WO2004068076A1 - サーボドライバおよびエンコーダ信号処理ic - Google Patents
サーボドライバおよびエンコーダ信号処理ic Download PDFInfo
- Publication number
- WO2004068076A1 WO2004068076A1 PCT/JP2004/000721 JP2004000721W WO2004068076A1 WO 2004068076 A1 WO2004068076 A1 WO 2004068076A1 JP 2004000721 W JP2004000721 W JP 2004000721W WO 2004068076 A1 WO2004068076 A1 WO 2004068076A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- encoder
- signal
- data
- input
- output
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
- G01D3/10—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for switching-in of additional or auxiliary indicators or recorders
Definitions
- the present invention relates to a servo driver that drives and controls an actuator including a servomotor and a speed reducer. More specifically, the present invention relates to an improvement in an encoder signal processing unit mounted on a servo driver for processing an output signal from an encoder attached to an actuator and detecting position information of the actuator.
- the servo mechanism consists of an actuator consisting of a servomotor and a speed reducer, and a servo driver that servo-controls the actuator based on the output from the encoder attached to this actuator.
- encoders There are two types of encoders. There are two types of encoders: an incremental type and an absolute type that can detect the absolute position.
- the specifications of the servo driver are generally set so that the actuator is servo-controlled based on an output signal from a predetermined type of encoder. Therefore, if the type of encoder to be attached to the actuator is different, it is necessary to change the servo driver to be combined with the actuator.
- the combination of the actuator and the service driver is determined by the type of encoder. Therefore, even if the servo motor and the reduction gear that constitute the actuator are the same, if the encoder is of a different type, the servo driver must be changed. There is the inconvenience of having to do it. Also, there is a problem that the cost efficiency is low because it is necessary to prepare various types of servo drivers according to the type of encoder. Disclosure of the invention
- a main object of the present invention is to propose a servo driver including an encoder signal processing unit capable of supporting various encoders.
- the present invention relates to a servo driver that drives and controls the actuator based on an encoder output signal supplied from an encoder attached to the actuator to be controlled.
- An encoder type input unit for inputting whether the encoder is a wire-saving system or a 14-wire system, and / or whether it is an incremental type or an absolute type;
- a control unit that generates a control signal corresponding to the encoder type information input through the encoder type input unit;
- An encoder signal processing unit that performs signal processing on the encoder output signal based on the control signal to generate a parallel signal representing position information of the actuator, and the like;
- a drive control unit for performing servo control of the actuator based on the parallel signal.
- the encoder signal processing unit includes:
- An output port that outputs the parallel signal to the drive control unit, a receiving unit that converts serial data input from the serial input port into the parallel signal of a predetermined bit, A first data selection for selecting one of the serial input port and the input port group as an input port for an encoder signal based on a port switching signal as the control signal supplied from the control unit; And a configuration including a unit.
- a data generation unit that generates, based on the parallel signal generated by the reception unit, incremental data and absolute use data related to position information of the encoder
- a second data selection unit configured to select which of the incremental data and the absolute data is to be output from the output port based on the control signal supplied from the control unit. it can.
- the servo driver according to the present invention includes the encoder type input unit. If the type of the encoder to be connected is input, a control signal corresponding to the encoder type is supplied from the control unit to the encoder signal processing unit.
- the encoder signal processing unit switches the input port based on the control signal so that, regardless of whether the line-saving system or the 14-line system encoder is connected, based on the output signal, A parallel signal that can be processed by the drive control unit can be generated.
- the encoder signal processing unit includes a data generation unit capable of generating incremental data and absolute data, and is connected to the second data selection unit based on a control signal supplied from the control unit. If the encoder being used is of the incremental type, it selects the incremental data and outputs it to the drive controller from the output port. Similarly, if the connected encoder is of the absolute type, the absolute data is selected and output from the output port to the drive controller.
- the present invention relates to an encoder signal processing IC incorporated in a servo driver.
- the encoder signal processing IC according to the present invention is characterized in that the encoder signal processing unit having the above configuration is mounted.
- FIG. 1 is an overall configuration diagram showing an example of a servo mechanism to which the present invention is applied.
- FIG. 2 is a schematic block diagram of the encoder signal processing IC of FIG.
- FIG. 3 is a schematic block diagram of the receiving unit in FIG.
- FIG. 4 is an explanatory diagram showing a reception data format received from the encoder.
- FIG. 5 is a timing chart of the input / output signals of the monitor unit in FIG.
- Figure 6 is a timing chart showing the signal specifications when multi-rotation information is output.
- FIG. 7 is a timing chart showing one-rotation information and signal use at the time of incremental output.
- Fig. 8 shows a timing chart showing an example of a monitor output signal of multi-rotation information.
- FIG. 1 is an overall configuration diagram showing the servo mechanism of the present example.
