TW201610395A - Calibration device for encoder positioning and calibration method thereof - Google Patents

Abstract

This invention discloses a calibration device for encoder positioning and calibration method thereof applicable to a servo motor having an encoder. The calibration device comprises a motor driving circuit, a calibrating and identifying unit, a controller and a display. The motor diving circuit is used to make the servo motor rotate. The calibrating and identifying unit is designed to receive a phase signal from the encoder and measure a counter-EMF signal for the servo motor. The controller is used to control the diving circuit and the calibrating and identifying unit. Also, the controller is arranged to calculate number of magnetic pole of the servo motor, a resolution of the encoder, a current angular position and an angular offset quantity of the encoder installing in the servo motor, according to the phase signal and the counter-EMF signal. The display is used to display the number of magnetic pole, the resolution, the current angular position and the angular offset quantity. The calibration device for encoder positioning and calibration method thereof of the present invention is thereby able to directly drive the servo motor actuating without assembling another servo motor to drive the servo motor and setting a specific tool for aligning position.

Description

Shaft encoder positioning correction device and correction method thereof 【0001】

The present invention relates to a shaft encoder positioning correction device and a calibration method thereof, and more particularly to a shaft encoder position correction device and a calibration method thereof for assisting in correcting a mounting angle of a shaft encoder mounted to a servo motor.

【0002】

In order to meet the high-precision demand of high-tech industrial processes, servo motors are widely used in industrial automation. The key to the positioning accuracy of the servo motor is mainly the position encoder (Encoder) on the servo motor shaft, also known as the shaft encoder. The servo motor and the shaft encoder have a certain relative position (mounting angle), so both the servo motor and the shaft encoder must be correctly installed, and the device using the servo motor (such as a robot arm) can work normally. When the servo motor is equipped with an encoder or servo motor for maintenance or replacement of the bearing of the servo motor, it must face the problem of relative positional change between the servo motor and the shaft encoder and need to be recalibrated.

[0003]

At present, the reason why the servo motor is difficult to maintain is that most motor repair manufacturers do not have the ability to calibrate the shaft encoder. When the motor is repaired, the shaft encoder must be removed. After the shaft encoder and the servo motor body are disassembled, the relative position will be There is a disorder, so the servo motor repair must solve the problem of shaft encoder calibration. The servo motor has a high unit price. When the high-resolution shaft encoder is installed, the motor price is higher. The motor bearing is a consumable item for normal use. However, the entire group of motors must be replaced because the shaft encoder cannot be calibrated, resulting in an automated production line. High maintenance costs. Therefore, there is a great need for a calibration device to enable motor calibration by a general motor repair manufacturer or an automated line of maintenance personnel, which will be important to the motor repair manufacturer or the manufacturing industry of automated production.

[0004]

As described above, the inventors of the present invention have been painstakingly researching and designing a shaft encoder positioning correction device and a correction method thereof for many years to improve the lack of the prior art, thereby enhancing the industrial use and utilization.

[0005]

In view of the above problems of the prior art, the object of the present invention is to provide a shaft encoder positioning correction device and a calibration method thereof, which solve the problem that the mounting angle of the shaft encoder of the servo motor cannot be easily calibrated by the prior art.

[0006]

In accordance with the purpose of the present invention, a shaft encoder position correction device is proposed that is suitable for use with a motor to be calibrated having a one-axis encoder. The calibration device includes a motor drive circuit, a correction and identification member, a controller, and a display. The motor drive circuit electrically connects the motor to be calibrated to directly drive the motor to be calibrated to operate. The correction and identification component is electrically coupled to the motor to be calibrated to receive a phase signal of one of the shaft encoders, and to measure a back EMF signal of the stator coil when the motor is to be calibrated. The controller is electrically connected to the motor driving circuit and the correction and identification component; the controller first performs a driving mode, which controls the motor driving circuit to drive the motor to be corrected, and then switches to a correction operation mode, that is, stops the motor driving circuit to drive the motor to be corrected. Operate, and control the correction and identification component to receive the phase signal and the back EMF signal. The controller determines the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder in the motor to be corrected, and the angular deviation amount according to the phase signal and the back EMF signal. The display is electrically connected to the calibration and identification component, and the controller drives the display through the calibration and identification component to display the number of magnetic poles, the resolution, the current angular position and the angular deviation amount, so that the user can correct the axis of the motor to be corrected according to the content displayed on the display. Encoder.

