WO2014010893A1 - 위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법 - Google Patents
위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법 Download PDFInfo
- Publication number
- WO2014010893A1 WO2014010893A1 PCT/KR2013/006034 KR2013006034W WO2014010893A1 WO 2014010893 A1 WO2014010893 A1 WO 2014010893A1 KR 2013006034 W KR2013006034 W KR 2013006034W WO 2014010893 A1 WO2014010893 A1 WO 2014010893A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- absolute
- binary
- code
- encoder
- detecting
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 20
- 230000003321 amplification Effects 0.000 claims abstract description 4
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 4
- 238000001514 detection method Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 abstract description 8
- 238000005192 partition Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000011161 development Methods 0.000 description 2
- UCLKLGIYGBLTSM-UHFFFAOYSA-N 1,2,3,4-tetrachloro-5-(2,5-dichlorophenyl)benzene Chemical compound ClC1=CC=C(Cl)C(C=2C(=C(Cl)C(Cl)=C(Cl)C=2)Cl)=C1 UCLKLGIYGBLTSM-UHFFFAOYSA-N 0.000 description 1
- QLZOWJNFLXSDSH-UHFFFAOYSA-N 4-methoxy-n-[[4-(trifluoromethyl)phenyl]methyl]butanamide Chemical compound COCCCC(=O)NCC1=CC=C(C(F)(F)F)C=C1 QLZOWJNFLXSDSH-UHFFFAOYSA-N 0.000 description 1
- 238000011000 absolute method Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 238000002620 method output Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
Images
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
- G01D9/00—Recording measured values
- G01D9/02—Producing one or more recordings of the values of a single variable
-
- 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
- G01D5/245—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 using a variable number of pulses in a train
-
- 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
- G01D5/245—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 using a variable number of pulses in a train
- G01D5/2454—Encoders incorporating incremental and absolute signals
-
- 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
- G01D5/14—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 the magnitude of a current or voltage
-
- 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
- G01D5/26—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 characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M7/00—Conversion of a code where information is represented by a given sequence or number of digits to a code where the same, similar or subset of information is represented by a different sequence or number of digits
- H03M7/02—Conversion to or from weighted codes, i.e. the weight given to a digit depending on the position of the digit within the block or code word
- H03M7/12—Conversion to or from weighted codes, i.e. the weight given to a digit depending on the position of the digit within the block or code word having two radices, e.g. binary-coded-decimal code
Definitions
- the present invention is to configure the angle, or position division by software based on the absolute position data on the rotary disk of the absolute rotary encoder to a new function encoder that combines the sequential control function with the existing rotary encoder. It is about.
- the present invention is a rotary disk recorded as a binary absolute position code corresponding to 360 degrees in the Absolute Rotary Encoder, and each address data input by the sensor as a binary BCD code in the rotary disk
- the present invention relates to a program that controls each position as a reference, and an absolute rotary encoder, which is composed of a one chip micom that executes the program and a control circuit.
- the existing Absolute Rotary Encoder is designed by configuring a simple switching circuit on a rotating disk for angle division control. That is, the angle division control code is hardware-configured as a binary code on the rotating disk, and then the sensor detects the ON / OFF signal or the square wave.
- Rotary encoder is a position sensor for converting and detecting the mechanical displacement in the rotational direction and the position displacement of the rotational angle into a digital quantity.It is a rotary encoder that detects the position in the rotational direction and linear displacement. It can be divided into linear scale.
- the encoder is classified on the principle of operation, there are a photoelectric encoder, a magnetic encoder, an electromagnetic induction encoder, a capacitive encoder, and the like. Such encoders are widely used in machine tools for position control and numerical control machine tools (CNC).
- CNC numerical control machine tools
- absolute type absolute type
- incremental type incrementmental type
- the incremental method outputs pulses proportional to the rotation angle of the rotation axis. Since signals are not individually identified, the cumulative counting and counting of the pulses is performed to know the rotation speed of the input signal. Incremental method is possible to measure the amount of rotation from the reference point by assigning the reference position to the scale of the rotating disk, but there is an inconvenience that must re-reference the reference point when turning the power back on after turning off the power.
- Absolute method assigns the absolute position value according to the rotation angle to the rotating disk so that the unique position signal corresponding to the displacement of the rotating disk is output in digital mode.It is used to detect the rotating angle and rotates even when the power is cut off.
- the location data is stored on the disk so that the location data can be detected immediately without the need for the origin.
