encoder (300);
a control section (301) that controls each section of the encoder (300);
Equipped with
The control unit (301)
transmitting the state detection information of the controlled device (200) to the controller (100) through the communication unit (340);
When a request signal is received from the controller (100) through the communication unit (340), the acceleration detection information stored in the storage unit (350) is transmitted to the controller (100) through the communication unit (340) . do,
encoder. an encoder (300) that detects the state of the controlled device (200) and generates state detection information;
a controller (100) that drives the controlled device (200) with reference to the state detection information from the encoder (300);
Equipped with
The encoder (300) is
a sensing unit (310) that detects the angle of the movable part as the state of the controlled device (200);
a signal processing unit (320) that generates state detection information of the controlled device (200) from the detection result of the sensing unit (310);
an acceleration sensor (330) that detects acceleration generated in the encoder and generates acceleration detection information;
a communication unit (340) that communicates with the controller (100);
a storage unit (350) that stores the acceleration detection information indicating the maximum value of the acceleration generated in the encoder (300);
When the state detection information of the controlled device (200) is transmitted to the controller (100) through the communication unit (340) and a request signal is received from the controller (100) through the communication unit (340), the a control unit (301) that transmits the acceleration detection information stored in the storage unit (350) to the controller (100) through a communication unit (340),
The controller (100) includes:
A threshold value of the acceleration is set to a value that causes a malfunction to the encoder (300) due to vibration or impact applied to the encoder (300),
transmitting a request signal to the encoder (300);
referring to the acceleration detection information received from the encoder (300) and stopping the controlled device (200) if the acceleration exceeds the threshold;
control system.

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