【0007】

Preferably, the driving mode drives the motor to be corrected to a mode switching point, and then stops driving the motor to be corrected, so that the motor to be corrected is continuously operated by inertia; and the correction operation mode determines the number of magnetic poles when the motor to be corrected is operated by inertia. Resolution, current angular position, and angular deviation.

[0008]

Preferably, the controller can repeatedly switch between the driving mode and the correction operation mode according to the rotation speed of the motor to be corrected and the mode switching point.

【0009】

Preferably, the shaft encoder positioning correction device measures and obtains a normal deviation amount of the standard motor of the same type as the motor to be corrected before performing the calibration procedure; the controller compares the normal deviation amount and the angular deviation amount, Obtain the difference between the normal deviation magnitude and the angular deviation amount.

[0010]

Preferably, when the controller starts to drive the motor to be calibrated to start by the motor driving circuit, the controller generates a simulated rotating magnetic field to drive the motor driving circuit to start the motor to be calibrated.

[0011]

According to an object of the present invention, a shaft encoder positioning correction method is provided, which is suitable for a shaft encoder positioning correction device for correcting a motor to be corrected having a shaft encoder; the shaft encoder positioning correction device comprises a motor drive circuit, a correction and identification member The controller and the display; the shaft encoder positioning correction method comprises the following steps: performing a driving mode to directly drive the motor to be corrected; performing a correction operation mode to receive a phase signal of the shaft encoder, and measuring the signal Correcting a back EMF signal of the stator coil when the motor is running; determining the magnetic pole number of one of the motor to be corrected, the resolution of one of the shaft encoders, and the current angle of the shaft encoder in the motor to be corrected according to the phase signal and the back EMF signal Position and angular deviation; display magnetic pole number, resolution, current angular position and angular deviation; and correct the shaft encoder of the motor to be corrected according to the displayed content.

[0012]

Preferably, the driving mode drives the motor to be corrected to a mode switching point, and then stops driving the motor to be corrected, so that the motor to be corrected is continuously operated by inertia; and the correction operation mode determines the number of magnetic poles when the motor to be corrected is operated by inertia. Resolution, current angular position, and angular deviation.

[0013]

Preferably, the method further comprises the steps of: repeatedly switching the driving mode and correcting the operation mode according to the rotation speed of the motor to be corrected and the mode switching point.

[0014]

Preferably, the shaft encoder positioning correction device further comprises the following steps: measuring and obtaining a normal deviation amount of the standard motor of the same type as the motor to be corrected before performing the calibration procedure.

[0015]

Preferably, the method further comprises the steps of: comparing the normal deviation magnitude with the angular deviation amount to obtain a difference between the normal deviation magnitude and the angular deviation amount.

[0016]

Preferably, the method further comprises the step of generating a simulated dynamic rotating magnetic field to drive the motor to be calibrated to start running.

[0017]

As described above, the shaft encoder positioning correction device and the correction method thereof according to the present invention may have one or more of the following advantages:

[0018]

(1) The shaft encoder positioning correction device and the calibration method thereof directly drive the motor to be calibrated by using a motor drive circuit, thereby eliminating the need to additionally provide a motive motor to drive the motor to be calibrated and a dedicated fixed frame. A device or tool that simplifies the calibration of the shaft encoder of the motor to be calibrated after installation.

[0019]

(2) The shaft encoder positioning correction device and the calibration method thereof use the correction and identification member and the controller to adjust the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder, and the shaft encoder The installation angle offset is calculated and displayed on the display, and the user can easily calibrate the servo encoder shaft encoder according to the display content of the display.

[0020]

(3) The shaft encoder positioning correction device and the calibration method thereof are configured to obtain a normal deviation magnitude and an angular deviation by using a normal deviation magnitude of the standard motor to compare the normal deviation magnitude and the angular deviation amount. The difference between the quantities makes it easy to calibrate the motor for calibration.