- the servo mechanism 1 of this example has an actuator 2 and a servo driver 3, and the actuator 2 is composed of a servo motor 4 and a reduction gear 5, and the reduction gear output shaft is the actuator output shaft 6. It has become.
- An encoder 7 such as an optical encoder is attached to the rotation axis of the servo motor 4. Have been. Based on the output obtained from the encoder 7, the servo driver 3 detects the position information of the actuator 2 and performs servo control of the actuator 2.
- the servo driver 3 is used to input and specify whether the encoder 7 is a wire-saving system or a 14-wire system, or an incremental type or an absolute type.
- Encoder signal processing unit 15 that performs signal processing on output signal 7 S to generate parallel signal 14 that represents position information of actuator 2, and servo control of actuator 2 based on normal signal 14
- a drive control unit 16 for performing the following. Further, the encoder output signal 7 S is supplied to the encoder signal processing unit 15 via the input / output interface 17.
- the pod 3 is mainly configured by a computer including CPU, R ⁇ M, RAM, and the like, and the encoder signal processing unit 15 is modularized as an encoder signal processing IC 20.
- the output signal 7 S of the encoder 7 is received by the input / output interface 17 of the servo driver 3 and input to the encoder signal processing IC 20.
- the encoder signal processing IC 20 determines the type of the encoder 7 based on the control signal 12 supplied from the control unit 13 and indicating the type of the encoder 7, and performs signal processing on the encoder output signal.
- a parallel signal 14 representing the actuator position information and the like obtained by the above is output to the drive controller 16.
- FIG. 2 is a schematic block diagram showing the encoder signal processing IC 20 of the present example.
- the encoder signal processing IC 20 of this example uses a CMOS gate array process.It is a 16-bit encoder data receiving LSI that receives encoder serial data and converts it to 16-bit parallel data. Convert and generate encoder monitor signal.
- the encoder types that can be supported are the incremental type and the absolute type using the line-saving method, and the 14-wire type.
- the receiving unit 21 receives serial data as input, converts it into 16-bit parallel data, and outputs it.
- the monitor section 22 receives the number of monitor pulses per fixed time, and generates the A, B, Z phase signals of the encoder 7 based on the input.
- the difference calculator 23 calculates the difference between the current data and the previous data of the received data, and outputs the difference to the monitor 22. Also, when generating absolute data, output incremental data following output of multi-rotation data.
- the data selector (1) 24 of the IC 20 switches between the A, B, Z, V, and W phase signals in the input signal from the line-saving encoder and the input signal from the 14-wire encoder.
- the data selection unit (2) 25 switches the ABZ phase signal of the monitor output between the line saving system and the 14-wire system.
- the signal is switched to the serial signal (5 bits), and PZ, PB, PA, MPX—AWC, (PZ or PD) is selected as the output port.
- the signal is switched to the parallel signal (5 bits), and Z, B, MR X_A, 6 AND, (Z or PD) is selected as the port. 6 AND means the logical product of the six signals input to the AND unit 28.
- the data selection section (3) 26 switches between internal signal output during incremental and ap- plication.
- the output signals (10 bits) during incremental operation are DO 14 to 10, 0 (GND), 0 (GND), 0 (GND), 0 (GND), and the difference sign.
- the output signal (10 bits) during the absolute operation is packet selection, 0 (GND), BATT, MDER, OVFR, SYSD, Z phase, differential sign, differential output (6, 5 ).
- the data selection unit 27 switches between transmission data and difference data.
- the receive data is selected, and the receive data outputs a 16-bit parallel signal from the receiver.
- Table 1 is a terminal table of the encoder data processing IC 20.
- FIG. 3 is a block diagram showing the configuration of the receiving unit 21.
- the receiver 21 reproduces the periodic clock, captures serial data, demultiplexes, checks CRC errors, and updates parallel data output. And other operations to receive 16-bit data.
- Figure 4 shows the format of the serial receive data (MR X).
- the serial receive data consists of a start bit, an address bit, a data bit, a CRC bit, and a stop bit. It consists of an up bit and an idle bit.
- the data bits are 16 bits. When the ABS-INC input signal is 0, it is incremental, and when it is 1, it is absolute.
- Table 2 shows the bit configuration at the time of the incremental, and Table 3 shows the bit configuration at the time of the absolute.
- ABS_INC 1 (a; /!) Unit
- absolute data is composed of 13 bit counter data of 2 0-2 12 2 1 3 to 2 13-bit counter data and 1 rotation information of the multi-rotation information.
- These data are supplied from the encoder as 2-frame / 1-package serial data.
- the encoder signal processing IC 20 performs monitor output based on these serial data. First, the multi-rotation information and one-rotation information from the encoder 7 are sequentially output as a monitor, and then the incremental signal is output as a monitor.
