JPS6325510A - Encoder-pulse discriminating circuit of robot control apparatus - Google Patents

Abstract

PURPOSE:To enable manufacture of a motor controller of high noise-proofness, by silencing noise by using two steps each of DFF and JKFF on signals of normal and reversed phases of pulses from a motor encoder. CONSTITUTION:From a motor encoder, A-phase clock and B-phase clock which logs the former by 90 deg. are issued and for a noise-silencing circuit. A-phase and B-phase are constructed identically. And, primarily, a reverse-phase signal of the A-phase is generated 10 and + level noise (Noise plunging into a logic 0) is eliminated using two steps each of DFF 11, 12 and sampling pulses (For instance 1MHz). Next, A-phase signal is introduced into a J-input of the JKFF 13 and A-phase inverted signal is introduced into a K-input and - level noise (Noise plunging into a logic 1) is eliminated by using a sampling pulse. Thus, as a pulse signal devoid of noise of different frequency from the reference clock is issued from FF 13, a motor controller of high noise-proofness becomes available by discriminating number of pulses and direction by the same.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot control device, and particularly to an encoder pulse discrimination circuit suitable for use in a robot control device that requires noise resistance.

[Conventional technology]

Conventional encoder pulse discriminator circuits are based on the input of circuit signals, as described in ``Robotics and its Applications J,'' published by the Institute of Electronics and Communication Engineers (edited by Sanbe Tsuji and Masaaki Ejiri), pp. 71-72. A Schmitt gate circuit that shapes the pulse waveform is provided in the section, and noise resistance is improved by the waveform shape and the hysteresis characteristics of its input.

Furthermore, it is generally common practice to insert a capacitor into the input section to absorb noise.

[Problems to be Solved by the Invention] However, the above-mentioned conventional technology is effective when the noise level is small or for one-shot noise, but when the noise level is large, the noise is directly transmitted to the next stage. There was a problem in that pulses were transmitted incorrectly.

The present invention was developed as a result of studies to solve the rA problem of the prior art described above.Secondly, even if noise intrudes into the pulses from the motor encoder, the reference tarot can be maintained. The present invention aims to provide an encoder pulse discrimination circuit for a robot control device that can perform motor control with excellent noise resistance by treating all other pulses as noise and removing them.

[Means for solving problems]

In order to achieve the above object, two aspects of the present invention include an arithmetic control circuit and five
Motor controller 1 - In a robot control device consisting of a roll circuit, a motor driver circuit, and a power supply circuit, a reverse phase signal of the pulses from the motor encoder is generated, and two stages are each generated for the positive phase signal and the reverse phase signal. The noise of 10 levels is erased using the D flip-flop and the sampling pulse of 1, and the positive phase signal and the negative phase signal are
The device is characterized in that it is provided with means for inputting the K flip-flops and using these and sampling pulses to erase one level of noise.

[Operation] By adopting the above configuration, the present invention has the following effects:
By using two stages of D flip-flops and sampling pulses for the negative phase signal and positive phase signal of the pulses from the motor encoder, 10 levels of noise (1" noise intruding into logic + L 011) can be reduced: 1'I leave.Next, 1.JK flip-flop, iF by one person.
Input the phase signal 7, input the iφ phase signal to the K input,
By using these and the sampling pulse, one level of noise (intrudes into the logic it 144 and +tOr+
By eliminating the noise), a noise-free pulse signal is output from the flip 70 tube. By discriminating the number and direction of pulses from the output signal,
It is possible to perform one roll of motor control with excellent noise resistance.

〔Example〕

The present invention will be described below based on one embodiment of the drawings. FIG. 1 is a block circuit diagram showing the overall configuration of a robot control device.

In FIG. 1, an arithmetic control circuit l performs arithmetic operations based on a counter value from a counter 9, and sends a current command to a motor driver circuit 2. The motor 3 is rotated by a current flowing through the motor driver circuit 2, and an encoder 4 attached to the motor shirt 1 5 generates pulses with a period corresponding to the speed. The pulses generated by the encoder 4 are sent to the pulse discrimination circuit, first the noise is canceled by the noise cancellation circuit 7, and the pulse discrimination circuit 8 discriminates the direction of the pulse and detects the edge of the pulse, and the result is used as a counter. The counter value of the circuit 9 increases or decreases. Arithmetic control circuit 1
rotates motor 3 by repeating the above operation,
Position the robot arm.