[0056]

1‧‧‧Axis encoder positioning correction device

10‧‧‧Motor drive circuit

20‧‧‧Correction and identification components

30‧‧‧ Controller

40‧‧‧ display

9‧‧‧ Motor to be calibrated

91‧‧‧Axis encoder

Z, A, B‧‧‧ phase signals

V _an ‧‧‧ back EMF signal

S201～210‧‧‧Process

S501～510‧‧‧Process

S61～S65‧‧‧Steps

[0021]

Fig. 1 is a block diagram showing an embodiment of a shaft encoder positioning correction device of the present invention.

Fig. 2 is a flow chart showing the calibration procedure of an embodiment of the shaft encoder positioning correction device of the present invention.

Figure 3 is a schematic diagram of the motor drive of one embodiment of the shaft encoder positioning correction device of the present invention.

Figure 4 is a schematic diagram of the motor operation of an embodiment of the shaft encoder positioning correction device of the present invention.

Figure 5 is a flow chart showing another embodiment of the shaft encoder positioning correction device of the present invention.

Figure 6 is a diagram showing the steps of the method for correcting the position of the shaft encoder of the present invention.

[0022]

The technical features, contents, and advantages of the present invention, as well as the advantages thereof, can be understood by the present inventors, and the present invention will be described in detail with reference to the accompanying drawings. The subject matter is only for the purpose of illustration and description. It is not intended to be a true proportion and precise configuration after the implementation of the present invention. Therefore, the scope and configuration relationship of the attached drawings should not be interpreted or limited. First described.

[0023]

Please refer to FIG. 1 , which is a block diagram of an embodiment of a shaft encoder positioning correction device of the present invention. As shown in the figure, the shaft encoder positioning correction device 1 of the present invention is applicable to a motor to be corrected 9, which may be a servo motor, and the motor 9 to be corrected has a shaft encoder 91, preferably a booster. A coded shaft encoder, but not limited to this. The calibration device 1 can mainly provide precise positioning correction for the manufacturer or the user to mount the shaft encoder 91 to the motor 9 to be corrected, or the shaft encoder 91 is loosely offset or the motor 9 to be corrected needs to be repaired and maintained. The shaft encoder 91 is recalibrated to position its mounting angle.

[0024]

The shaft encoder positioning correction device 1 of the present invention comprises a motor drive circuit 10, a correction and identification member 20, a controller 30 and a display 40. The motor drive circuit 10 is electrically coupled to the motor 9 to be corrected to directly drive the motor 9 to be calibrated to operate. The correction and identification component 20 can include a calibration circuit and a back EMF identification circuit. The correction and identification member 20 electrically connects the motor 9 to be corrected and its shaft encoder 91 to receive a phase signal of one of the shaft encoders 91, and to measure a back EMF signal of the stator coil when the motor 9 is to be calibrated. The controller 30 can be a Field Programmable Gate Array (FPGA) chip, and the controller 30 further includes a decoding operation program, such as a Very-High-Speed Integrated Circuit. Hardware Description Language, VHDL) program. The controller 30 is electrically coupled to the motor drive circuit 10 and the correction and identification member 20. The controller 30 first performs a driving mode and then switches to a correction computing module. In the drive mode, the controller 30 controls the motor drive circuit 10 to drive the motor 9 to be corrected to operate, and in the correction operation mode, the controller 30 stops the motor drive circuit 10 from driving the motor 9 to be corrected to operate, and controls the correction and identification member 20 The phase signals Z, A, B and the back EMF signal V _{an are} received. Incidentally, the shaft encoder positioning correction device 1 of the present invention can operate the motor 9 to be corrected by using the motor drive circuit 10, thereby omitting the inconvenience of the prior art in which an additional motor is required to drive the motor 9 to be corrected. Moreover, since it is not necessary to use a motor to drive the motor 9 to be calibrated, it is not necessary to use a dedicated or special fixing stand to fix the motor and the motor 9 to be corrected.

