WO2006043403A1 - エンコーダ信号処理装置およびその信号処理方法 - Google Patents
エンコーダ信号処理装置およびその信号処理方法 Download PDFInfo
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- WO2006043403A1 WO2006043403A1 PCT/JP2005/017960 JP2005017960W WO2006043403A1 WO 2006043403 A1 WO2006043403 A1 WO 2006043403A1 JP 2005017960 W JP2005017960 W JP 2005017960W WO 2006043403 A1 WO2006043403 A1 WO 2006043403A1
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- 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
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- 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
- G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
- G01D18/001—Calibrating encoders
-
- 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
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
Definitions
- the present invention relates to a signal processing apparatus and a signal processing method for an encoder such as a rotary encoder that detects a rotation angle of a rotating body such as a motor and a linear encoder that detects displacement of a linear stage and the like.
- an encoder such as a rotary encoder that detects a rotation angle of a rotating body such as a motor and a linear encoder that detects displacement of a linear stage and the like.
- the position detection error generated by the offset voltage, amplitude error, phase error, waveform distortion, etc. of the two-phase analog signal obtained by the sensor signal detection unit is calculated in advance and stored in the memory. There is one that corrects the position detection signal based on this detection error data at the time of position detection. (For example, see Patent Document 1)
- FIG. 12 is a block diagram showing a configuration of a conventional encoder signal processing apparatus.
- 51 is an analog amplifying circuit that amplifies the two-phase analog signals Sa and Sb with which the sensor signal detection capability was obtained
- 52 is an analog-digital converting circuit that converts the amplified two-phase analog signals into digital signals
- 53 Is a digital interpolation circuit that converts the converted two-phase digital signal into position data
- 54 is a detection error data calculation circuit that receives position data from the digital interpolation circuit 53 and calculates detection error data for correction
- 55 is correction
- This is a detection error correction circuit that corrects position data detection errors using the detection error data for correction, and includes a correction detection error storage register 551 and a correction calculation circuit 552.
- Reference numeral 56 denotes a position data generation circuit that generates corrected position data within one cycle and the number of multiple cycles of the original signal.
- a two-phase analog signal Sa, Sb that can move a measured object (not shown) at a constant speed and obtain sensor signal detection force is amplified by an analog amplifier circuit 51, converted to a digital signal by an analog-digital converter circuit 52, The insertion circuit 53 converts the position data.
- the two objects are moving at a constant speed, and the moving distance of one cycle is known in advance. Therefore, the distance traveled at each sampling can be calculated by sampling within one period at equal intervals. Therefore, the detection error data calculation circuit 54 calculates the movement distance at each sampling, calculates the position error from the ideal position data obtained by this calculation and the position data detected at each sampling, and calculates the position error data.
- the data is stored in the correction detection error storage register 551 in the detection error correction circuit 55.
- a method for correcting the position data using the stored position error data! I will explain.
- the correction calculation circuit 552 detects the detection stored in the correction detection error storage register 551. The position data detection error is corrected using the error data and output to the position data generation circuit 56.
- the conventional encoder signal processing apparatus stores the position error data corresponding to the detected position in the correction detection error storage register, and the position error data is used by using this position error data at the time of normal position detection. The detection error was corrected.
- Patent Document 1 Japanese Patent Laid-Open No. 2003-254785 (Page 10, Figure 2)
- the conventional encoder position calculation device stores the position error data for the detected position in a storage device and performs correction based on this data, it corrects even higher-order distortion errors.
- it is necessary to divide the position error data within one period of the analog signal and increase the number of position error data. Therefore, there is a problem that a large capacity memory is required and the device size becomes large.
- a large amount of data is processed, which complicates the program and increases the size of the signal processing circuit.
- the present invention has been made in view of such problems, and does not require a large-capacity memory, and can correct even higher-order distortion errors with a simple signal processing circuit and signal processing method. It is an object of the present invention to provide an encoder signal processing apparatus and a signal processing method thereof. Means for solving the problem
- the present invention is configured as follows.
