KR102113456B1 - Pulsed conversion device and pulsed conversion method of incremental encoder - Google Patents

Abstract

Provided is an incremental encoder pulsed conversion device that accurately generates a pulse origin signal synchronized with a pulse position signal even when the phase position of the origin detection signal relative to the periodic position signal changes. The detection widths of the polarity switching unit 7 and the origin detection signal 6 are the periodic positions of the four periodic position signals 2 to 5 whose phases are different by 90 degrees, which are output from the encoder body according to the displacement of the moving object. Signals for origin detection and an interpolation segment 14 for generating pulse position signals 16 and 17 of A phase and B phase of resolution set from four cycle position signals, which are 0.5 times or more and less than 1.5 times the period T of the signal. It has an origin signal generator 15 that takes timing at the origin synchronization phase X set in the detection period of (6) and generates a pulse origin signal 18 in synchronization with the pulse position signal.

Description

Pulsed conversion device and pulsed conversion method of incremental encoder

The present invention relates to pulsed conversion of a signal in an incremental encoder, in particular, the generation of a pulse origin signal synchronized with a pulse position signal.

For example, in incremental encoders that perform displacement detection or position detection based on a plurality of pulse position signals as described in Patent Documents 1 to 4 and the like, and pulse origin signals synchronized with these pulse position signals, recently , Encoder high resolution is in progress.

Patent Document 1: Japanese Patent Application Publication No. Hei 1-248020, FIGS. 3 and 5 Patent Document 2: Japanese Patent No. 2558287 specification and FIG. 3 Patent Document 3: Japanese Patent No. 4274751 specification and FIGS. 1, 2, 3 Patent Document 4: Japanese Patent Application Publication No. 2000-213925 FIGS. 1 and 13

With the high resolution of encoders in recent years, the scale grating is made into a small pitch and the period of the periodic position signal is shortened. For this reason, due to manufacturing errors, such as assembly errors related to the configuration of the encoder body, deviations are likely to occur in the phase position of the origin detection signal relative to the periodic position signal, reproducible, stable, and accurately synchronized with the pulse position signal. It is becoming difficult to generate a pulse origin signal.

The present invention has been made to solve the above problems, and corresponds to the recent high resolution of encoders. With the configuration of the encoder body, manufacturing errors such as assembly errors occur, and the phase of the origin detection signal relative to the periodic position signal. An object of the present invention is to provide a pulsed conversion device and a pulsed conversion method of an incremental encoder that accurately generates a pulse origin signal synchronized with a pulse position signal even when the position changes.

The present invention, according to the displacement of the position or angle of the moving object, a position signal generating unit for generating four periodic position signals of 90 degrees out of phase with the phase of one periodic position signal as a reference phase, and the displacement position of the moving object When is reached the reference position, the signal detection unit for origin detection for generating an origin detection signal whose detection width is 0.5 times or more and less than 1.5 times the period of the four period position signals, and the four period positions A polarity switching unit for selectively changing the polarity of each signal of the signal, an interpolation division unit for generating a pulse position signal having a set resolution from the four periodic position signals output from the polarity switching unit, and the signal for origin detection An incremental encoder having an origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal, based on a predetermined phase position according to the two period position signals whose phases are 90 degrees different in a detected period. It is in a pulsed conversion device, etc.

In the present invention, even with the configuration of the encoder body, manufacturing errors such as assembly errors occur, and even when the phase position of the origin detection signal relative to the periodic position signal changes, a pulse origin signal synchronized with the pulse position signal can be accurately generated. have.

1 is a block diagram showing an example of a configuration of a pulsed conversion device that converts a periodic position signal and an origin detection signal of an incremental encoder according to Embodiment 1 of the present invention into a pulse signal.
2 is a waveform diagram showing an example of the synchronization timing of a periodic position signal and an origin detection signal according to Embodiment 1 of the present invention.
3 is a waveform diagram of a periodic position signal and an origin detection signal when the polarity switching unit according to the first embodiment of the present invention is non-inverting.
4 is a waveform diagram of a periodic position signal and a signal for origin detection after switching the polarity switching unit according to the first embodiment of the present invention.
Fig. 5 is a phase A position signal on the horizontal axis and a phase B position on the vertical axis for explaining the relationship between the inversion in the polarity switching unit according to the first embodiment of the present invention and the center phase Pc of the detection width of the origin detection signal. It is a Lissajous waveform diagram when a signal is floated.
Fig. 6 is a phase A position signal on the horizontal axis and a B on the vertical axis for explaining the detection position of the signal for origin detection when the detection width W of the origin detection signal according to Embodiment 1 of the present invention is smaller than 0.5 x T It is a Lissajous waveform diagram when the phase period position signal is plotted.
7 is a phase A signal on the horizontal axis and a phase B on the vertical axis for explaining the detection position of the signal for origin detection when the detection width W of the origin detection signal according to Embodiment 1 of the present invention is 1.5×T or more. It is a Lissajous waveform diagram when a signal is floated.
8 is a schematic diagram showing an example of a part of the configuration of a polarity switching unit of the pulsed conversion device of the incremental encoder according to Embodiment 2 of the present invention.
9 is a block diagram showing an example of a configuration of a pulsed conversion device of an incremental encoder according to Embodiment 3 of the present invention.
10 is a diagram showing an example of a part of the configuration of a polarity switching unit of the pulsed conversion device of the incremental encoder according to Embodiment 4 of the present invention.
11 is a block diagram showing an example of a configuration of a pulsed conversion device of an incremental encoder according to Embodiment 2 of the present invention.
12 is a waveform diagram showing an example of the synchronization timing of a periodic position signal and an origin detection signal according to a modification of Embodiment 1 of the present invention.
13 is a view for explaining the origin sync phase based on a Lissajous waveform by two periodic phase signals in the pulsed conversion device of the incremental encoder of the present invention.

The incremental encoder according to the present invention includes a polarity switching unit capable of switching the polarity of each periodic position signal of four periodic position signals of different phases to inverted and non-inverted, and the signal detection width of the signal for origin detection is , 0.5 times or more and less than 1.5 times the period T of the periodic position signal, thereby generating a pulse origin signal synchronized with the pulse position signal based on the period during which the conventional origin detection signal is output and the set origin synchronization phase. Even when the origin signal generator is used, it is possible to generate a pulse origin signal with good reproducibility, stability, and accuracy even if manufacturing errors such as assembly errors occur in the configuration of the encoder body with high resolution.