Here, details of the encoder pulse discriminator circuit indicated by reference numeral 6 in FIG. 1 will be explained based on FIG. 2. A B-phase lock delayed by 90' phase is output, and the rotation direction and rotation angle of the motor 3 are detected. The noise canceling circuit 7 has the same configuration for the A phase and the B phase, and after the noise canceling circuit 7 eliminates the noise, the pulse discrimination circuit 8 detects the edge of the pulse, and the current A phase and B phase are detected. Based on this situation, if the direction is in the forward direction, a 1-hair bump is generated, and if the direction is in the reverse direction, a countdown pulse is generated for a certain period of time.

In FIG. 2, the noise canceling circuit 7 includes an A-phase inverting circuit I
O, A phase + noise cancellation circuit IJ, A phase + noise cancellation circuit I2, A phase - noise cancellation/pulse shaping circuit 13, B phase inversion circuit 15, B phase + noise cancellation circuit 16,
It consists of a 100-phase+noise cancellation circuit 17 and a B-phase noise cancellation/pulse shaping circuit 18. The pulse discrimination circuit 8 also includes an A-phase edge detection circuit 14 that detects the rising and falling edges of the A-phase pulse, and a B-phase edge detection circuit 19 that detects the rising and falling edges of the B-phase pulse.
And the above edge and the current A phase.

It is comprised of a pulse determination circuit 20 that determines whether the B phase is up or down based on the state of the B phase and generates an amplifier pulse when the counter should count up and a down pulse when the counter should count down.

In the illustrated embodiment, the pulse determination circuit shown with reference numeral 20 in FIG. 2 employs a generally used method,
The principle will be explained based on FIG. 3. FIG. 3 is a timing chart of output signals at various parts of the encoder pulse discrimination circuit shown in FIG. 2.

A output from the encoder 4 of the motor indicated by numeral 3 in FIG.
The two pulses of phase and B phase change as shown in FIG. 3 when the motor 3 is in CW (clockwise) and CCW (counterclockwise) directions. Therefore.

A phase, further differentiate the inverted signal of A phase with respect to A phase 7,
Only edges in the + direction are detected. and.

By adding the edge waveform ΔX of the human phase and the Fa filling of the B phase as up pulses, and the logical product of the edge waveform ΔA of the A phase and the B phase as down pulses to the counter 9, the moving direction of the motor 3 can be determined. The amount can be detected.

As described above, the pulse determination circuit shown by the reference numeral 20 in FIG. It is obvious that -m goes wrong. Therefore, in the present invention, a noise canceling circuit that combines a reference clock, a D flip-flop, and a JK flip-flop is incorporated to remove noise having a frequency different from that of the reference clock. The details of the basic operation and each part will be further explained below.

As mentioned above, the noise canceling circuit 7 has the same configuration for the A phase and the B phase, and the noise canceling circuit 7 has the A phase inversion circuit IO, the A phase production noise canceling circuit 11, and the λ phase. +
Noise cancellation circuit 12, A phase-noise) ex-husband/pulse shaping circuit I3, B-phase inversion circuit 15, B-phase + noise cancellation circuit 16, B-phase noise cancellation circuit 17, and B-phase noise cancellation - The fact that it is composed of the pulse shaping circuit 18 has already been described. Therefore, the following description will be limited to the noise canceling circuit 7 related to the A phase, and the A phase inverting circuit 10 will be described below.

This is a circuit that creates the physiognomic signal necessary for noise cancellation, and incorporates an inverter. In addition, A phase + noise cancellation circuit 1
1 and the λ phase + noise canceling circuit 12 have the same configuration,
Each signal was “O” and invaded when it was a novel.
This is a circuit that eliminates the noise of the signal.

To explain this using the A-phase + noise canceling circuit 11 as an example, the A-phase + noise canceling circuit 11 has a circuit configuration as shown in FIG. The timing chart of the component part is shown. (When noise like the shaded area in b enters, this circuit removes the 10 level noise where the "0" level signal changes to II II II. 11, and its effect is visible in (A), which can remove all ten levels of noise with a frequency of 1 MHz clock or higher. Also, the truth table of the flip-flop in the 5 circuit are shown in Table 1.

Table 1 Next, the A-phase noise canceling/pulse shaping circuit 13 will be explained.