- FIG. 6 is a view illustrating a rotating disk of a general rotary encoder, and the general rotary encoder is configured in hardware.
- FIG. 2 is a view showing the basic structure of a rotary encoder.
- the basic structure of the rotary encoder includes a rotating shaft, a bearing 101 supporting the rotating shaft, a main body 111 fixing the rotating shaft, a rotating disk 151 fixed to the rotating shaft, and a light emitting unit for irradiating light ( 121 and an electronic circuit 141 for converting a change in illuminance of the light into a digital signal.
- the operating principle of the general rotary encoder is that when the light emitting unit D emits a light source, the rotating disk Ba that controls the signal is connected to a rotating shaft that rotates. At this time, the black and white pattern (Pattern) as shown in Figure 6 is assigned to the rotating disk (Ba), the light passing through the fixed slit (C) passes through or is blocked. At this time, the binary position data 32 is detected by the light receiving unit sensor F that receives the light that has passed, and is output as a square wave 33 or an on / off signal.
- the conventional position control encoder has a physical resolution configured on a rotating disk, and the rotating disk is designed in hardware according to each resolution. For example, if the resolution is 6, a rotating disk with 6 position codes is designed, and if the resolution is 24, a rotating disk with 24 position codes is designed.
- a rotary disk having n position codes is manufactured to form an absolute rotary encoder.
- the resolution means the angle to be divided.
- the 8 position data can be output by dividing 360 ° into 8 equal parts.
- n split encoder outputs n On / Off switch contacts, binary BCD codes are output, and other binary gray codes are output.
- These rotary encoders are imprinted on the scale.
- the product is divided into positive logic and negative logic according to the punched or punched form, and each product is incompatible with each other because of its different characteristics, the use range is extremely limited, and the application is extremely narrow. Therefore, if a failure occurs, it is necessary to obtain a product having the same input and output, and if the procurement is difficult, there may be a problem that the equipment should be kept indefinitely.
- the present invention has been made to solve the above problems, it is possible to freely configure the resolution using the absolute position data and the microcomputer extracted by the combination of binary code corresponding to 360 ° on the rotating disk, It is possible to configure the circuit using bit operation at, and the range of application is infinite, and it is possible to construct products of various resolutions by using binary BCD address and compiler program corresponding to 360 degrees during production.
- the production process can be greatly reduced, and users can freely configure the resolution freely using the source program, and the special Absolute Rotary Encoder can be easily produced using the compiler, and the compiled program Using rotary encoder to output various types of square waves To have its purpose.
- the present invention is capable of modifying and converting the dividing angle according to the conditions of the site, it is possible to work with the peripheral microcomputer and the CPU to make a variety of products, and to create a variety of position signals, productivity and workability
- the other aim is to improve and simplify the construction of the circuit.
- the present invention provides a rotating disk comprising absolute position data in a binary combined code divided by 360 degrees, a sensor for detecting a binary absolute position code of the rotating disk, and a binary combined code.
- a position control encoding method in a position control encoding apparatus including a micom that receives and logically divides and controls a signal, and a signal amplifier for amplifying a signal detected by the sensor, the position control encoding method comprising: an absolute position from a position detection apparatus for detecting a position; When receiving data, the position control encoding apparatus logically divides the absolute position data into a predetermined value and the position control encoding apparatus outputs a control signal according to the logical division value.
- the position detecting device is an absolute rotary encoder for detecting a rotation angle
- the absolute rotary encoder outputs absolute position data corresponding to a change amount of the rotation angle
- the position control encoding device is the absolute position data. Can be logically divided into fixed values.
- the position detection device is an absolute linear encoder for detecting a position of a linear scale
- the absolute linear encoder outputs absolute position data corresponding to a change amount of a length
- the position control encoder is the absolute position. You can logically divide the data into fixed values.
- the absolute rotary encoder can output various digital signals combined in binary.
- the absolute linear encoder can output various digital signals combined in binary.
- the position control encoding device may output a square wave or an on / off signal.
- Two or more position detection devices may be connected to the position control encoding device.
- the position detection device may include a rotary encoder for outputting a binary gray code.
- a new absolute rotary encoder or incremental rotary encoder is combined with a high resolution absolute rotary encoder of 36 ° X10 n outputting a binary-combined code. Can be produced.
- a configuration of a pattern of a rotating disc corresponding to a sensor or a linear scale binary code plate in a position control encoder is not hardware-configured in accordance with the resolution, but by using absolute position data and a program.