With this configuration, it is possible to prevent the count error of the A-phase pulse position signal or the B-phase pulse position signal and the error that the count is not complete. It is possible to ease the phase position of the origin detection signal relative to the periodic position signal or the detection width W of the origin detection signal, and to have a larger allowable range for manufacturing errors such as assembly errors in the configuration of the encoder body. Since it becomes possible, it becomes possible to suppress manufacturing cost and to manufacture at low cost. Since the polarity of all periodic position signals of the four periodic position signals having different phases is inverted or non-inverted, there is no change in the phase progression relationship of each periodic signal corresponding to the displacement direction of the moving object. Therefore, it is not necessary to add a new adjustment function at the time of detecting the positive displacement and the reverse displacement in the displacement direction of the moving body, and the manufacturing cost is suppressed and it is cheap.

Hereinafter, the pulsed conversion device and the pulsed conversion method of the incremental encoder according to the present invention will be described with reference to the drawings. In addition, in each embodiment, the same or equivalent part is denoted by the same reference numeral, and overlapping description is omitted.

Embodiment 1.

1 is a block diagram showing an example of a configuration of a pulsed conversion device for converting a periodic position signal and an origin detection signal of the incremental encoder according to the first embodiment of the present invention into a pulse signal. The incremental encoder detects the displacement of the position or angle of the moving object to be measured. From the encoder body 1 of the incremental encoder, four periodic position signals A+, A-, B+, and B- (2-5) having different phases are output according to the displacement of the moving object. These periodic position signals 2 to 5 are sinusoidal signals of frequency according to the displacement speed,

If the periodic position signal (A+) (2) is the reference phase,

The periodic position signal (B+) (4) has a phase difference of 90 degrees with respect to the reference phase,

The periodic position signal (A-) (3) is 180 degrees out of phase with respect to the reference phase,

The periodic position signals (B-) 5 each have a phase difference of 270 degrees with respect to the reference phase.

It is assumed that either phase of the periodic position signal (A+) 2 and the periodic position signal (B+) (4) is advanced by the displacement direction of the moving body. Further, from the encoder main body 1, a signal 6 for detecting an origin as a Z-phase signal output when detecting the reference position of the moving object is output.

As described later, the encoder main body 1, as described below, uses four phase position signals 2 to 5 whose phases are different by 90 degrees based on the phase of one cycle position signal as a reference phase according to the position or angle displacement of the moving object. When the position signal generator 1a to be generated and the displacement position of the moving object reach the reference position, the detection width W of the signal is 0.5 times or more and less than 1.5 times the period T of the four periodic position signals 2 to 5 It has a home position detection signal generator 1b for generating the home position detection signal 6. These signals are obtained, for example, by detecting a non-detection body provided on the moving object with a sensor or the like.

The pulsed conversion device of Fig. 1 includes the encoder main body 1 and the counter portion 41, and has the following.

The switchable polarity switching unit 7 selectively switches inversion and non-inversion of polarity for each signal of four periodic position signals A+, A-, B+, and B- (2 to 5) having different phases. .

The first synthesizing circuit 19 differentially changes the periodic position signals (A+') and (A-') whose phases are 180 degrees different from each other after the polarity switch, so that the differential signal ((A+')- as the A phase periodic position signal 12) (A-')).

The second synthesizing circuit 20 differentially changes the periodic position signals (B+') and (B-') whose phases are 180 degrees different from each other after the polarity switch, thereby providing a differential signal ((B+')- as the B phase periodic position signal 13). (B-')).

The interpolation division 14 receives the A-phase pulse position signal 16 and the B-phase pulse position signal 17 with a preset resolution from the A-phase periodic position signal 12 and the B-phase periodic position signal 13. To create.

The origin signal generator 15 includes the origin detection signal 6, the A phase periodic position signal 12, the B phase periodic position signal 13, the A phase pulse position signal 16, and the B phase pulse position signal 17 ) As input, the pulse origin signal 18 synchronized with the A-phase pulse position signal 16 and the B-phase pulse position signal 17 is obtained.

The A-phase pulse position signal 16, the B-phase pulse position signal 17 and the pulse origin signal 18 output from the pulse conversion device are input to the counter 41. The counter unit 41 counts the A-phase pulse position signal 16 and the B-phase pulse position signal 17 and resets the count with the pulse origin signal 18 in order to obtain the displacement of the moving object position or angle. .

Synchronization in the origin signal generation unit 15 is based on a predetermined origin synchronization phase X in a period during which the origin detection signal 6 is detected, A phase pulse position signal 16 and B phase pulse position signal In synchronization with (17), a pulse origin signal 18 is generated.

Fig. 13 shows a diagram for explaining the origin synchronization phase based on the Lissajous waveform by two periodic phase signals in the pulsed conversion device of the incremental encoder of the present invention.

One value of two periodic position signals of the A phase periodic position signal 12 and the B phase periodic position signal 13 is taken as the horizontal axis direction (a) of the two-dimensional orthogonal coordinate system, and the other value is the vertical axis direction ( Taken as b), on the Cartesian coordinate system, a point defined by the values of the two periodic position signals 12, 13 is moved and drawn according to the displacement of the moving object, and the waveforms of the two periodic position signals 12, 13 are drawn. It is called Lissajous Waveform LI. The center position of the two-dimensional orthogonal coordinates of the Lissajous waveform LI represented by the dashed-dotted line in FIG. 13 is referred to as O. In addition, the reference rotational position of the rotational position around the center position O of the Lissajous waveform LI is called PP. In Fig. 13, the intersection between the horizontal axis on the right side of the orthogonal coordinates of the Lissajous waveform LI and the Lissajous waveform LI is set as the reference rotation position PP. Q is a point of a predetermined phase position in Cartesian coordinates of the Lissajous waveform of the origin signal generator 15, determined at the circuit design stage of the origin signal generator 15. And, for example, based on the reference rotational position PP, the angular position of each ∠PPOQ centered on the center position O is referred to as the origin synchronization phase X.

That is, the origin synchronization phase X is the phase position of the origin signal generator 15 around the center position of the orthogonal coordinates of the Lissajous waveform LI formed by the values of the two periodic position signals 12 and 13.

As an example, the synchronization in the origin signal generating section 15 is one signal of two periodic position signals of A phase and B phase in a period in which the origin detection signal 6 is detected, higher than the center value of the signal amplitude. Or lower level, and the signal on the other side intersects the center value of the signal amplitude from below or from above, based on the phase position, i.e., the origin sync phase, A phase pulse position signal 16 and B phase pulse In synchronization with the position signal 17, a pulse origin signal 18 is generated.