- the signal processing apparatus for an encoder is a AZD change that converts a periodic analog signal obtained from the sensor signal detection unit force into digital data according to the displacement of two objects that are relatively displaced, and position detection error information.
- a calculator having a position data calculation unit that calculates position data from the digital data and an error correction unit that corrects the position data based on the position detection error information.
- the memory encodes position error data included in the position data with the computing unit and stores a correction coefficient, and the correction coefficient is converted into a position error with the computing unit. Data is decoded, and error-containing position data generated based on the decoded position error data and correction data for correcting the position data are stored.
- the signal processing apparatus for an encoder according to claim 2 is characterized in that the first memory is a non-volatile memory and the second memory is a volatile memory.
- the computing unit includes an error correction parameter acquisition unit that calculates the correction coefficient, and error-containing position data from the decoded position error data. And an error correction position table creation unit for creating a correction data table corresponding to the error content position data.
- the signal processing method of the encoder signal processing device is a method in which two objects are relatively moved at a constant speed, and a periodic analog signal generated according to the relative displacement is converted into digital data. Then, position data is calculated from the digital data, position error data is calculated from the position data, and the position error storage step for storing the position error data and the position error data based on the stored position error data are used.
- the position error data stored in the position error storage step encodes the calculated position error data.
- the correction coefficient is generated, and the correction coefficient is stored in the first memory.
- the position error correction step includes the correction stored in the first memory.
- the error-containing position data is calculated from the decoded position error data, a correction table in which the error-containing position data is associated with the correction data is created, and the correction table is used as the second correction table.
- the relative displacement between the two objects is detected, it is converted into digital data, and the position data is calculated from the digital data.
- the stored correction data is read out, the position data is corrected with the correction data, and the corrected position data is output.
- the signal processing method of the encoder signal processing device stores the position error storage step.
- the position data is corrected based on correction data stored in advance, position error data is calculated from the corrected position data, and a correction coefficient is generated by encoding the position error data.
- the correction coefficient is stored in a first memory, the correction coefficient stored in the first memory is read and decoded, and error-containing position data is calculated from the decoded position error data, A correction table that associates the error-containing position data with the correction data is created, the correction table is stored in a second memory, and the corrected position data is corrected based on the correction data.
- Position error data is calculated from the corrected position data, and the correction coefficient obtained by repeating the operation of updating the correction coefficient last time with the current correction coefficient obtained by encoding this position error data is the first correction coefficient. It is characterized by being stored in the memory.
- the correction coefficient is an amplitude of a multi-order SIN component and an amplitude of a multi-order COS component that are Fourier-transformed. It is a feature.
- the correction coefficient is an amplitude and phase of a multi-order SIN component obtained by Fourier transform, or an amplitude of a multi-order CO S component. And its phase.
- the correction data includes a decoded position error data, and the position error data corresponding to the position data is corrected.
- the position error data is obtained from the position data and obtained from the position data.
- the position data corrected by subtraction is output.
- the correction data includes an ideal position data force, and the ideal position data corresponding to the position data is obtained as the correction table force. It is characterized by outputting position data corrected by outputting ideal position data.
- the signal processing method of the encoder signal processing device configures a system in which speed correction control is performed using the corrected position data, and the two objects are relative to each other at a constant speed. It is characterized by being moved.
- one of the two objects that are relatively displaced is mechanically connected to a movable body that is controlled at a constant speed, and the two objects are Is relatively moved at a constant speed.
- detection error information is encoded and stored, so that a large-capacity memory is not required, and even a high-order distortion error is corrected with a simple signal processing circuit. Therefore, a highly accurate position detection signal can be obtained.
- a non-volatile memory is used as a memory for storing correction coefficients and a volatile memory is used as a means for storing correction data
- the correction coefficient is created every time the power is turned on. Only the correction data needs to be generated! Further, since the detection error information is encoded and processed, the number of data to be processed is small, and even a high-order distortion error can be corrected with a simple program.