[0025]

Next, the controller 30 further determines the number of magnetic poles of one of the motor 9 to be corrected, the resolution of one of the shaft encoders 91, and the shaft encoder 91 to the motor to be corrected according to the phase signals Z, A, B and the back EMF signal V _an . The current angular position of the first one and the angular encoder 91 are mounted on the angular deviation of the motor 9 to be corrected. Display 40 can be an LCD display, an LED display, or a touch sensitive display that is electrically coupled to the calibration and identification member 20. The controller 30 drives the display 40 through the correction and identification member 20 to display the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount, so that the user can correct the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40. For example, the amount of angular deviation after the shaft encoder 91 is mounted on the motor 9 to be corrected. Incidentally, the motor drive circuit 10 and the correction and identification member 20 can be directly integrated into the controller 30, and therefore cannot be limited only by the above.

[0026]

Wherein, the driving mode drives the motor to be corrected to reach a mode switching point (n _cr ) and then stops driving the motor 9 to be corrected, so that the motor 9 to be corrected is continuously operated by inertia. The operation mode of the correction calculation mode is to determine the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount of the motor 9 to be corrected by the characteristics of the inertial continuous operation. Therefore, the controller 30 can determine the driving mode and the correction operation mode according to the obtained rotation speed of the motor to be corrected and the mode switching point. Of course, the controller 30 can repeatedly switch the driving mode and the correction operation mode according to the rotation speed of the motor 9 to be corrected and the mode switching point, so as to interpret the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, and the shaft encoder. The current angular position in the motor 9 to be corrected and the angular deviation amount of the shaft encoder 91 after being mounted to the motor 9 to be corrected.

[0027]

Please refer to Figures 2 to 4 together. Fig. 2 is a flow chart showing the calibration procedure of an embodiment of the shaft encoder positioning correction device of the present invention. Figure 3 is a schematic diagram of the motor drive of one embodiment of the shaft encoder positioning correction device of the present invention. Figure 4 is a schematic diagram of the motor operation of one embodiment of the shaft encoder positioning correction device of the present invention. The shaft encoder positioning correction device 1 of the present invention can perform the calibration procedure as follows.

[0028]

(S201) Fixing the motor to be corrected. First, the motor 9 to be calibrated must be fixed to avoid danger or damage caused by the motor 9 to be calibrated shaking while rotating.

[0029]

(S202) Power transmission work. The power switch supplies power so that the shaft encoder positioning correction device 1 of the present invention can start to operate.

[0030]

(S203) Start the operation mode (Z=0) and start the drive motor. As shown in FIG. 3, the controller 30 also includes components such as a speed controller, a vector controller, a PWM circuit, and the like for controlling the operation of the drive motor. The controller 30 is set to start driving the motor to be corrected to generate rotation in the starting mode; in this mode, the controller 30 generates a simulated angle signal for the vector controller to generate a starting rotating magnetic field for driving the motor to be corrected until a zero signal is received ( After the phase signal Z), it switches to the general drive mode. That is, the shaft encoder positioning correction device 1 of the present invention can thereby cause the motor drive circuit 10 to directly drive the motor 9 to be calibrated, thereby simplifying the use of a dedicated or special fixing frame to fix an additional set of motors in the prior art. In addition to being effective in cost saving, the motor 9 to be calibrated can also effectively reduce the procedure and time for the relevant personnel to perform the positioning correction of the shaft encoder.

[0031]

(S204) Speed determination. At this time, the controller 30 determines whether the speed of the motor 9 to be corrected is greater than a mode switching point to determine the flow S205 or S209. That is, by determining whether the speed of the motor to be corrected 9 is greater than the mode switching point, it serves as a reference for the controller 30 to operate in the driving mode or the correction operation mode.

[0032]

(S205) operating in the correction operation mode. When the speed of the motor 9 to be corrected reaches the mode switching point, the controller 30 operates in the correction operation mode, at which time the motor drive circuit is in an OFF state (000 vector), and the motor 9 to be corrected is in an inertial rotation state.

[0033]

(S206) The motor signal hardware circuit processing to be corrected. When the motor 9 to be corrected is in the inertial rotation state, the calibration circuit and the back EMF identification circuit of the correction and identification member 20 respectively capture the phase signals Z, A, B of the shaft encoder 91 and the back EMF signal V _{an of the} motor to be corrected. . That is, when the motor 9 to be corrected is operated, the calibration circuit will process the phase signals Z, A, B input by the shaft encoder 91, and the back potential identification circuit will measure the back electromotive force of one of the stator coils of the motor 9 to be corrected. Signal V _an .