- multi-axis position control can be easily configured using an external CPU control PCB.
- the resolution is programmed in the CPU using a compiler, the resolution is configured in software using an address count of 360 °, so that various products can be easily manufactured.
- the microcomputer CPU since the microcomputer CPU is used, the range of application is infinite, and the Absolute Type and Incremental Type can be designed, and various types of desired output signals can be obtained using the microcomputer.
- the existing Absolute Rotary Encoder is a simple hardware design consisting of physical resolution on a rotating disk, and the resolution per revolution is set to an absolute position value.
- the present invention can freely configure the resolution per revolution by using an address count and a microcomputer of 360 degrees, and a circuit can be configured using bit operations at input / output, so that the range of application is infinite.
- a special Absolute Rotary Encoder can be easily produced by using a compiler, and the output of various forms can be configured by using a compilation program.
- FIG. 1 is a general principle diagram of a programmable absolute rotary encoder according to an embodiment of the present invention.
- FIG. 2 is a structure and configuration diagram of a CPU control PCB embedded type and a CPU control PCB external type.
- FIG. 3 is a configuration diagram of a multi-axis position control using an external control PCB.
- FIG. 4 is a comparative model diagram of an encoder having a hardware configuration and an encoder having a software configuration.
- FIG. 5 is a diagram illustrating an absolute rotary encoder and an external CPU board for 360 division position control according to an embodiment of the present invention.
- FIG. 6 is a diagram illustrating a rotating disk of a rotary encoder in which a control code is hardware-configured.
- FIG. 7 is a detailed view of the binary absolute position code of a rotating disk of a 360 split absolute rotary encoder.
- the present invention relates to a method for configuring an angle division control code in software based on absolute position data on a rotating disk of an absolute rotary encoder.
- the present invention is a rotational disc recorded as a binary absolute position code of 360 degrees X 10 n division in the Absolute Rotary Encoder, and each input by the sensor with a variety of codes combined in binary in this rotational disc
- the present invention relates to a program that controls each position based on the address data of the program, and an absolute rotary encoder, which is composed of a one chip micom that executes the program and a control circuit.
- Programmable Absolute Rotary Encoder of the present invention includes a rotary disk having a binary address code (360 * 10 n ) corresponding to 360 °, and n optical sensors for detecting a binary address code.
- the present invention proposes a rotary encoder and a multifunction position control encoder that can be programmed in a linear encoder.
- the multifunction position control encoder detects a rotary disk and a binary address code having a binary address code corresponding to an absolute position value of a scale. It consists of a main body having n optical sensors, a signal amplification circuit for amplifying the detected signal, and a printed circuit board with a One Chip Micom CPU.
- the present invention envisions a new type of encoder using the following two elements.
- the first is absolute position (address) data
- the second is one chip microcomputer. Both can be used to construct and convert partition patterns in software, and to implement a variety of outputs.
- absolute position data is an address value obtained by assigning a binary absolute position code to a rotating disk or a linear scale like a conventional encoder to obtain a hardware configuration.
- the present invention relates to a position control encoding method of a position control encoding apparatus for receiving position data and outputting a position control signal.
- the position control encoding apparatus is an absolute position.
- Logically dividing the data into a predetermined value and the position control encoding apparatus includes outputting a control signal according to the logical division value.
- the position detecting device is an absolute rotary encoder for detecting a rotation angle, the absolute rotary encoder outputs absolute position data corresponding to a change amount of the rotation angle, and the position control encoding device sets the absolute position data to a predetermined value. Can be logically divided into
- the position detection device is an absolute linear encoder for detecting the position of the linear scale, and the absolute linear encoder outputs absolute position data corresponding to the change amount of the length, and the position control encoder sets the absolute position data to a predetermined value. Can be logically divided into
- the absolute rotary encoder may output a binary BCD code.
- the absolute linear encoder may output a binary BCD code.
- the position control encoding device may output a square wave or an on / off signal.
- two or more position detection devices can be connected to the position control encoding device.
- the position detection apparatus may include an incremental encoder that outputs a binary gray code.
- FIG. 5 is a view for explaining the operating principle of the photoelectric rotary encoder.
- the light source 22 is output from the light emitting sensor unit 210, and the light passing through the rotating disk 23 among the light sources 22 reaches the light receiving sensor 24.