- a high-speed device equipped with a high-resolution encoder, etc. to obtain a constant speed if a system with speed feedback control is configured using the output from its own encoder signal processing apparatus and a constant speed is obtained. It is effective when you do not need it.
- FIG. 1 is a block diagram showing a configuration of an encoder signal processing device according to the present invention.
- ⁇ 2 Block diagram showing correction coefficient generation operation
- Block diagram showing correction table creation operation in the second embodiment of the present invention [10] Block diagram showing correction coefficient generation operation in the third embodiment of the present invention
- FIG. 12 is a block diagram showing the configuration of a conventional encoder signal processing device.
- FIG. 1 is a block diagram showing a configuration of a signal processing apparatus for an encoder according to the present invention.
- Fig. 1 is an AZD converter that converts the periodic analog signals Sa and Sb obtained from the sensor signal detector according to the displacement of two objects that are relatively displaced into digital data
- 2 is a two-phase two-phase digital Data force Position data calculation unit that calculates position data
- 3 is position
- 4 is a first memory for storing the correction coefficient
- 5 is a correction coefficient from the first memory.
- the error-containing position data creation unit for decoding the position error data and creating error-containing position data from the decoded position error data
- 6 is the correction data for correcting the error-containing position data and the position data.
- An error correction position table creation unit for creating a correction table corresponding to the above, 7 is a second memory for storing the correction table, and 8 is an error correction unit for correcting position data.
- An arithmetic unit 9 includes a position data calculation unit 2, an error correction parameter acquisition unit 3, an error-containing position data creation unit 5, an error correction position table creation unit 6, and an error correction unit 8.
- the sensor signal detector may use a linear encoder detector as the sensor signal detector.
- the two objects are relatively displaced in the rotational direction.
- a detection unit of a rotary encoder may be used.
- the sensor signal detection unit may use any method such as a magnetic method, an optical method, a capacitance method, or a resolver method as long as the analog signal changes according to the relative displacement. Absent.
- the computing unit 9 can be configured by using one or a plurality of various devices having a digital computing function such as a microcomputer or DSP.
- the first memory 4 may be integrated with the arithmetic unit 9 or the second memory 7, but a non-volatile memory such as a ROM or flash memory is preferred.
- the second memory 7 may be integrated with the arithmetic unit 9 or the first memory 4. Both volatile and non-volatile memory are acceptable.
- the operation of the present invention is roughly divided into three operations.
- the first operation is a position error storage step (correction coefficient generation operation) until encoding position error data and storing the correction coefficient in the first storage device.
- the second operation is stored in the first storage device in the position error correction step. Decoding position error data, creating a correction table before driving, and storing the correction table to be stored in the second storage device (correction table creation operation)
- the third operation is an operation (correction operation) for correcting the position data by reading the correction data from the correction table during the actual operation in the position error correction step.
- FIG. 2 is a block diagram showing the correction coefficient generation operation, in which a portion related to the correction coefficient generation operation is extracted from the block diagram of the signal processing apparatus of FIG.
- FIG. 3 is a flowchart showing the correction coefficient creation operation.
- Two objects to be measured are moved or rotated at a constant speed (step 101), and two-phase analog signals Sa and Sb corresponding to the relative displacement of the two objects are detected from the sensor signal detector. Is detected (step 102).
- the two-phase analog signal is converted into two-phase digital data by AZD conversion 1 (step 103), and then position data ⁇ is calculated by position data calculation unit 2 (step 104).
- the position error data contained in is encoded by Fourier transform, and its correction coefficients Gcos and Gsin are calculated (step 105). Next, this correction coefficient is stored in the first memory 4 (step 106). Up to here, the force for completing the operation of generating the correction coefficient Here, the detailed operation of encoding will be described.