[0034]

(S207) Signal calculation (PPR (number of clocks generated by Encoder rotation), number of magnetic poles, resolution, current angular position, and angular offset). After the phase signals Z, A, B and the back EMF signal V _{an are} extracted, the controller 30 performs _an alignment operation of the phase signals Z, A, B and the back EMF signal V _an . Further, the VHDL program in the controller 30 calculates the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91 based on the phase signals Z, A, B and the back potential signal V _an , and the shaft encoder 91 is installed Correct the current angular position of the motor 9 and the angular offset after installation. That is as shown in Figure 4.

[0035]

(S208) The display is displayed. After obtaining the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, the current angular position of the shaft encoder 91 mounted on the motor 9 to be corrected, and the angular offset after installation, the controller 30 can utilize the display 40. The number of poles, the resolution, the current angular position, and the angular offset are displayed. Therefore, the user corrects the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40, such as the angular deviation amount after the correction shaft encoder 91 is mounted on the motor 9 to be corrected.

[0036]

For example, if the angular offset displayed by the display 40 is not a reference value, it indicates that the angle at which the shaft encoder 91 is mounted is deviated. At this time, the user can correct the angular offset of the shaft encoder 91 of the motor 9 to be corrected according to the content displayed on the display 40, for example, adjust the disc of the shaft encoder 91 in a clockwise or counterclockwise rotation to Adjust the angular offset to the reference value. Then, the motor 9 to be corrected is driven to rotate again to calculate the number of magnetic poles, the resolution, the current angular position and the angular offset of the shaft encoder 91 of the adjusted motor 9 to be corrected, and is displayed via the display 40. When the offset is the reference value, the calibration procedure ends. The adjustment of the angular offset can be adjusted according to the user's requirements or the specifications of the tool. Therefore, the above-mentioned adjustment of the angular offset to the "reference value" can be any angle, including zero, 30 or 60 degrees. and many more. That is, if the user wants the angle offset to be zero degree, 30 degrees or 60 degrees, and the angle offset displayed by the display 40 during the first correction is not zero degree, 30 degrees or 60 degrees, the user The angular offset can be adjusted to zero, 30 or 60 degrees as described above.

[0037]

(S209) operates in the drive mode. In the above process S204, if the speed of the motor 9 to be corrected does not reach the mode switching point, the controller 30 operates in the driving mode, and the controller 30 generates a rotation vector for driving the motor motion via the angle and speed feedback signal control vector controller. .

[0038]

(S210) The motor drive circuit is actuated. That is, the PWM switching signal of the rotation vector controls the switching action of the power stage.

[0039]

As can be seen from the above, the shaft encoder positioning correction device 1 of the present invention can be composed of the motor drive circuit 10, the correction and identification member 20, the controller 30 and the display 40, without driving or operating the motor 9 to be corrected according to or using a motor. The motor to be corrected 9 can be operated to obtain the number of magnetic poles of the motor 9 to be corrected, the resolution of the shaft encoder 91, the current angular position of the shaft encoder 91 mounted to the motor 9 to be corrected, and the angular offset after installation. The parameter, so that the correction of the shaft encoder 91 of the motor 9 to be corrected can be completed quickly and conveniently. When the motor 9 to be corrected is repaired or the shaft encoder 91 needs to be repositioned under any circumstances, it is not necessary to disable the shaft encoder. 91 The appropriate correction is made to replace the entire set of motors, which can effectively reduce the cost.

[0040]

Please refer to FIG. 5, which is a schematic flow chart of another embodiment of the shaft encoder positioning correction device of the present invention. First, the standard motor of the same type as the motor 9 to be calibrated is taken first, and after the shaft encoder positioning correction device 1 measures and stores the normal deviation amount designed by the manufacturer, it can be used as the shaft encoder 91 of the motor 9 to be corrected. The angular deviation is compared, and then the shaft encoder 91 is corrected according to the following flow steps, and the portions not specifically described in the following flow are similar to the previous embodiment. The steps and operation flow of the shaft encoder positioning correction device 1 for correction are as follows:

[0041]

(S501) First, the motor to be calibrated must be fixed so as not to cause a danger of sloshing when the motor rotates.