- the light receiving sensor 24 outputs a high level signal when light is detected by the electrical characteristics of the photodiode.
- binary address data 25 detected by several light receiving sensors 24 of an absolute rotary encoder are shown, which is converted into a binary BCD code and converted into decimal. In this case, the absolute position data 73 is calculated.
- FIG. 7 is a diagram illustrating the binary address code of 360 pulses for easy understanding.
- the lower part is '1010000011' because the lowermost bit is the most significant bit.
- the rightmost 1 is the data indicating the exact position of the TIP, so it becomes '101000001' except for 1, and when converted to decimal, it becomes 321. That is, it can be seen that the current position is 321 °.
- the absolute position data can be obtained by another method.
- the absolute position data is input from an encoder that outputs a binary BCD or binary gray code, and the position is converted into a binary division pattern configured by software. Can be controlled. That is, the CPU control unit can be separated into an external type and used in combination with an absolute encoder which outputs a binary BCD code or a binary gray code.
- a multi-axis position control can be easily implemented. For example, first, connect three encoders (E1, E2, E3) that produce binary BCD output to the external CPU board (B1), connect the first axis to Port A, B, and the second axis to Port B, C.
- the third axis is connected to Ports C and D, and the output port is configured as D, F, and G to control the position by interlocking three axes.
- the address code disk of 360 divided from the absolute address code 12 is converted into a plurality of negative and positive binary codes on a rotating disc. consist of.
- the binary code produces data of 1s and 0s in the multiple sensors 13, which is '1' when passing through the medium 22 for operating the sensor as in the example of FIG. Combining the data produced by each sensor on the principle that the binary BCD code 25 is completed.
- the signal produced by the sensor is amplified by the detection signal 14 and transmitted to the input port of the microcomputer 15, and outputted via the output port 16 by the binary address division pattern configuration and input / output 10 by software.
- the software divides 360 degrees into desired divisions, sets input conditions and output conditions, and inputs them into the flash memory using compile software (11).
- Table 50 of FIG. 8 shows 360 position codes (horizontal) and several binary codes (vertical) input to the CPU.
- the binary absolute position code refers to a position code composed of a plurality of binary data as shown in FIG. 8
- Table 1 shows the binary absolute position values and 360 ° -corresponding decimal values of the 360-division absolute rotary encoder.
- Table 2 shows the binary absolute position values of 360 °.
- Table 3 shows the binary absolute position values of 3600 °.
- Table 4 shows binary absolute position values of 36000 °.
- Table 3 is the binary absolute position code of 3600 division
- Table 4 is the absolute position code of 36000 division.
- Table 2 shows 360 binary absolute position data.
- the program is divided into a predetermined range using binary absolute position data of 360 ° and outputs 1 if the range of the constant division is true and 0 if it is false, the position control is possible.
- the minimum angle to divide is N ⁇ 360
- 0.1 ° unit division uses 3600 pulses
- 0.01 ° division is 36000 pulses
- Tables 3 and 4 show binary absolute position data of the minimum dividing angle at 3600 ° and 36000 °, respectively.
- the light irradiated from the light emitting element 21 passes through the rotating disk and the fixed slits and reaches the light receiving element 24. Since the rotating disk and the shaft are fixed and rotated, the illuminance of the light irradiated to the light receiving unit is changed.
- the light receiving element 24 outputs a sine wave signal in accordance with the change in illuminance of light, and converts the sine wave into a square wave to output it.
- the optical encoder rotary encoder When the optical encoder rotary encoder reaches a certain position by blocking or transmitting the light through the binary address code as shown in Fig. 4, the light detecting rotary encoder receives a position signal of 1 or 0 and amplifies it as shown in Fig. 2 to output desired data. Let's do it.
- (A) is composed of (B) and (C), (D), (F), (D) is a light emitting portion of the photodiode, (B) is a rotating disk, (C) is The scale for controlling the amount of light transmitted, (F) consists of a light receiving portion receiving the light.
- the transmitted light in (D) passes through the binary code of the rotating disk of (B), and a sine wave is made using the passed light. That is, when light reaches F, a high signal is output, and when it does not reach, a low signal is output.
- a binary absolute position code refers to a position code composed of a plurality of binary data, and as shown in FIG. 4, binary data is 1 when light passes and 0 when light is blocked. .
- Table 2 shows the binary absolute position codes of 360 divisions.
- Table 3 is a binary absolute position code of 3600 splits
- Table 4 is a table showing absolute position codes of 36000 splits.