- FIG. 4 is a flowchart showing the detailed operation of the sign ⁇
- FIG. 5 is the position data ⁇ [j] and error.
- step 104 First, two objects that are measured objects are moved or rotated at a constant speed, the position data 0 calculated in step 104 is sampled at a constant period, and the position data 0 passes through the zero point.
- the sample count number Sn for one period is acquired with the period from 0 o'clock as the trigger until the next zero point is passed (step 201).
- the incremental pulse number Pe per sampling count is calculated by dividing the period data division number Dn by the sample count number Sn (step 202).
- r is the position data at each sampling point 0 [j]
- Error data gosa [j] is obtained by subtracting 0 force (step 203).
- Sampling time counter (time axis data) x [j] is as follows.
- gosaQ] ⁇ [j]- ⁇ (Pe * j) — Pe * ⁇ [0] / ( ⁇ [0] — ⁇ [—1]) ⁇
- the Fourier transform transforms the error data into Cos and Sin components, and calculates the respective coefficients Gcos [n] and Gsin [n] (step 204).
- the first memory 4 To store.
- Gc 0S [n] and Gsin [n] may be averaged by performing this operation multiple times (step 205).
- N indicates the order of the harmonics.
- FIG. 6 is a block diagram showing the correction table creation operation, in which portions related to the correction table creation operation are extracted from the block diagram of the signal processing apparatus of FIG.
- the error-containing position data creation unit 5 stores the error correction data Gcos [n] and Gsin [n] stored in the first memory 4 and outputs the position error data. Decode and create error-containing position data from the decoded position error data.
- the error correction position table creation unit 6 creates a correction table in which the error containing position data and the correction data for correcting the position data are associated with each other, and stores the correction table in the second memory 7.
- FIG. 7 is a graph for explaining correction table data.
- 0 is ideal position data that is correction data
- ⁇ is error-containing position data
- dev is the division pitch obtained by dividing the error-containing position data for one period into N parts.
- the error-containing position data creation unit 5 reads the correction coefficients Gc 0S [n] and Gsin [n] and performs the following processing to create error-containing position data 0 for ideal position data 0 r g0 To do.
- the error-containing position ⁇ at this time is defined as the error-containing minimum position ⁇ .
- Fig. 8 is a block diagram showing the correction operation.
- the block diagram of the signal processing device in Fig. 1 is extracted from the part related to the correction operation.
- the error correction unit 8 reads the position data ⁇ and uses the position data ⁇ to store the second memory 7.
- correction table correction table reference operation
- the number of 1-period divisions Dn which is the resolution of the position data ⁇ , is the correction table.
- the position ⁇ is obtained, and the data ⁇ [ ⁇ ] at the reference position ⁇ becomes the true position data ⁇ .
- the table reference position 0 is the minimum error-containing position from the calculated position data 0.
- ⁇ ⁇ - ⁇ ( ⁇ :-180deg ⁇ 180deg) Is required.
- the error correction position table Tbl [m] is referenced from the table reference position ⁇ , and the data between the tables is linear.
- the true position data ⁇ is
- the number of table divisions N is set in consideration of the harmonic order to be corrected and the RAM capacity.
- position error data is prepared as correction data.
- the true position data ⁇ may be output by subtracting the corresponding error data from zero.
- FIG. 9 is a block diagram showing a correction table creation operation in the second embodiment of the present invention.
- 3 is an error correction parameter acquisition unit
- 4 is a first memory
- 5 is an error content location data creation unit.
- the position error correction parameters in the first embodiment are the multi-order COS component amplitude Gcos [n] and the multi-order SIN component amplitude Gsin [n
- the force is stored as Gcos [n] and its phase d ⁇ [n].
- Gsin [n] and its phase d ⁇ [n] may be stored instead of Gcos [n] and its phase d ⁇ [n].