- the multi-turn information indicates how many revolutions the encoder 7 has made, and the one-turn information indicates the absolute position of the current position of the encoder 7 within one turn.
- the incremental signal is a signal that outputs as many monitor signals as the encoder rotates after the multi-rotation information and one rotation information of the absolute data are output and monitored. That is, the incremental signal is the difference between the data for each serial data reception cycle. Is a signal to be monitored and output based on.
- FIG. 5 shows the timing chart of the input / output signals.
- Fig. 6 shows the signal specifications (PA and PB signals, which are two-phase signals with a 90-degree phase difference) when multi-rotation information is output. The addition and subtraction are determined based on the advance and delay of the PA and PB signals. The counting is performed at the rising edge of the PA signal.
- Fig. 7 shows the signal specifications for one-rotation information and incremental output. The addition and subtraction are determined based on the leading and lagging of the PA and PB signals, and the counting is performed at the rising and falling edges of the PA and PB signals.
- FIG. 8 shows an example of a monitor output signal of multi-rotation information. Industrial applicability
- the input / output port of the encoder signal processing unit is switched according to the type of the encoder attached to the actuator, and the line-saving encoder and the encoder are used. It is configured to support any output of a 14-line encoder.
- the encoder signal processing unit is configured to be compatible with both incremental type and absolute type encoder outputs.
- a common servo driver can be used in combination with the actuator even if the type of the encoder attached to the actuator is different. Therefore, even if the motor and the deceleration unit are the same, the conventional problem that the servo driver must be changed according to the type of the encoder can be solved.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/543,408 US7224139B2 (en) | 2003-01-29 | 2004-01-27 | Servo driver and encoder signal processing IC |
DE112004000198T DE112004000198T5 (de) | 2003-01-29 | 2004-01-27 | Servoantrieb und Gebersignal-verarbeitende integrierte Schaltung |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003-020698 | 2003-01-29 | ||
JP2003020698A JP4212372B2 (ja) | 2003-01-29 | 2003-01-29 | エンコーダ信号処理装置およびサーボドライバ |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004068076A1 true WO2004068076A1 (ja) | 2004-08-12 |
Family
ID=32820633
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/000721 WO2004068076A1 (ja) | 2003-01-29 | 2004-01-27 | サーボドライバおよびエンコーダ信号処理ic |
Country Status (4)
Country | Link |
---|---|
US (1) | US7224139B2 (ja) |
JP (1) | JP4212372B2 (ja) |
DE (1) | DE112004000198T5 (ja) |
WO (1) | WO2004068076A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115550469A (zh) * | 2022-08-26 | 2022-12-30 | 上海市雷智电机有限公司 | 兼容多种编码器协议的伺服驱动器及方法 |
Families Citing this family (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007113932A (ja) * | 2005-10-18 | 2007-05-10 | Harmonic Drive Syst Ind Co Ltd | ギヤ付きモータの多回転絶対値エンコーダ |
JP4728128B2 (ja) * | 2006-01-17 | 2011-07-20 | 株式会社ハーモニック・ドライブ・システムズ | 多軸モータ位置検出信号伝達装置 |
JP2008116291A (ja) * | 2006-11-02 | 2008-05-22 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
JP2009288125A (ja) * | 2008-05-30 | 2009-12-10 | Koyo Electronics Ind Co Ltd | アブソリュートエンコーダ |
DE102009024737A1 (de) * | 2009-06-12 | 2010-12-16 | Lenze Automation Gmbh | Elektromotor mit Drehzahlerkennung |
CN102575945B (zh) | 2009-09-09 | 2015-07-01 | 株式会社安川电机 | 变频器装置及变频器系统 |
TWI403083B (zh) * | 2010-04-16 | 2013-07-21 | Teco Elec & Machinery Co Ltd | 伺服驅動器及其控制方法 |
JP5925485B2 (ja) * | 2011-12-26 | 2016-05-25 | 日本電産サンキョー株式会社 | エンコーダ装置およびエンコーダ装置の信号生成方法 |
CN105758431B (zh) * | 2016-03-09 | 2018-04-27 | 深圳怡化电脑股份有限公司 | 一种磁编码系统及基于磁编码系统的数据处理方法 |
JP2017205881A (ja) * | 2016-05-16 | 2017-11-24 | 株式会社日本製鋼所 | 駆動軸が複数のサーボモータにより同期制御される電動射出成形機 |