- the address data of the position where the optical sensor is positioned when the rotary shaft of the rotary encoder rotates or stops, for example, is '001001001'. If you convert this binary number to decimal, you get 73. That is, it can be seen that the current position is 73 ° on the 360 ° rotating disk.
- FIG. 8 is a diagram of detecting a binary address signal from a sensor.
- a 360-division rotating disk includes (TPO), (2 0 ), (21), (22), (23), (2 ° x10), (21x10), (22x10), (23x10) It consists of nine binary address codes of (2 ° x100), one position signal (TP0), and ten corresponding sensors.
- KA 360 divided by 8
- KB is the range of division angle
- KC is the exact position value of the division angle
- KP and KIP represent the position values of the exact positions, respectively.
- a 360-division rotating disk includes (TP0), (2 0 ), (21), (22), (23), (2 ° x10), (21x10), (22x10), and (23x10) It consists of binary address codes of (2 ° x100), (21x100), (22x100), (23x100), (2 ° x1000), (21x1000), (22x1000), and (23x1000).
- a 3600 split disk can be divided into (TP0), (2 0 ), (21), (22), (23), (2 ° x10), (21x10), (22x10), (23x10) It consists of binary address codes of (2 ° x100), (21x100), (22x100), (23x100), (2 ° x1000), (21x1000), (22x1000), and (23x1000).
- the 36000 split disk includes (TP0), (2 0 ), (21), (22), (23), (2 ° x10), (21x10), (22x10), and (23x10). It consists of binary address codes of (2 ° x100), (21x100), (22x100), (23x100), (2 ° x1000), (21x1000), (22x1000), and (23x1000).
- the n signals detected by the sensor are BCD coded to represent absolute position data.
- the position data of the rotary disc of the current rotary encoder represents the result value when it matches the position data programmed in the microcomputer control unit. For example, if the interval 0 ° to 45 ° is set to k1 and 2 n to 2 n X10 n is bcd1,
- the microcomputer receives each individual BCD-coded individual position data (precision address data) made by using a plurality of sensors in the present invention, and corresponds to a single or multiple square wave corresponding to an input / output condition composed of software. It generates an on / off signal.
- the number of sensors corresponding to the absolute position value is configured to match the number of bits that make up the binary address code.
- the absolute position data used in the present invention is made using a binary BCD code, and 16 bits of binary BCD code data (Table 4) is required with 16 sensors to make absolute position data of 36000 pulses.
- a software binary code plate may be configured using an incremental encoder. That is, after scanning the reference point of the incremental encoder, the minimum unit pulse is inputted as a binary gray code, and an up count or down count is configured to form an overall scale, and then single or multiple square waves can be controlled.
- FIG. 2 shows an embodiment of a CPU control PCB embedded encoder (a) and a CPU control PCB external encoder (b).
- binary address data which is an absolute address required by the present invention
- a binary BCD code an absolute rotary rotary disk and a CPU control board 141 in the CPU PCB.
- the CPU PCB 141 is separated and combined with an absolute encoder that outputs a binary BCD code, so that binary position data of an absolute rotary rotary disk or a linear scale is pre-programmed. Enables output of on / off signals or square waves when corresponding to a logical division angle.
- the present invention uses software to logically design a desired output condition (binary code pattern of a rotating disk, binary code pattern of an Absolute linear scale) for an input, and a binary absolute position code corresponding to 360 °.
- Binary Address Code or Binary BCD and Binary Binary Data can be input to output an On / Off signal or a square wave when the linear axis and rotary axis of the encoder correspond to the logical division position.
- the encoder of the present invention receives a binary BCD code from an Absolute encoder, and receives a binary Gray code from an incremental encoder.
- the position control encoding method according to an embodiment of the present invention can be implemented as a computer-readable code on a computer-readable recording medium.
- the computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored.
- the computer-readable recording medium may be a ROM, a RAM, a CD-ROM, a magnetic tape, a hard disk, a floppy disk, a removable storage device, a nonvolatile memory (Flash memory).