The center value of the above-mentioned amplitude is an intermediate value between the maximum value and the minimum value of the signal 1 period waveform, and is {(maximum value-minimum value)/2} of the signal waveform.

The origin sync phase X is an integer multiple of 90 degrees, such as -180 degrees, -90 degrees, 0 degrees, 90 degrees, etc., and a phase position of 90 degrees x N (N: integer) degrees. The position value is obtained by inputting the A-phase pulse position signal 16 and the B-phase pulse position signal 17 to the counter 41 and counting them. In this case, it is possible to determine the origin of position detection by resetting the counter 41 when the pulse origin signal 18 occurs.

FIG. 2 shows an example of the synchronization timing of the phase position signals 12 and 13 on the A and B phases and the signal 6 for the origin detection, that is, an example of the origin synchronization phase, in the origin signal generator 15 of FIG. 1. It is a signal waveform diagram. In Fig. 2, the vertical axis represents amplitude and the horizontal axis represents time,

(a) A phase period position signal (12),

(b) B phase periodic position signal (13),

(c) shows the signal 6 for origin detection.

In FIG. 2, the moving object is rotating in a set direction, for example, and the phase A of the phase A signal 12 is 90 degrees from the phase B signal of the phase B phase. As an example, the origin synchronization phase X indicated by the broken line X shows a position where the A phase periodic position signal 12 is higher than its center value, and the B phase periodic position signal 13 intersects the center value from below. . The interpolation division 14 may include a function of correcting an offset value such that the center value of the A phase periodic position signal 12 and the center value of the B phase periodic position signal 13 are at the same level. In addition, the interpolation division 14 further corrects the phase difference between the A-phase periodic position signal 12 and the B-phase periodic position signal 13, and the A-phase periodic position signal 12 and the B-phase periodic position signal ( 13) It may include a function for correcting each signal amplitude. If the period of the value for which the origin detection signal 6 is larger than the origin detection threshold Vt is the origin detection period of the detection width W, the A phase pulse position signals 16 and B when the origin synchronization phase is included once In synchronization with the phase pulse position signal 17, one pulse origin signal 18 is generated.

In recent years, the high resolution of the encoder has progressed, and accordingly, the lattice period P of the lattice for detecting the positional displacement is small pitched, and the period T of the A and B phase periodic position signals 12 and 13 is reduced, resulting in high frequency. have. With the refinement of the lattice period P, relative to the configuration of the encoder body 1, manufacturing errors such as assembly errors become large, and the phase position of the signal 6 for origin detection relative to the period position signals 12 and 13 The deviation of is increasing. Due to this deviation, the origin synchronization phase within the period in which the origin detection signal 6 is detected may not be detected, or may be detected multiple times, so that the pulse origin signal 18 is not accurately detected. The counter unit 41 counts and resets the pulse origin signal 18, but the pulse origin signal 18 is not detected and the counter unit 41 does not clear or reset the count, or the pulse origin signal 18 When multiple pulses are detected and an unnecessary pulse origin signal 18 is generated, a problem such as a count error that the count value is different depending on the direction of rotation of the moving object has occurred.

In a method in which the pulse origin signal 18 is generated by taking timing at a set origin synchronization phase and a period during which the conventional origin detection signal 6 is being output, the origin origin signal generating unit accurately outputs the pulse origin signal 18 There was a problem that could not be done. Below,

T: Period of periodic position signals (2 to 5, and 12, 13),

W: detection width of the signal 6 for origin detection,

ΔW: phase error of the detection width W of the origin detection signal 6 due to manufacturing errors of components of the encoder body 1, etc.,

Pc: center phase of the detection width W of the signal 6 for origin detection,

X: Origin sync phase

It is called.

Since the phase error ΔW of the detection width W of the origin detection signal 6 occurs due to the manufacturing error of the component parts of the encoder body 1 described above, the detection width W of the origin detection signal 6 is

(T-ΔW/360°×T)≤W<T

It is manufactured and adjusted in the range of. The center phase Pc of the detection width of the origin detection signal 6 is,

(X-180°)≤Pc<(X+180°)

If present as,

(X-180°)≤Pc<(X-180°+ΔW/2), or

(X+180°-ΔW/2)<Pc<(X+180°)

On the other hand, the pulse origin signal 18 is not output from the origin signal generator 15.

As an example, if the phase error ΔW is 90 degrees, the detection width W of the signal for origin detection is

(3/4)×T≤W<T

And

 (X-180°)≤Pc<(X-135°), or

(X+135°)<Pc<(X+180°)

If it is, the pulse origin signal 18 is not output. That is, since the phase error ΔW of the detection width W of the origin detection signal occurs, the origin detection signal 6 has not been detected.

According to the configuration of the present invention, the polarity switching unit 7 capable of converting the polarity of the four periodic position signals A+, A-, B+, B- (2 to 5) having different phases into inversion and non-inversion. And the signal detection width W of the origin detection signal 6 is 0.5 times or more and less than 1.5 times the period T of the period position signals 2 to 5, that is,

T×0.5≤W<T×1.5

By doing so, even if there is a deviation in the center phase Pc of the detection width of the origin detection signal 6 with respect to the periodic position signals 12, 13, the reproducible, stable, and accurate pulse origin signal 18 is generated. It is possible to prevent the count error in the counter 41 of the A-phase pulse position signal 16 or the B-phase pulse position signal 17, or an error that the count is not complete. It is possible to relax the phase position of the signal 6 for origin detection relative to the periodic position signals 12, 13, and to have a larger allowable range for manufacturing errors such as assembly accuracy of the encoder body 1 configuration. It becomes possible.

In the polarity switching unit 7, the configuration of the polarity switching unit 7 is made by using two periodic position signals 2 and 3, which are 180 degrees out of phase, and periodic position signals 4 and 5 as input values. Simplification becomes possible.

The first synthesis circuit 19 and the second synthesis circuit 20 are two periodic position signals (2 and 3) when noise, etc., are added to the periodic position signals (2 to 5) in the lead-out path of the electrical wiring. And by differentiating the periodic position signals 4 and 5, there is an effect of removing noise and the like. These synthesis circuits 19 and 20 are attached to the interpolation division 14.

Moreover, you may omit the 1st synthesis circuit 19 and the 2nd synthesis circuit 20. In this case, among the four periodic position signals 2 to 5 output from the polarity switching unit 7, two phase position signals having a phase difference of 90 degrees, A phase period position signals 12 and B phase period position signals As (13), it is input to the interpolation dividing section 14 and the origin signal generating section 15.