[0042]

(S502) The power switch is turned on and the operation starts.

[0043]

(S503) Set in the start mode to start the drive motor to generate rotation.

[0044]

(S504) The correction device 1 operates in the drive mode or the correction calculation mode.

[0045]

(S505) The drive motor operates or captures the counter electromotive force signal V _an and the phase signals Z, A, B.

[0046]

(S506) Correcting the operation of the signal operation such as PPR, pole number, offset, corrected position, and the like.

[0047]

(S507) Displaying the correction information display via the display.

[0048]

(S508) It is judged whether the offset is zero, and the offset is the offset PPR value, and if it is not zero, the correction is started.

[0049]

(S509) Start to perform the shaft encoder 91 correction, and the offset can be obtained from the display of the display (such as an LCD panel or a touch panel), and the offset is the offset PPR value, thereby knowing that The disc of the shaft encoder 91 is adjusted in a clockwise or counterclockwise manner, and the correction position calculation of the internal program of the controller 30 is adjusted according to the smooth or counterclockwise adjustment of the optical disc, and the moved PPR value can be obtained by adding or subtracting immediately. After the disc of the shaft encoder 91 is adjusted, it is possible to return to the step (S502) to restart the operation of the motor to be corrected, and then continue to perform the operations of S503 to S507.

[0050]

(S510) When the offset is displayed to be zero (same as the value of the standard motor), the correction is completed.

[0051]

The shaft encoder positioning correction device 1 of the present invention can be easily calibrated by the shaft encoder 91 by the above-described flow application and can be corrected in one time.

[0052]

Please refer to FIG. 6 , which is a step diagram of the method for correcting the position of the shaft encoder of the present invention. The shaft encoder positioning correction method of the present invention is suitable for correcting a motor to be corrected having one axis encoder as described above for the shaft encoder positioning correction device. The method comprises the following steps: (S61) performing a driving mode to directly drive the motor to be corrected; (S62) performing a correction operation mode to receive a phase signal of one of the shaft encoders and measuring a stator coil of the motor to be corrected a back EMF signal; (S63) according to the phase signal and the back EMF signal to determine the number of magnetic poles of the motor to be corrected, the resolution of the shaft encoder, the current angular position of the shaft encoder in the motor to be corrected, and the angular deviation amount; (S64) display The number of magnetic poles, the resolution, the current angular position, and the angular deviation amount; and (S65) correcting the shaft encoder of the motor to be corrected according to the displayed content.

[0053]

The detailed description and embodiments of the shaft encoder positioning correction method of the present invention have been described in the foregoing description of the shaft encoder positioning correction device of the present invention, and will not be described here for the sake of brevity.

[0054]

In summary, the shaft encoder positioning correction device and method of the present invention simplifies the problem of separately setting a motor to drive the motor to be calibrated and setting a platform dedicated for alignment and positioning, thereby improving the work of positioning and correcting the shaft encoder. Efficiency and cost savings. At the same time, the positioning correction device and method of the present invention also provides an intuitive and convenient way of use.

[0055]

The above is intended to be illustrative only and not limiting. Any equivalent modifications or alterations to the spirit and scope of the invention are intended to be included in the scope of the appended claims.

Domestic registration information [please note according to the registration authority, date, number order]

no

Foreign deposit information [please note according to the country, organization, date, number order]

no

no

1‧‧‧Axis encoder positioning correction device

10‧‧‧Motor drive circuit

20‧‧‧Correction and identification components

30‧‧‧ Controller

40‧‧‧ display

9‧‧‧ Motor to be calibrated

91‧‧‧Axis encoder

Claims (17)