- Error correction parameter acquisition unit 3 acquires error data gosa [j] and the sampling time counter (time axis data x [j]) at the same time as error correction parameter acquisition unit 3 of the first embodiment. To do.
- error data is converted into COS or SIN by Fourier transform.
- the COS component amplitude Gcos [n] and its phase d ⁇ [n] or the SIN component amplitude Gsin [n] and its phase d ⁇ [n] are calculated and stored in the first memory 4 .
- the error-containing position data creation unit 5 decodes the parameters stored in the form of the amplitude and phase.
- the error waveform can be expressed by a single COS or SIN curve, so fine adjustment of the correction parameters can be performed easily.
- FIG. 10 is a block diagram showing a correction coefficient generation operation in the third embodiment of the present invention.
- This embodiment differs from the first embodiment in that the correction coefficient creation operation block diagram (Fig. 2) in the first embodiment is A / D change l, position data calculation unit 2, error correction parameter acquisition unit 3
- the first memory 4 includes an error-containing position data creation unit 5, an error correction position table creation unit 6, a second memory 7, and a correction unit 8.
- the output of the position data calculation unit 2 is connected to the error correction parameter acquisition unit 3, but in this embodiment, the output ⁇ of the error correction unit 8 is connected to the error correction parameter acquisition unit 3! It is a point to talk.
- FIG. 11 is a flowchart showing the operation of this embodiment.
- step 301 reads the position data ⁇ calculated in step 104.
- this position data refers to the correction table in the second memory 7 and performs a correction operation for outputting the corrected position data ⁇ .
- step 302 the previously calculated correction coefficients Gcos [n] and Gsin [n] are added to the corrections G, cos [n] and G'sin [n] obtained by the current calculation to newly add Gcos. This is the step to create and update [n] and Gsin [n].
- FIG. 11 differs from the flowchart in the first embodiment in that steps 301 and 302 are added, and the operations from step 104 to step 302 are performed multiple times. It is a point that a loop to repeat is added.
- the error correction parameter acquisition unit 3 also generates a correction coefficient for the output signal force of the position data calculation unit 2, but in this embodiment, the position data corrected in step 301 is corrected. That is, the correction coefficient is generated using the output signal ⁇ of the error correction unit 8. In addition, by repeating the operation from step 104 to step 302 multiple times, The positive coefficient is updated.
- the number of repetitions may be until the position error data is detected to be below a predetermined value, or may be determined in advance so that the position error data is sufficiently small.
- the correction table creation operation and the correction operation are added to the correction coefficient generation operation, the correction coefficient is generated using the corrected position data, and the previously generated correction coefficient is updated. Therefore, by executing this multiple times, a more accurate correction coefficient can be generated, so that highly accurate position detection data can be obtained.
- the present invention can be applied to any type of encoder position detection error correction having a reproducible periodic error regardless of the magnetic type, optical type, rotary type, or linear motion type.