3 shows the center phase Pc of the detection width W of the origin detection signal 6,

(X-180°)≤Pc<(X-90°)

In the case where the polarity switching unit 7 is in the non-inverting state, the synchronization timing of the periodic position signals 12 and 13 on the A and B phases and the signal 6 for origin detection, that is, the origin synchronization phase X It is a signal waveform diagram showing another example. The vertical axis and the horizontal axis (a) to (c) respectively correspond to those in FIG. 2.

In the detection width W, which is a period during which the origin detection signal 6 shown in (c) is detected, the origin synchronization phase X is generated twice, and two pulse origin signals 18 are generated. In this case, when the polarity switching units 7 switch the polarity switching of the four periodic position signals to all inversion, it becomes a signal waveform diagram of the periodic position signal and the origin detection signal shown in FIG. 4. By switching all of the polarities of the four periodic position signals 2 to 5 inverted, the origin synchronization phase X, i.e., the pulse origin signal 18, is within the detection width W in which the origin detection signal 6 is detected. 1 time.

In the polarity switching unit 7, the center phase Pc of the detection width W of the origin detection signal 6 for each period position signal 2 to 5 is measured in advance, and the polarity is determined by the position of the center phase Pc. The polarity switching circuit of the switching unit 7 is switched. The center phase Pc of the detection width W of the origin detection signal 6 is,

When present in (X-180°)≤Pc<(X+180°),

(X+90°)<Pc<(X+180°), or

(X-180°)≤Pc<(X-90°)

If is satisfied, set the polarity of all four periodic position signals (2~5) to inverted,

(X-90°)≤Pc≤(X+90°)

If is satisfied, all the polarities of the four periodic position signals 2 to 5 are set to non-inverting.

Of the two periodic position signals on the A and B phases, one periodic position signal is at a level higher or lower than the above-mentioned center value, and the other periodic position signal increases or exceeds or decreases the center value of the amplitude. If the lowered phase position is referred to as the origin synchronization phase X, the origin synchronization phase X is -180 in the Lissa wave when the A phase periodic position signal 12 on the horizontal axis and the B phase periodic position signal 13 on the vertical axis are plotted. It can be one of °, -90°, 0°, and 90°.

5 shows a Lissajous waveform when the A phase periodic position signal 12 is plotted on the horizontal axis and the B phase periodic position signal 13 is plotted on the vertical axis. As an example, if the origin sync phase X is 0 degrees,

90°<Pc<180°, or

-180°≤Pc<-90°

If is satisfied, set the polarity of all four periodic position signals (2~5) to inverted,

-90°≤Pc≤90°

If is satisfied, all the polarities of the four periodic position signals 2 to 5 are set to non-inverting.

That is, when the center phase Pc of the detection width W of the origin detection signal 6 is the A phase periodic position signal 12 becomes a negative value, that is, it is present in the region hatched by the diagonal line in Fig. 5, the polarity Switch to reverse.

90°<Pc<180°

The center phase Pc2 present at the target of the origin (0, 0) of the Lissajous waveform is shifted to the inversion in the polarity switching circuit of the polarity switching unit 7, and -90°<Pc<0° Pc2' Is switched to. By switching to Pc2', the origin synchronization phase X becomes 1 within the period during which the origin detection signal 6 is detected.

Likewise,

-180°≤Pc<-90°

The center phase Pc3 present at the target of the Lissajous waveform origin (0, 0) is converted to Pc3' of 0°<Pc<90° by switching to the inversion in the polarity switching circuit of the polarity switching unit 7 By switching, the origin synchronization phase X becomes 1 within the period during which the origin detection signal 6 is detected.

After assembling the configuration of the encoder body 1 to the mobile body, the mobile body is displaced, and each period position signal 2 to 5 and the origin detection signal 6 detected from the encoder body 1 are used with an oscilloscope or the like. And monitor, and measure the center phase Pc of the detection width W of the origin detection signal 6 for each period position signal 2-5.

As an example, the encoder body 1 is mounted on a motor that is a moving chain, and the shaft of the motor is coupled with the shaft of a measuring motor that rotates the motor. The measurement motor is driven using a drive control device for the measurement motor. The shaft of the motor rotates, and each cycle position signal (2 to 5) and the origin detection signal (6) output from the encoder body (1) are monitored with an oscilloscope, and the origin for each cycle position signal (2 to 5) The center phase Pc of the detection width W of the detection signal 6 is measured.

In addition, illustration of the above-mentioned motor, a measuring motor, a driving control device for a measuring motor, and an oscilloscope is omitted.

By setting the inversion and non-inversion of the polarity switching circuit of the polarity switching unit 7 based on the measurement result, it becomes possible to generate a pulse origin signal with good reproducibility, stability and accuracy. Moreover, since the polarity of each periodic position signal 2 to 5 is all inverted or non-inverted, there is no change in the relationship between the phase progression of each periodic position signal 2 to 5 corresponding to the displacement direction of the moving object. Therefore, it is not necessary to add a new adjustment function at the time of detecting the positive displacement and the reverse displacement in the displacement direction of the moving body, and it is inexpensive to suppress the manufacturing cost.

In the origin signal generation section 15 that generates a pulse origin signal 18 by timing with a set origin synchronization phase X during a period during which the conventional origin detection signal 6 is being output, the origin detection signal 6 The detection width W is

(T-ΔW/360°×T)≤W<T

It was. However, by providing the polarity switching unit 7, the accuracy of the detection width W of the signal 6 for origin detection is:

0.5×T≤W<1.5×T

As a result, it becomes possible to increase the allowable value of the detection width W.

When the detection width W of the origin detection signal 6 is smaller than 0.5×T, as an example, the center phase Pc of the detection width W of the origin detection signal 6 is located at 90 degrees of the Lissajous waveform, and the origin synchronization When the phase X is 0 degrees, as shown in FIG. 6, the origin detection signal 6 is not detected in the origin synchronization phase X, and the pulse origin signal 18 is not detected. Therefore, no matter where the center phase Pc of the detection width W of the origin detection signal 6 is, in order to generate a pulse origin signal 18 with good reproducibility, stability and accuracy, the detection width W of the origin detection signal 6 Needs to be 0.5 × T or more.

When the detection width W of the origin detection signal 6 is 1.5×T or more, as an example, the center phase Pc of the detection width W of the origin detection signal 6 is located at 90 degrees of the Lissajous waveform, and the origin synchronization phase When X is 0 degrees, as shown in FIG. 7, since the origin detection signal 6 is detected twice in the origin synchronization phase X, two pulse origin signals 18 are generated. Therefore, no matter where the center phase Pc of the detection width W of the origin detection signal 6 is, in order to generate a pulse origin signal with good reproducibility, stability and accuracy, the detection width W of the origin detection signal 6 is 1.5×. You need something less than T.