JP6848222B2 (ja) * | 2016-06-20 | 2021-03-24 | 富士電機株式会社 | 速度センサインタフェース回路 |
CN113156839A (zh) * | 2020-01-22 | 2021-07-23 | 科德数控股份有限公司 | 一种伺服系统电子齿轮 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0818455A (ja) * | 1994-06-28 | 1996-01-19 | Tamagawa Seiki Co Ltd | サーボモータ用エンコーダ |
JPH10285970A (ja) * | 1997-04-09 | 1998-10-23 | Tamagawa Seiki Co Ltd | エンコーダの送信方法 |
JP2002175586A (ja) * | 2000-12-07 | 2002-06-21 | Matsushita Electric Ind Co Ltd | ロータリーエンコーダ |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5640007A (en) * | 1995-06-21 | 1997-06-17 | Limitorque Corporation | Optical encoder comprising a plurality of encoder wheels |
JP3407169B2 (ja) * | 1995-10-12 | 2003-05-19 | 富士写真光機株式会社 | 超音波画像立体表示装置及び超音波画像立体表示方法 |
US6127948A (en) * | 1998-06-17 | 2000-10-03 | Gurley Precision Instruments, Inc. | Bidirectional synthesis of pseudorandom sequences for arbitrary encoding resolutions |
DE10123292B4 (de) * | 2001-05-13 | 2010-07-22 | Anton Rodi | Sensorsystem |
-
2003
- 2003-01-29 JP JP2003020698A patent/JP4212372B2/ja not_active Expired - Lifetime
-
2004
- 2004-01-27 DE DE112004000198T patent/DE112004000198T5/de not_active Withdrawn
- 2004-01-27 US US10/543,408 patent/US7224139B2/en active Active
- 2004-01-27 WO PCT/JP2004/000721 patent/WO2004068076A1/ja active Application Filing
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0818455A (ja) * | 1994-06-28 | 1996-01-19 | Tamagawa Seiki Co Ltd | サーボモータ用エンコーダ |
JPH10285970A (ja) * | 1997-04-09 | 1998-10-23 | Tamagawa Seiki Co Ltd | エンコーダの送信方法 |
JP2002175586A (ja) * | 2000-12-07 | 2002-06-21 | Matsushita Electric Ind Co Ltd | ロータリーエンコーダ |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN115550469A (zh) * | 2022-08-26 | 2022-12-30 | 上海市雷智电机有限公司 | 兼容多种编码器协议的伺服驱动器及方法 |
Also Published As
Publication number | Publication date |
---|---|
US7224139B2 (en) | 2007-05-29 |
DE112004000198T5 (de) | 2005-12-29 |
JP2004264038A (ja) | 2004-09-24 |
JP4212372B2 (ja) | 2009-01-21 |
US20060186852A1 (en) | 2006-08-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004068076A1 (ja) | サーボドライバおよびエンコーダ信号処理ic | |
JP6140459B2 (ja) | センサーデータ伝送装置 | |
WO2015052790A1 (ja) | 多重化通信システム及び作業用ロボット | |
US8093855B2 (en) | Low speed control method and apparatus for servo motor | |
WO2007105257A1 (ja) | 同期制御システム | |
CN101150272A (zh) | 总线式智能电机 | |
JP3615596B2 (ja) | 数値制御装置 | |
JP5177297B2 (ja) | インターフェース回路、インバータ装置、インバータシステム及び送受信方法 | |
GB2283836A (en) | System architecture for control applications | |
WO1987005755A1 (en) | Device for detecting the rotational position of rotor of motor | |
CN116480769A (zh) | 传动设备、调试方法、机器人及存储介质 | |
JP6742497B2 (ja) | 多重通信システム及び作業用ロボット | |
JP5045377B2 (ja) | サーボアンプ | |
JPH06208410A (ja) | 位置検出器の信号伝送装置 | |
JP6511457B2 (ja) | 多重通信装置 | |
JP2007195266A (ja) | 多軸モータ位置検出信号伝達装置 | |
WO2020230411A1 (ja) | カウンタユニット | |
US7023151B2 (en) | Switching device for controlling at least two motors | |
JPH11231923A (ja) | 数値制御装置 | |
US20090282177A1 (en) | Apparatus and method for signal transmission in embedded system | |
US7333911B2 (en) | Method for operating a position-measuring device and position-measuring device | |
JP3346319B2 (ja) | 同期運転可能な輪転機 | |
CN114527691A (zh) | 一种绝对式编码器解码系统实现方法 | |
JP2003060504A (ja) | A/d変換装置およびa/dコンバータ用誤差補正装置 | |
JP2004341978A (ja) | エンコーダのデータ送受信方法及び装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BW BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE EG ES FI GB GD GE GH GM HR HU ID IL IN IS KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NA NI NO NZ OM PG PH PL PT RO RU SC SD SE SG SK SL SY TJ TM TN TR TT TZ UA UG US UZ VC VN YU ZA ZM ZW |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): BW GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWE | Wipo information: entry into national phase |
Ref document number: 2006186852 Country of ref document: US Ref document number: 10543408 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase | ||
WWP | Wipo information: published in national office |
Ref document number: 10543408 Country of ref document: US |