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US11/665,965 US7496462B2 (en) | 2004-10-20 | 2005-09-29 | Encoding signal processing device and signal processing method therefor |
JP2006542302A JPWO2006043403A1 (ja) | 2004-10-20 | 2005-09-29 | エンコーダ信号処理装置およびその信号処理方法 |
EP05787989A EP1804032A1 (en) | 2004-10-20 | 2005-09-29 | Encoder signal processor and processing method |
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JP2004-306102 | 2004-10-20 | ||
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US (1) | US7496462B2 (ja) |
EP (1) | EP1804032A1 (ja) |
JP (1) | JPWO2006043403A1 (ja) |
KR (1) | KR20070054735A (ja) |
CN (1) | CN100549625C (ja) |
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JP2002286508A (ja) * | 2001-03-23 | 2002-10-03 | Tamagawa Seiki Co Ltd | 正弦波エンコーダの出力方法 |
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JP3772121B2 (ja) * | 2002-02-28 | 2006-05-10 | ファナック株式会社 | エンコーダの信号処理装置 |
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- 2005-09-29 JP JP2006542302A patent/JPWO2006043403A1/ja active Pending
- 2005-09-29 KR KR1020077009073A patent/KR20070054735A/ko active IP Right Grant
- 2005-09-29 CN CNB2005800354698A patent/CN100549625C/zh not_active Expired - Fee Related
- 2005-09-29 WO PCT/JP2005/017960 patent/WO2006043403A1/ja active Application Filing
- 2005-09-29 EP EP05787989A patent/EP1804032A1/en not_active Withdrawn
- 2005-09-29 US US11/665,965 patent/US7496462B2/en not_active Expired - Fee Related
- 2005-10-11 TW TW094135377A patent/TW200630591A/zh unknown
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JPS63256814A (ja) * | 1987-04-14 | 1988-10-24 | Toshiba Mach Co Ltd | 位置検出装置 |
JPH08101045A (ja) * | 1994-09-30 | 1996-04-16 | Sony Magnescale Inc | 位置検出装置 |
WO1998021553A1 (fr) * | 1996-11-11 | 1998-05-22 | Fanuc Ltd. | Circuit d'interpolation de codeur |
JP2002286508A (ja) * | 2001-03-23 | 2002-10-03 | Tamagawa Seiki Co Ltd | 正弦波エンコーダの出力方法 |
Cited By (13)
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WO2007055092A1 (ja) * | 2005-11-09 | 2007-05-18 | Kabushiki Kaisha Yaskawa Denki | エンコーダ信号処理装置 |
WO2007055063A1 (ja) * | 2005-11-09 | 2007-05-18 | Kabushiki Kaisha Yaskawa Denki | エンコーダ信号処理装置 |
WO2007086160A1 (ja) * | 2006-01-27 | 2007-08-02 | Sokkia, Co., Ltd. | ロータリエンコーダ |
US7825367B2 (en) | 2006-01-27 | 2010-11-02 | Sokkia Co., Ltd. | Rotary encoder |
AU2006336718B2 (en) * | 2006-01-27 | 2011-07-28 | Sokkia, Co. Ltd. | Rotary encoder |
JP2009156852A (ja) * | 2007-12-28 | 2009-07-16 | Toshiba Mach Co Ltd | レゾルバ装置およびレゾルバの角度検出装置とその方法 |
JP2011153916A (ja) * | 2010-01-27 | 2011-08-11 | Tdk Corp | ルックアップテーブル生成方法、角度センサ、及びスケール |
JP2013011456A (ja) * | 2011-06-28 | 2013-01-17 | Tdk Corp | 演算装置、相対移動量測定装置、および、演算方法 |
JP2014025900A (ja) * | 2012-07-30 | 2014-02-06 | Canon Inc | 補正値導出装置、変位量導出装置、制御装置、および補正値導出方法 |
JP2014219232A (ja) * | 2013-05-02 | 2014-11-20 | ファナック株式会社 | 精度補正機能を備えたエンコーダ |
US10409670B2 (en) | 2013-05-02 | 2019-09-10 | Fanuc Corporation | Encoder with accuracy correction function |
JP2018021845A (ja) * | 2016-08-04 | 2018-02-08 | ファナック株式会社 | エンコーダの信号処理装置、エンコーダ、信号処理方法及びプログラム |
JP2022541116A (ja) * | 2019-07-22 | 2022-09-22 | ボストン ダイナミクス,インコーポレイテッド | 磁気エンコーダー較正 |
Also Published As
Publication number | Publication date |
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CN100549625C (zh) | 2009-10-14 |
TW200630591A (en) | 2006-09-01 |
US7496462B2 (en) | 2009-02-24 |
KR20070054735A (ko) | 2007-05-29 |
CN101044374A (zh) | 2007-09-26 |
JPWO2006043403A1 (ja) | 2008-05-22 |
EP1804032A1 (en) | 2007-07-04 |
US20080117992A1 (en) | 2008-05-22 |
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