As described above, no matter where the center phase Pc of the detection width W of the origin detection signal 6 is, in order to generate the pulse origin signal 18 with good reproducibility, stability and accuracy, the origin detection signal 6 It is necessary for the accuracy of the detection width W to satisfy the following formula (1).

0.5×T≤W<1.5×T (1)

By satisfying Expression (1), the detection width W of the conventional origin detection signal 6,

T-ΔW/360°×T≤W<T

Rather, the precision of the detection width W is relaxed. Therefore, since the degree of freedom in design of the configuration of the encoder body 1 is increased and it becomes possible to have a larger manufacturing allowance, it is possible to suppress the manufacturing cost and to manufacture at a low cost. After assembling the configuration of the encoder body 1 to the moving body, the moving body is displaced, and each periodic position signal 2 to 5 and the origin detection signal 6 detected from the encoder body 1 are used using an oscilloscope or the like. By monitoring, the detection width W of the origin detection signal 6 is measured. In the setting of the detection width W of the origin detection signal 6, the encoder main body 1 includes an adjustment function using a digital potentiometer or the like. The digital potentiometer is not shown. In addition, the origin signal generation unit 15 includes an adjustment function for adjusting the origin detection threshold Vt, etc., and adjusts the detection width W of the origin detection signal 6 to 0.5×T or more and less than 1.5×T. By setting, it is possible to generate the pulse origin signal 18 with good reproducibility, stability and accuracy.

In addition, as an example of a pulsed conversion device, the first synthesis circuit 19, the second synthesis circuit 20, the interpolation dividing section 14, and the origin signal generation section 15, one or a plurality of It consists of the digital integrated circuit part which consists of a digital integrated circuit, and consists of the digital integrated circuit part and the polarization switching part 7 comprised by the pulse conversion conversion board mounted on one board|substrate. It is preferable that the integrated circuit includes a first synthesis circuit 19 and a second synthesis circuit 20 from the effect of noise reduction. By using this integrated circuit, the installation area is drastically reduced and miniaturization becomes possible.

In the above example, as shown in Fig. 2, a predetermined phase position Q on the Cartesian coordinates of the Lissajous waveform of the origin signal generator 15, which is determined in the circuit design step of the origin signal generator 15, that is, , The case of 90 degrees x N (N: integer), where the origin synchronization phase X is an integer multiple of 90 degrees, has been described.

Fig. 12 shows another example of the phase position Q. As shown in Fig. 12, either of the two periodic position signals 12 and 13 on A and B phases is at a level higher or lower than the center value of the amplitude of the signal waveform, and the two periodic position signals are The crossing phase position may be referred to as an origin sync phase X. The origin sync phase X is either -135° or 45° in the Lissajous wave when the A phase periodic position signal 12 is plotted on the horizontal axis and the B phase periodic position signal 13 is plotted on the vertical axis.

This further advances the predetermined phase position Q to 45+180×N degrees (N: integer), which is an integer multiple of 180 degrees to 45 degrees.

Embodiment 2.

In the second embodiment, the polarity switching unit 7 in the first embodiment is schematically,

A first polarity switching circuit 71 that can electrically replace the periodic position signal 2 of the reference phase and the periodic position signal 3 of 180 degrees out of phase with the reference phase,

A second polarity switching circuit 72 capable of electrically replacing the periodic position signal 4 with a 90 degree phase different from the reference phase and the periodic position signal 5 with a 270 degree phase different from the reference phase

To be equipped. 8 is a schematic diagram of an example of the first polarity switching circuit 71, and the second polarity switching circuit 72 has the same configuration.

As an example, the configuration of the most simplified pulsed conversion device is shown in FIG. 11. The parts of the first synthesis circuit 19, the second synthesis circuit 20, the interpolation dividing section 14, and the origin signal generating section 15 are constituted by a digital integrated circuit section represented by a pulsed conversion IC (DC). The digital integrated circuit unit may be composed of one or a plurality of digital integrated circuits.

The first polarity switching circuit 71 includes first switching selectors 71a and 71b having the same configuration. The second polarity switching circuit 72 has the same structure, and includes second switching selectors 72a and 72b. Each switching selector includes terminals 1, 2, and 3, and by electrically connecting terminal 2 to terminal 1, the polarity of the input periodic position signal becomes non-inverted, and terminal 2 is electrically connected to terminal 3. By connecting, the polarity of each periodic position signal is inverted.

Among the four periodic position signals 2 to 5, which are 90 degrees out of phase by using the phase of one periodic position signal output from the encoder body 1 as a reference phase, A+ and A- phases 180 degrees apart from each other. The two periodic position signals shown are set as one set and input to the first polarity switching circuit 71. Similarly, two periodic position signals represented by B+ and B- that are 180 degrees out of phase with each other other than those input to the first polarity switching circuit 71 are input to the second polarity switching circuit 72.

As described above, based on the measurement result of measuring the center phase Pc of the detection width W of the origin detection signal 6 for each period position signal 2 to 5, the first and second polarity switching circuits 71 , 72), the terminal 2 is electrically connected to either the terminal 1 or the terminal 3 in each of the switching selectors 71a, 71b, 72a, and 72b. Four periodic position signals that are out of phase by 90 degrees with the phase of one periodic position signal output from the first and second polarity switching circuits 71 and 72 as a reference phase are input to the pulse conversion IC (DC). . The origin detection signal 6a is also input to the pulsed conversion IC DC. The origin detection signal 6a may be input to the pulsed conversion IC DC together with the inversion origin detection signal 6b in which the polarity of the origin detection signal 6a is inverted. In this case, the differential processing of the origin detection signal 6a and the inversion origin detection signal 6b is performed by the pulse conversion IC (DC). The A-phase pulse position signal 16, the B-phase pulse position signal 17 and the pulse origin signal 18 are output from the pulsed conversion IC DC. These pulsed conversion ICs (DC) may be mounted on the same substrate together with the first and second polarity switching circuits 71 and 72.

When the first switching selectors 71a and 71b of the first polarity switching circuit 71 are switched to the inverted state shown in Fig. 8, the periodic position signal (A+) 2 of the reference phase is 180 degrees out of phase with the reference phase. This periodic position signal (A-') (9) is converted to another period, and the phase position signal (A-) (3), which is 180 degrees out of phase with the reference phase, is a periodic position signal (A+') (8) of the reference phase. Is converted.