[Item 1] A shaft encoder positioning correction device suitable for a motor with a shaft encoder to be corrected, comprising:
a motor driving circuit electrically connecting the motor to be corrected to directly drive the motor to be corrected;
a calibration and identification component electrically connecting the motor to be corrected to receive a phase signal of the shaft encoder, and measuring a back EMF signal of the stator coil when the motor to be corrected is in operation;
a controller electrically connecting the motor driving circuit and the correction and identification member, the controller first performing a driving mode, and controlling the motor driving circuit to drive the motor to be corrected to operate, and then switching to a correction operation mode, Stopping the motor driving circuit to drive the motor to be corrected, and controlling the correction and identification component to receive the phase signal and the back potential signal, the controller according to the phase signal and the back potential signal to determine the to be corrected a magnetic pole number of the motor, a resolution of the shaft encoder, a current angular position of the shaft encoder in the motor to be corrected, and an angular deviation amount; a display electrically coupled to the calibration and identification component, wherein the controller drives the display to display the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount for the user to The shaft encoder of the motor to be corrected is corrected by the display. [Item 2] The shaft encoder positioning correction device according to claim 1, wherein the driving mode is to drive the motor to be corrected after the rotation speed of the motor to be corrected reaches a mode switching point, so that the motor to be corrected uses inertia. In the continuation operation, the correction calculation mode is to determine the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount when the motor to be calibrated is operated by the inertia. [Item 3] The shaft encoder positioning correction device according to claim 2, wherein the controller repeatedly switches the driving mode and the correction operation mode according to the rotation speed of the motor to be corrected and the mode switching point. [Item 4] The shaft encoder positioning correction device according to claim 1, wherein the shaft encoder positioning correction device measures and obtains a normal state of a standard motor of the same type as the motor to be corrected before performing the calibration procedure. The deviation magnitude, the controller compares the normal deviation magnitude with the angle deviation to obtain a difference between the normal deviation magnitude and the angular deviation amount. [Item 5] The shaft encoder positioning correction device according to claim 1, wherein the controller starts to use the motor driving circuit to drive the motor to be corrected to start the operation, the controller generates a simulated rotating magnetic field, The motor drive circuit drives the motor to be corrected to start operation. [Item 6] A shaft encoder positioning correction method is suitable for a shaft encoder positioning correction device for correcting a motor to be corrected with a shaft encoder, the shaft encoder positioning correction device comprising a motor drive circuit, a correction and identification member, and a control And a display, the method comprises the following steps:
Performing a driving mode to directly drive the motor to be calibrated;
Performing a correction operation mode to receive a phase signal of one of the shaft encoders, and measuring a back EMF signal of the stator coil when the motor to be corrected is in operation;
Determining, according to the phase signal and the back EMF signal, a magnetic pole number of one of the motor to be corrected, a resolution of the shaft encoder, a current angular position of the shaft encoder in the motor to be corrected, and an angular deviation amount;
Displaying the number of magnetic poles, the resolution, the current angular position, and the amount of angular deviation; The shaft encoder of the motor to be corrected is corrected according to what is displayed. [Item 7] The shaft encoder positioning correction method according to claim 6, wherein the driving mode is to drive the motor to be corrected after the rotation speed of the motor to be corrected reaches a mode switching point, so that the motor to be corrected uses inertia. In the continuation operation, the correction calculation mode is to determine the number of magnetic poles, the resolution, the current angular position, and the angular deviation amount when the motor to be calibrated is operated by the inertia. [Item 8] The method for correcting the shaft encoder positioning according to claim 7 of the patent application scope further comprises the following steps: The driving mode and the correction operation mode are repeatedly switched according to the rotation speed of the motor to be corrected and the mode switching point. [Item 9] The shaft encoder positioning correction method according to claim 6, wherein the shaft encoder positioning correction device further comprises the following steps before performing the calibration procedure: A normal deviation of the standard motor of the same type as the motor to be calibrated is measured and obtained. [Item 10] The method for correcting a shaft encoder according to claim 9 of the patent application, further comprising the following steps: Comparing the normal deviation magnitude with the angular deviation amount to obtain a difference between the normal deviation magnitude and the angular deviation amount. [Item 11] The method for correcting the position of the shaft encoder as described in claim 6 further comprises the following steps: A simulated rotating magnetic field is generated to drive the motor to be calibrated to start operation.