- Flash memory nonvolatile memory
- the computer readable recording medium can also be distributed over computer systems connected over a computer network so that the computer readable code is stored and executed in a distributed fashion.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Optical Transform (AREA)
Abstract
Description
360분할을 8분할로 논리적 분할 예 | |||||
p/n(분할) | K A(분할 각) | K B(분할범위) | K C(정위치 값) | K P(제3정위치) | KIP(제2정위치) |
1/8 | 45 | 1~45 | 22.5 | 21~24 | 18~27 |
2/8 | 90 | 46~90 | 47.5 | 66~69 | 63~72 |
3/8 | 135 | 91~135 | 72.5 | 111~114 | 108~117 |
4/8 | 180 | 136~180 | 97.5 | 156~159 | 153~162 |
5/8 | 225 | 181~225 | 122.5 | 201~204 | 198~207 |
6/8 | 270 | 226~270 | 147.5 | 246~249 | 243~252 |
7/8 | 315 | 271~315 | 172.5 | 291~294 | 288~297 |
8/8 | 360 | 316~360 | 197.5 | 336~339 | 333~342 |
\ | 1° | 2° | 3° | ~ | 101° | 102° | 103° | ~ | 249° | 250° | 251° | 252° | ~ | 356° | 357° | 358° | 359° | 360° |
TP0 | 1 | 1 | 1 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | 1 |
2° | 1 | 0 | 1 | ~ | 1 | 1 | 1 | ~ | 1 | 0 | 1 | 0 | ~ | 0 | 1 | 0 | 1 | 0 |
2¹ | 0 | 1 | 1 | ~ | 0 | 1 | 1 | ~ | 0 | 1 | 1 | 0 | ~ | 0 | 0 | 1 | 1 | 0 |
2² | 0 | 0 | 0 | ~ | 1 | 0 | 1 | ~ | 0 | 0 | 0 | 1 | ~ | 1 | 1 | 1 | 1 | 0 |
2³ | 0 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 | 0 | 1 |
2°x10 | 0 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 | 0 | 0 |
2¹x10 | 0 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | 1 |
2²x10 | 0 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | 1 |
2³x10 | 0 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 | 0 | 0 |
2°x100 | 0 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 0 | 0 | ~ | 1 | 1 | 1 | 1 | 1 |
\ | 1° | 2° | ~ | 1011° | 1012° | 1013° | ~ | 2419° | 2420° | 2421° | 2422° | ~ | 3598° | 3599° | 3600° |
TP0 | 1 | 1 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 1 | 1 | 1 |
2° | 1 | 0 | ~ | 1 | 0 | 1 | ~ | 1 | 0 | 1 | 0 | ~ | 0 | 1 | 0 |
2¹ | 0 | 1 | ~ | 1 | 0 | 0 | ~ | 1 | 0 | 0 | 1 | ~ | 1 | 1 | 0 |
2² | 0 | 0 | ~ | 0 | 1 | 1 | ~ | 0 | 1 | 1 | 1 | ~ | 1 | 1 | 0 |
2³ | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 0 | 0 | ~ | 1 | 1 | 0 |
2°x10 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 1 |
2¹x10 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2²x10 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2³x10 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 | 0 | ~ | 0 | 0 | 0 |
2°x100 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2¹x100 | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 | 0 | ~ | 1 | 1 | 1 |
2²x100 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 0 | 0 | ~ | 1 | 1 | 1 |
2³x100 | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 | 1 | ~ | 1 | 1 | 1 |
\ | 1° | 2° | ~ | 1031° | 1032° | ~ | 23250° | 23251° | 23252° | ~ | 35998° | 35999° | 36000° |
TP0 | 1 | 1 | ~ | 1 | 1 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 |
2° | 1 | 0 | ~ | 1 | 0 | ~ | 0 | 1 | 0 | ~ | 0 | 1 | 0 |
2¹ | 0 | 1 | ~ | 1 | 0 | ~ | 1 | 1 | 0 | ~ | 1 | 1 | 0 |
2² | 0 | 0 | ~ | 1 | 0 | ~ | 0 | 0 | 1 | ~ | 1 | 1 | 0 |
2³ | 0 | 0 | ~ | 0 | 1 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 0 |
2°x10 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 0 |
2¹x10 | 0 | 0 | ~ | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 1 |