When the first switching selectors 71a and 71b of the first polarity switching circuit 71 are switched to non-inverting connected to the lower terminals of Fig. 8, the periodic position signals A+ of the reference phase are referenced. A periodic position signal (A-) (3) that is output with the phase position signal (A+') of the phase (8) and 180 degrees out of phase with the reference phase is a periodic position signal (A) that is 180 degrees out of phase with the reference phase. -')(9).

The same is true for the second polarity switching circuit 72 having the second switching selectors 72a and 72b.

In each polarity switching circuit of the first embodiment, wiring is electrically switched by using two periodic position signals with 180-degree phases different from each other, that is, by using four periodic position signals with phases different by 90 degrees. It becomes possible to provide the polarity switching circuit of a structure.

Each polarity switching circuit has a simple configuration, for example, as shown in Fig. 8, and does not require signal comparison processing, logic processing, addition, or calculation processing. There is no need for an operational processing circuit composed of an operational amplifier or the like, or a comparison circuit composed of a comparator or the like. In recent years, the displacement speed of the moving body has been increasing, and expensive circuit components having excellent frequency characteristics are used, but the number of components is not increased. Therefore, it is inexpensive by suppressing the manufacturing cost. The increase in the installation area is suppressed and miniaturization becomes possible. In addition, heat generated from circuit components can also be suppressed, thereby preventing errors in signal characteristics.

Embodiment 3.

9 is a block diagram showing an example of a configuration of a pulsed conversion device of an incremental encoder according to Embodiment 3 of the present invention. In the third embodiment, in the first embodiment, the periodic position signals output from the encoder body 1 according to the displacement of the moving body are two periodic position signals (A) 31 and 90 cycles of phases different in phase from each other. (B) 32, and includes a first polarity switching unit 21 and a second polarity switching unit 22.

From the encoder body 1, two periodic position signals A, B (31, 32) having 90-degree phases are output according to the displacement of the moving body. These two periodic position signals 31 and 32 are sinusoidal signals of frequency according to the displacement speed, and depending on the displacement direction of the moving object, either the periodic position signal (A) 31 or the periodic position signal (B) 32 It is assumed that one phase has progressed.

In this case, the encoder main body 1, the position signal generator 1a for generating two periodic position signals whose phase is 90 degrees different depending on the displacement of the position or angle of the moving object, and the displacement position of the moving object reach the reference position In the lower surface, there is an origin detection signal generator 1b which generates an origin detection signal 6 in which the detection width W of the signal is 0.5 times or more and less than 1.5 times the period T of the periodic position signals 31 and 32. It becomes.

The inversion and non-inversion of the polarity of the periodic position signal (A) 31 is performed by the switchable first polarity switching unit 21, and the inversion and non-inversion of the polarity of the periodic position signal (B) 32 is switchable. 2 It is performed in the polarity switching section 22. The other interpolation dividing section 14, origin signal generating section 15, and counter section 41 are the same as in the above embodiment.

The periodic position signals 31 and 32 output from the encoder body 1 are provided with a first polarity switching unit 21 and a second polarity switching unit 22 even in two periodic position signals with 90-degree phases different. Thereby, the effect similar to 1st Embodiment can be acquired.

Embodiment 4.

In the fourth embodiment, the polarity switching units 21 and 22 in the third embodiment are composed of a non-inverting circuit 212b, an inverting circuit 212a, and a switching selector 212c. 10 shows an example of the first polarity switching unit 21, and the second polarity switching unit 22 has the same configuration.

The inverting circuit 212a is configured using an operational amplifier or the like, and it is possible to adjust the amplification factor of the amplitude value of each period position signal or the offset value. The same is true of the non-inverting circuit 212b. However, if adjustment of each period position signal is unnecessary, the non-inverting circuit 212b may not be provided, as indicated by the broken line in FIG. 10. For example, if the offset value is 1.0V and the offset value is a periodic position signal with an amplitude of ±0.5V centered on the offset value, an inverted signal can be obtained by providing a differential circuit that differentiates the periodic position signal from 2.0V. have.

Even if the periodic position signals output from the encoder body 1 are two periodic position signals 31 and 32 with different phases of 90 degrees, one or two switching selectors 212c and switching circuits composed of switching switches By the polarity switching unit comprising the non-inverting circuit 212b and the inverting circuit 212a having, it is possible to switch inversion and non-inversion of the periodic position signal. The polarity switching unit composed of the non-inverting circuit 212b and the inverting circuit 212a includes one or two operation circuits, and is a relatively simple and easy circuit configuration. The increase in the number of parts is limited, and the manufacturing cost is suppressed and is inexpensive. The increase in the installation area is also suppressed, and miniaturization becomes possible. In addition, heat generated from circuit components can also be suppressed, thereby preventing errors in signal characteristics.

In addition, the part for measuring the displacement of the position or the angle of the moving body of the encoder body 1 may be either optical or magnetic.

Further, in each of the above embodiments, the measurement of the center phase Pc of the detection width W of the origin detection signal 6 for each period position signal 2 to 5 and the polarity switching unit 7 according to the position of the center phase Pc ), the polarity switching circuit may be switched manually. However, for example, the signal 6 for origin detection is also input to the polarity switching unit 7, and the polarity switching unit 7 is used for arithmetic processing and control based on detection values from sensors and sensors such as a voltmeter. A calculation control unit may be provided, and furthermore, by configuring the polarity switching circuit with an electric switch controlled by the calculation control unit, measurement of the center phase Pc and the like of the detection width W described above and switching of the circuit may be performed automatically. In this case, the operation control unit of the polarity switching unit 7 is configured in the digital integrated circuit unit together with the first and second synthesis circuits 19 and 20, the interpolation division unit 14, and the origin signal generation unit 15.

Further, the polarization switching unit 7 may input and use the setting signal of the digital potentiometer for setting the detection width W of the origin detection signal 6 from the encoder main body 1.

In addition, the present invention is not limited to each of the above-described embodiments, and includes all possible combinations thereof.

(Industrial availability)

The present invention can be applied to a pulsed conversion apparatus of various fields and incremental encoders of various types.