As shown in Fig. 4, in the A phase + noise cancellation circuit 11,
Although it is possible to remove all 10-level noise, the A-phase+noise canceling circuit 11 has the characteristic that -level noise is expanded. therefore.

The A-phase noise canceling/pulse shaping circuit 13 has the function of canceling the above-mentioned -level noise.1. In addition, A
The phase-noise cancellation/pulse shaping circuit 13 also has the following functions. In other words, since the A-phase noise canceling circuit 11 and the A-phase + noise canceling circuit 12 independently cancel 10 levels of noise, there is a relationship in which the signals are normally inverted. In some cases, the waveforms of the A phase and the A phase are newly shaped and inverted. FIG. 5 is a detailed block diagram showing only the A-phase noise canceling circuit extracted from the noise canceling circuit 7 shown by reference numeral 7 in FIG. 2. In FIG. Namely.

FIG. 5 shows the A-phase inversion circuit 10 and the A-phase + noise 't'A
A combination of the output circuit 11, the λ phase+noise cancellation circuit 12, and the A phase noise cancellation/pulse shaping circuit 13 is shown.

FIG. 6 is a timing chart 1 of output signals in various parts of the A-phase noise old circuit shown in FIG.

In addition, the truth table of the JK flip-flop of the A-phase noise cancellation/pulse shaping circuit 13 is shown in Table 2. The positions of signal bubbles in each part of the A-phase noise canceling circuit are shown.

In Table 2, Figure 6, width ~ ■ indicates the signal in the A Wagyu noise cancellation circuit 11 and the A phase 10 noise cancellation circuit 12 portion,
C again? 'l and 1 second indicate the signal at the A-phase noise cancellation/pulse shaping circuit 13, and from FIG. It can be seen that the noise is erased, and the A-phase noise canceling/pulse shaping circuit 13 performs an operation of canceling -level noise and restoring the A phase and the A phase. In addition, the clock is l MHz
is used, but this has a margin of about 10 times the pulse from the motor encoder.

〔Effect of the invention〕

The present invention is as described above, and as is clear from the description of the illustrated embodiment, according to the present invention, even if noise intrudes into the pulses from the motor encoder.

Motor controller 1 with excellent noise resistance by treating all pulses other than the vt quasi-clock as noise and removing them.
- It is possible to obtain an encoder pulse discrimination circuit for a robot control device capable of performing rolls.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is a plotter circuit diagram showing the overall configuration of a robot control device; FIG. 2 is a detailed block diagram of an encoder pulse discriminator circuit indicated by 6 in FIG. 1; The figure shows a timing chart of output signals in each part of the encoder pulse discriminator circuit shown in FIG. Figure 2 is a detailed block diagram showing only the A-phase noise canceling circuit out of the noise canceling circuits indicated by 7, and Figure 6 is a timing chart of output signals in each part of the A-phase noise canceling circuit shown in Figure 5. be. 1... Arithmetic control circuit, 2... Motor driver circuit,
3...Motor, 4...Encoder, 5...Motor shaft, 6...Pulse discrimination circuit, 7...Noise cancellation circuit. 8...Pulse discrimination circuit, 9...Counter, 1o...
・A phase inversion circuit, 11...A phase 10 noise cancellation circuit, 1
2... Phase input + noise cancellation circuit, 13... Phase A - noise cancellation. Pulse shaping circuit, 14...A phase edge detection circuit. 15...B phase inversion circuit, 16...B phase ten noise cancellation circuit, 17...Hundred phase + noise cancellation circuit, 18...B
Phase-noise cancellation, pulse shaping circuit, 19...B phase edge detection circuit, 20... Pulse determination circuit.

Claims (1)

[Claims] 1. In a robot control device consisting of an arithmetic control circuit, a motor control circuit, a motor driver circuit, and a power supply circuit, a reverse phase signal of the pulses from the motor encoder is generated, and a positive phase signal and a reverse phase signal are generated. For each, two stages of D flip-flops and a sampling pulse are used to eliminate + level noise, and a positive phase signal and a negative phase signal are input to a JK flip-flop, and these and the sampling pulse are combined. 1. An encoder pulse discriminator circuit for a robot control device, characterized in that the encoder pulse discrimination circuit comprises means for erasing -level noise using the encoder pulse discriminator circuit.