2²x10 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2³x10 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 |
2°x100 | 0 | 0 | ~ | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 0 |
2¹x100 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2²x100 | 0 | 0 | ~ | 1 | 1 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 |
2³x100 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 1 | 1 | 1 |
2°x1000 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2¹x1000 | 0 | 0 | ~ | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 0 | 0 | 0 |
2²x1000 | 0 | 0 | ~ | 0 | 0 | ~ | 1 | 1 | 1 | ~ | 0 | 0 | 0 |
2³x1000 | 0 | 0 | ~ | 0 | 0 | ~ | 0 | 0 | 0 | ~ | 1 | 1 | 1 |
Claims (8)
- 360도의 절대위치 데이터를 구성하는 회전디스크, 상기 회전디스크의 절대위치코드를 검출하는 센서, 절대 위치 코드를 입력받아 논리적으로 분할 및 제어하는 마이콤, 상기 센서에서 검출된 신호를 증폭하기 위한 신호 증폭부를 포함하는 위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법에 있어서,위치를 검출하기 위한 위치 검출 장치로부터 절대 위치 데이터를 입력받으면, 상기 위치 제어 엔코딩 장치는 상기 절대 위치 데이터를 정해진 값으로 논리적 분할하는 단계; 및상기 위치 제어 엔코딩 장치는 상기 논리적 분할값에 따른 제어신호를 출력하는 단계를 포함하며,상기 위치 검출 장치는 직선 스케일의 위치를 검출하기 위한 앱솔루트 선형 엔코더(Absolute Linear Encoder)이고,상기 앱솔루트 선형 엔코더는 길이의 변화량에 대응하는 절대 위치 데이터를 출력하고,상기 위치 제어 엔코딩 장치는 상기 절대 위치 데이터를 정해진 값으로 논리적 분할하는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서,상기 앱솔루트 선형 엔코더는 2진수의 조합으로 구성된 디지털 코드를 출력하는 것임을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서,상기 위치 제어 엔코딩 장치는 구형파 또는 온/오프(on/off) 신호를 출력하는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서,2대 이상의 위치 검출 장치가 상기 위치 제어 엔코딩 장치에 연결되는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서,상기 회전디스크는 2진수의 조합으로 구성된 디지털코드(Digital Code)로 형성되는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서,상기 회전 디스크는 기준 원점을 가지는 인크리멘탈(Incremental)형이며 원점을 검출한후 카운트하여 절대위치데이터를 구성하는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항에 있어서 ,상기 위치 검출 장치는 기준 원점을 가지는 인크리멘탈(Incremental)형이며, 원점을 검출한 후 카운트하여 절대 위치 데이터를 구성하는 것을 특징으로 하는 위치 제어 엔코딩 방법.
- 제1항, 제2항 내지 제7항 중 어느 한 항의 방법을 컴퓨터로 실행시킬 수 있는 프로그램을 기록한 컴퓨터로 읽을 수 있는 기록매체.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/414,574 US20150204698A1 (en) | 2012-07-13 | 2013-07-08 | Location control encoding method in location control encoding device |
JP2015521541A JP2015522176A (ja) | 2012-07-13 | 2013-07-08 | 位置制御符号化装置における位置制御符号化方法 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR10-2012-0076820 | 2012-07-13 | ||
KR1020120076820A KR101244145B1 (ko) | 2012-07-13 | 2012-07-13 | 위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2014010893A1 true WO2014010893A1 (ko) | 2014-01-16 |
Family
ID=48181965
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/KR2013/006034 WO2014010893A1 (ko) | 2012-07-13 | 2013-07-08 | 위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20150204698A1 (ko) |
JP (1) | JP2015522176A (ko) |
KR (1) | KR101244145B1 (ko) |
WO (1) | WO2014010893A1 (ko) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7033747B2 (ja) | 2018-02-21 | 2022-03-11 | パナソニックIpマネジメント株式会社 | 変位検出装置及びこれを備える操作装置 |
CN113670344B (zh) * | 2021-08-04 | 2024-04-26 | 固高科技股份有限公司 | 角度编码器的编码和解码方法、编码和解码装置、编码器 |
CN113649639B (zh) * | 2021-09-13 | 2022-08-02 | 珠海格力智能装备有限公司 | 工件加工控制方法、装置、处理器及工件加工设备 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001194187A (ja) * | 1999-11-11 | 2001-07-19 | Renishaw Plc | 測定スケールおよび測定システム |
JP2004333498A (ja) * | 2003-05-02 | 2004-11-25 | Mitsutoyo Corp | 2次元絶対位置検出装置及び2次元絶対位置検出方法 |