One; Encoder body, 1a; Position signal generator, 1b; Signal generator for origin detection, 2 to 5; Periodic position signal, 6, 6a; Origin detection signal, 6b; Inverted origin detection signal, 7; Polarity switch, 12; A phase period position signal, 13; B phase periodic position signal, 14; Interpolation division, 15; Origin signal generator, 16; A phase pulse position signal, 17; B phase pulse position signal, 18; Pulse origin signal, 19; A first synthesis circuit, 20; A second synthesis circuit, 21; A first polarity switching part, 22; A second polarity switching part, 31, 32; Periodic position signal, 41; Counter, 71; A first polarity switching circuit, 72; Second polarity switching circuits, 71a, 71b, 72a, 72b; Switching selector, 212a; Inverting circuit, 212b; Non-inverting circuit, 212c; Conversion selector.

Claims (27)

A position signal generator for generating four periodic position signals with different phases by 90 degrees using the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates a signal for origin detection, in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
An interpolation divider for generating a pulse position signal having a set resolution from the four periodic position signals output from the polarity switching unit;
An origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position corresponding to the two period position signals whose phases are 90 degrees different in a period in which the origin detection signal is detected.
A pulsed conversion device of an incremental encoder comprising a. A position signal generator for generating four periodic position signals whose phases are different by 90 degrees based on the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates a signal for origin detection, in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
First and second synthesis circuits for generating a periodic position signal which is a differential signal of two of the periodic position signals that are 180 degrees out of phase with each other outputted from the polarity switching unit;
An interpolation divider for generating a pulse position signal having a set resolution from the periodic position signal, which is two differential signals having 90-degree phase differences from the first and second synthesis circuits;
The pulse position signal based on a predetermined phase position according to the periodic position signal which is two differential signals having 90-degree phases different from the first and second synthesis circuits in a period in which the signal for detecting the origin is detected. Origin signal generator for generating pulse origin signal in synchronization with
A pulsed conversion device of an incremental encoder comprising a. According to claim 1,
A predetermined phase position in the origin signal generating unit takes one value of the two periodic position signals in the horizontal axis direction of the two-dimensional orthogonal coordinate system, and takes the other value in the vertical axis direction, and on the orthogonal coordinate system, two An incremental encoder pulsed conversion device, which is an angular position with respect to a reference rotational position around the center position of the Lissajous waveform according to the displacement of the moving object, determined by the value of the periodic position signal. The method of claim 3,
The predetermined phase position is an integer multiple of 90 degrees (90 x N (N: integer)), an incremental encoder pulsed conversion device. The method of claim 3,
The predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees (45 + 180 x N (N: integer)), an incremental encoder pulsed conversion device. According to claim 2,
A predetermined phase position in the origin signal generating unit takes one value of the two periodic position signals in the horizontal axis direction of the two-dimensional orthogonal coordinate system, and the other value in the vertical axis direction, and on the orthogonal coordinate system, two An incremental encoder pulsed conversion device, which is an angular position with respect to a reference rotational position around a center position of a Lissajous waveform according to displacement of a moving object, determined by a value of a periodic position signal. The method of claim 6,
The predetermined phase position is an integer multiple of 90 degrees (90 x N (N: integer)), an incremental encoder pulsed conversion device. The method of claim 6,
The predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees (45 + 180 × N (N: integer)), an incremental encoder pulsed conversion device. A position signal generator for generating four periodic position signals whose phases are different by 90 degrees based on the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection for generating an origin detection signal, wherein the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
An interpolation divider for generating a pulse position signal having a set resolution from the four periodic position signals output from the polarity switching unit;
In the period in which the signal for detecting the origin is detected, one of the two periodic position signals whose phase is 90 degrees different is at a level higher or lower than the center value of the amplitude, and the other periodic position signal is amplitude An origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal based on a phase position that increases or exceeds or decreases a center value of
A pulsed conversion device of an incremental encoder comprising a. A position signal generator for generating four periodic position signals whose phases are different by 90 degrees based on the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates a signal for origin detection, in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
First and second synthesis circuits for generating a periodic position signal which is a differential signal of two of the periodic position signals that are 180 degrees out of phase with each other outputted from the polarity switching unit;
An interpolation divider for generating a pulse position signal having a set resolution from the periodic position signal, which is two differential signals having 90-degree phase differences from the first and second synthesis circuits;
In the period in which the signal for detecting the origin is detected, one periodic position signal of the periodic position signal, which is two differential signals of 90 degrees out of phase from the first and second synthesis circuits, is higher than the center value of the amplitude. An origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal, based on a phase position at which the other periodic position signal increases or exceeds or decreases or falls below the center value of the amplitude.
A pulsed conversion device of an incremental encoder comprising a. A position signal generator for generating four periodic position signals with different phases by 90 degrees using the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates a signal for origin detection, in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
An interpolation divider for generating a pulse position signal having a set resolution from the four periodic position signals output from the polarity switching unit;
In the period in which the signal for detecting the origin is detected, two of the periodic position signals of which the phase is 90 degrees different, both of the periodic position signals are also at a level higher or lower than the center value of the amplitude, and the two periodic position signals Origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal, based on the phase position where the crosses
A pulsed conversion device of an incremental encoder comprising a. A position signal generator for generating four periodic position signals whose phases are different by 90 degrees based on the phase of one periodic position signal as a reference phase according to the position or angle displacement of the moving object;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection for generating an origin detection signal, wherein the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals;
A polarity switching unit for selectively changing the polarity of each signal of the four periodic position signals;
First and second synthesis circuits for generating a periodic position signal which is a differential signal of two of the periodic position signals that are 180 degrees out of phase with each other outputted from the polarity switching unit;
An interpolation divider for generating a pulse position signal having a set resolution from the periodic position signal, which is two differential signals having 90-degree phase differences from the first and second synthesis circuits;
Of the periodic position signals, which are two differential signals of 90 degrees out of phase from the first and second synthesis circuits, in a period in which the origin detection signal is detected, of the two periodic position signals of 90 degrees out of phase. , Both of the periodic position signals are also higher or lower than the center value of the amplitude, and based on the phase position at which the two periodic position signals intersect, an origin signal is generated to generate a pulse origin signal in synchronization with the pulse position signal. part
A pulsed conversion device of an incremental encoder comprising a. The method according to any one of claims 1 to 12,
The polarity switching unit,
A first polarity switching circuit including a first switching selector,
A second polarity switching circuit comprising a second switching selector
Have
The first polarity switching circuit, based on the selection of the polarity of the first switching selector, connects the electrical wiring of the periodic position signal of the reference phase and the electrical wiring of the periodic position signal of 180 degrees different from the reference phase. Replace it,
The second polarity switching circuit, based on the selection of the polarity of the second switching selector, connects electrical wiring of a periodic position signal having a 90-degree phase different from the reference phase, and a periodic position signal with a 270-degree phase different from the reference phase. To replace the connection of electrical wiring,
Pulsed converter for incremental encoders. A position signal generator for generating two periodic position signals whose phases are 90 degrees different depending on the position of the moving object or the displacement of the angle;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates an origin detection signal in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the periodic position signal;
A first polarity switching unit for selectively inverting and non-inverting the polarity of one of the periodic position signals;
A second polarity switching unit for selectively inverting and non-inverting the polarity of the other periodic position signal;
An interpolation divider for generating a pulse position signal having a set resolution from the two periodic position signals from the first and second polarity switching units;
An origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position of two periodic position signals in a period in which the origin detection signal is detected.
A pulsed conversion device of an incremental encoder comprising a. The method of claim 14,
A predetermined phase position of the origin signal generating unit takes one value of the two periodic position signals in the horizontal axis direction of the two-dimensional orthogonal coordinate system, and the other value in the vertical axis direction, and on the orthogonal coordinate system, two An incremental encoder pulsed conversion device, which is an angular position with respect to a reference rotational position around the center position of the Lissajous waveform according to the displacement of the moving object, determined by the value of the periodic position signal. The method of claim 15,
The predetermined phase position is an integer multiple of 90 degrees (90 x N (N: integer)), an incremental encoder pulsed conversion device. The method of claim 15,
The predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees (45 + 180 × N (N: integer)), an incremental encoder pulsed conversion device. A position signal generator for generating two periodic position signals whose phases are 90 degrees different depending on the position of the moving object or the displacement of the angle;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates an origin detection signal in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the periodic position signal;
A first polarity switching unit for selectively inverting and non-inverting the polarity of one of the periodic position signals;
A second polarity switching unit for selectively inverting and non-inverting the polarity of the other periodic position signal;
An interpolation divider for generating a pulse position signal having a set resolution from the two periodic position signals from the first and second polarity switching units;
In the period in which the signal for detecting the origin is detected, one periodic position signal of two of the periodic position signals is at a level higher or lower than the center value of the amplitude, and the other periodic position signal increases the center value of the amplitude. An origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal based on a phase position exceeding or decreasing or falling below
A pulsed conversion device of an incremental encoder comprising a. A position signal generator for generating two periodic position signals whose phases are 90 degrees different depending on the position of the moving object or the displacement of the angle;
When the displacement position of the moving object reaches the reference position, the signal detection unit for origin detection, which generates an origin detection signal in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the periodic position signal;
A first polarity switching unit for selectively inverting and non-inverting the polarity of one of the periodic position signals;
A second polarity switching unit for selectively inverting and non-inverting the polarity of the other periodic position signal;
An interpolation divider for generating a pulse position signal having a set resolution from the two periodic position signals from the first and second polarity switching units;
In the period in which the signal for detecting the origin is detected, the phase position signals of both of the period position signals are also at a level higher or lower than the center value of the amplitude, and the phase positions where the two period position signals intersect Based on the, the origin signal generator for generating a pulse origin signal in synchronization with the pulse position signal
A pulsed conversion device of an incremental encoder comprising a. The method according to any one of claims 14 to 19,
The first and second polarity switching units, respectively,
An inverting circuit for inverting the polarity of the periodic position signal,
A non-inverting circuit that does not invert the polarity of the periodic position signal;
A switching selector for switching the outputs of the inverting circuit and the non-inverting circuit
A pulsed conversion device of an incremental encoder comprising a. The method according to any one of claims 14 to 19,
The first and second polarity switching units, respectively,
An inverting circuit for inverting the polarity of the periodic position signal,
A switching selector for switching the cycle position signal and the output of the inverting circuit
A pulsed conversion device of an incremental encoder comprising a. According to the position of the moving object or the displacement of the angle, the phase of one periodic position signal is used as a reference phase to generate four periodic position signals with different phases by 90 degrees,
When the displacement position of the movable body reaches the reference position, a signal for origin detection is generated in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals,
Selectively switch the polarity of each signal of the four periodic position signals,
A pulse position signal having a set resolution is generated from the four periodic position signals whose polarities are selectively switched,
Generating a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position corresponding to the two period position signals whose phases are 90 degrees different in a period in which the origin detection signal is detected.
A pulsed conversion method in an incremental encoder, comprising a. The method of claim 22,
The predetermined phase position takes one value of the two periodic position signals in the horizontal axis direction of the two-dimensional orthogonal coordinate system, and the other value takes the vertical axis direction, and on the orthogonal coordinate system, of the two periodic position signals. The angular position with respect to the reference rotational position around the center position of the Lissajous waveform according to the displacement of the moving object, determined by the value,
Pulsed conversion method in incremental encoder. The method of claim 23,
The predetermined phase position is an integer multiple of 90 degrees (90 x N (N: integer)), a pulsed conversion method in an incremental encoder. The method of claim 23,
The predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees (45+180×N (N: integer)), and the method for pulsed conversion in an incremental encoder. According to the position of the moving object or the displacement of the angle, the phase of one periodic position signal is used as a reference phase to generate four periodic position signals with different phases by 90 degrees,
When the displacement position of the moving object reaches the reference position, a signal for origin detection is generated in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals,
Selectively switch the polarity of each signal of the four periodic position signals,
A pulse position signal having a set resolution is generated from the four periodic position signals whose polarities are selectively switched,
In the period in which the signal for detecting the origin is detected, one of the two periodic position signals whose phase is 90 degrees different is at a level higher or lower than the center value of the amplitude, and the other periodic position signal is amplitude Generating a pulse origin signal in synchronization with the pulse position signal based on a phase position that increases or exceeds or decreases a center value of
A pulsed conversion method in an incremental encoder, comprising a. According to the position of the moving object or the displacement of the angle, the phase of one periodic position signal is used as a reference phase to generate four periodic position signals with different phases by 90 degrees,
When the displacement position of the moving object reaches the reference position, a signal for origin detection is generated in which the detection width of the signal is 0.5 times or more and less than 1.5 times the period of the four periodic position signals,
Selectively switch the polarity of each signal of the four periodic position signals,
A pulse position signal having a set resolution is generated from the four periodic position signals whose polarities are selectively switched,
In the period in which the signal for detecting the origin is detected, two of the periodic position signals of which the phase is 90 degrees different, both of the periodic position signals also have a level higher or lower than the center value of the amplitude, and the two periodic position signals are Generating a pulse origin signal in synchronization with the pulse position signal based on an intersecting phase position
A pulsed conversion method in an incremental encoder, comprising a.

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