JP2008014739A (ja) * | 2006-07-05 | 2008-01-24 | Mitsutoyo Corp | 二次元エンコーダ、及び、そのスケール |
JP2012063344A (ja) * | 2010-08-20 | 2012-03-29 | Nsk Ltd | アブソリュートエンコーダ及び絶対位置検出装置、並びにアブソリュートエンコーダの信号パターン配置作成方法 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0641853B2 (ja) * | 1986-09-29 | 1994-06-01 | 株式会社安川電機 | 多回転式絶対値エンコ−ダ |
US4736187A (en) * | 1986-12-04 | 1988-04-05 | The Regents Of The University Of California | Encoder for measuring both incremental and absolute positions of moving elements |
JP3077095B2 (ja) * | 1991-11-22 | 2000-08-14 | 日本ギア工業株式会社 | 位置検出用ディジタル変換装置 |
JP2005017000A (ja) * | 2003-06-24 | 2005-01-20 | Nikon Corp | エンコーダ |
JP2007155636A (ja) | 2005-12-08 | 2007-06-21 | Koyo Electronics Ind Co Ltd | ロータリエンコーダ |
-
2012
- 2012-07-13 KR KR1020120076820A patent/KR101244145B1/ko active IP Right Grant
-
2013
- 2013-07-08 US US14/414,574 patent/US20150204698A1/en not_active Abandoned
- 2013-07-08 JP JP2015521541A patent/JP2015522176A/ja active Pending
- 2013-07-08 WO PCT/KR2013/006034 patent/WO2014010893A1/ko active Application Filing
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001194187A (ja) * | 1999-11-11 | 2001-07-19 | Renishaw Plc | 測定スケールおよび測定システム |
JP2004333498A (ja) * | 2003-05-02 | 2004-11-25 | Mitsutoyo Corp | 2次元絶対位置検出装置及び2次元絶対位置検出方法 |
JP2008014739A (ja) * | 2006-07-05 | 2008-01-24 | Mitsutoyo Corp | 二次元エンコーダ、及び、そのスケール |
JP2012063344A (ja) * | 2010-08-20 | 2012-03-29 | Nsk Ltd | アブソリュートエンコーダ及び絶対位置検出装置、並びにアブソリュートエンコーダの信号パターン配置作成方法 |
Also Published As
Publication number | Publication date |
---|---|
US20150204698A1 (en) | 2015-07-23 |
JP2015522176A (ja) | 2015-08-03 |
KR101244145B1 (ko) | 2013-03-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2014010893A1 (ko) | 위치 제어 엔코딩 장치에서의 위치 제어 엔코딩 방법 | |
EP0070175B1 (en) | Analog-to-digital converters | |
US5013988A (en) | Absolute position encoder | |
Das et al. | A simple approach to design a binary coded absolute shaft encoder | |
EP0328683A1 (en) | Apparatus for processing signals of pulse encoder | |
JPS60190810A (ja) | パルスエンコ−ダ | |
JPWO2004086628A1 (ja) | エンコーダ回路及びa/d変換回路 | |
JP4682598B2 (ja) | エンコーダ及びエンコーダシステム | |
JPH0483118A (ja) | 多回転検出ロータリーエンコーダ | |
JP3633647B2 (ja) | 直並列データ変換装置 | |
JPS6129176B2 (ko) | ||
KR100231332B1 (ko) | 수치제어기용 제어반의 부전압출력 스핀들 속도제어장치 | |
JPH07270179A (ja) | アブソリュート信号検出方法及びアブソリュートエンコーダ | |
JPH04191614A (ja) | 2進符号列の作成方法及び位置検出装置 | |
SU1280635A1 (ru) | Сигнатурный анализатор | |
Georgopoulos et al. | μP Interfaces in Automated Factory Environments | |
JP2506005Y2 (ja) | アブソリュ―トエンコ―ダ装置 | |
SU1249542A1 (ru) | Устройство дл разбраковки изделий на группы | |
JP3070109B2 (ja) | 絶対位置検出方法および装置 | |
JP2964460B2 (ja) | アナログ・スイッチを用いた零ホールド回路 | |
JPH0483117A (ja) | ハイブリッドエンコーダ | |
CA2064257A1 (en) | Electronic register | |
CN110620584A (zh) | 一种采集处理编码器信号的方法 | |
SU720718A1 (ru) | Преобразователь напр жение-код | |
SU1620950A1 (ru) | Программируемое устройство допускового контрол |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13817532 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2015521541 Country of ref document: JP Kind code of ref document: A |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 14414574 Country of ref document: US |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 13817532 Country of ref document: EP Kind code of ref document: A1 |