WO2015068211A1 - サーボシステム及びエンコーダ - Google Patents
サーボシステム及びエンコーダ Download PDFInfo
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- WO2015068211A1 WO2015068211A1 PCT/JP2013/079942 JP2013079942W WO2015068211A1 WO 2015068211 A1 WO2015068211 A1 WO 2015068211A1 JP 2013079942 W JP2013079942 W JP 2013079942W WO 2015068211 A1 WO2015068211 A1 WO 2015068211A1
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- 238000004891 communication Methods 0.000 claims abstract description 315
- 230000008859 change Effects 0.000 claims abstract description 105
- 230000005540 biological transmission Effects 0.000 claims abstract description 91
- 238000001514 detection method Methods 0.000 claims abstract description 9
- 230000004044 response Effects 0.000 claims description 130
- 238000000034 method Methods 0.000 description 44
- 230000008569 process Effects 0.000 description 24
- 238000012790 confirmation Methods 0.000 description 19
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000001934 delay Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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- 238000004904 shortening Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
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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
- G01D5/26—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
- G01D5/28—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 with deflection of beams of light, e.g. for direct optical indication
- G01D5/30—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 with deflection of beams of light, e.g. for direct optical indication the beams of light being detected by photocells
- G01D5/305—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 with deflection of beams of light, e.g. for direct optical indication the beams of light being detected by photocells controlling the movement of a following part
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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
- G01D5/26—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
- G01D5/32—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 with attenuation or whole or partial obturation of beams of light
- G01D5/34—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 with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/341—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 with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells controlling the movement of a following part
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/22—Optical devices
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33218—Motor encoders, resolvers on common bus with drives, servo controllers
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
Definitions
- the disclosed embodiment relates to a servo system and an encoder.
- Patent Document 1 describes a servo system that includes a servo motor and a control device that acquires position data from an encoder and controls the rotation of the servo motor based on the position data.
- the present invention has been made in view of such problems, and an object thereof is to provide a servo system and an encoder capable of preventing an increase in the number of encoder models.
- a motor configured to move a mover relative to a stator, and at least one of a position and a speed of the mover are detected.
- An encoder configured and a host device configured to control the operation of the motor based on a detection result of the encoder, and the host device sets a communication speed between the host device and a current speed.
- a first command transmission unit configured to transmit to the encoder at the first speed a first command signal that is changed to a second speed that is faster than the first speed;
- a servo system having a speed setting unit configured to change the communication speed with the host device to the second speed when a signal is received is applied.
- an encoder used in the servo system is applied.
- the servo system according to an embodiment described below can be applied to various types of servo systems such as a rotary type (rotary type) and a linear type (linear type).
- a rotary servo system will be described as an example so that the servo system can be easily understood.
- change the motor from a rotary motor to a linear linear motor and change the measurement target from a rotary disk to a linear linear scale When applying to other types of servo systems, change the motor from a rotary motor to a linear linear motor and change the measurement target from a rotary disk to a linear linear scale. Detailed description is omitted because it is possible by making various changes.
- the servo system S includes a servo motor SM and a control device CT.
- the servo motor SM has a motor M and an encoder 100.
- the motor M is an example of a power generation source that does not include the encoder 100.
- the motor M includes a rotor and a stator (both not shown), and the rotor rotates with respect to the stator.
- the shaft SH fixed to the rotor rotates around the axis AX. To output the rotational force. Note that the rotation is an example of movement, and the rotor corresponds to an example of a mover.
- a configuration including the encoder 100 is referred to as a servo motor SM.
- the motor M is not particularly limited as long as the encoder 100 can detect the position of the rotor and the like.
- the motor M is not limited to an electric motor that uses electricity as a power source.
- the motor M is a motor using another power source such as a hydraulic motor, an air motor, or a steam motor. There may be. However, for convenience of explanation, a case where the motor M is an electric motor will be described below.
- the encoder 100 is connected to the rotational output side (also referred to as “load side”) and the opposite side (also referred to as “anti-load side”) of the shaft SH.
- the connecting position of the encoder 100 is not limited to the side opposite to the rotational force output side of the shaft SH, and may be on the rotational force output side of the shaft SH.
- the encoder 100 detects the position of the shaft SH to detect the position of the rotor (also referred to as “rotation angle”) and outputs position data representing the position.
- the encoder 100 is not particularly limited as long as it is an encoder that can detect the position of the rotor and the like.
- the encoder 100 for example, a magnetic encoder, an optical encoder, an encoder using both a magnetic type and an optical type (so-called hybrid encoder), or the like can be used.
- hybrid encoder an encoder using both a magnetic type and an optical type
- Optical encoders can be broadly classified into reflective encoders and transmissive encoders, but in this embodiment, it does not matter whether the encoder 100 is a reflective encoder or a transmissive encoder.
- the encoder 100 includes a light source, a disk connected to the rotor, a light receiving element, and the like (all not shown). Then, the encoder 100 detects the light based on the detection signal of the light receiving element that has received the light (light reflected by the slit or light transmitted through the slit) that has been emitted from the light source and subjected to the action of the slit formed in the disk. The position of the rotor represented by the signal is detected, and position data representing the position is output.
- the encoder 100 is also referred to as a rotor speed (also referred to as “rotational speed” or “angular speed”) and acceleration (“rotational acceleration” or “angular acceleration”) in addition to or instead of the rotor position. .) May be detected.
- the speed and acceleration of the rotor can be detected, for example, by processing such as differentiating the position by the first or second order with respect to time or counting the detection signal of the light receiving element for a predetermined time.
- processing such as differentiating the position by the first or second order with respect to time or counting the detection signal of the light receiving element for a predetermined time.
- a case where the physical quantity detected by the encoder 100 is a position will be described below.
- the control device CT acquires position data from the encoder 100 and controls the operation of the motor M based on the position data. That is, the control device CT corresponds to an example of a host device. Therefore, in this embodiment in which an electric motor is used as the motor M, the control device CT controls the operation of the motor M by controlling the current or voltage applied to the motor M based on the position data. Further, the control device CT acquires a higher control signal from a higher control device (not shown), and the motor M so that a rotational force capable of realizing the position or the like represented by the higher control signal is output from the shaft SH. It is also possible to control the operation. When the motor M uses another power source such as a hydraulic type, an air type, or a steam type, the control device CT controls the operation of the motor M by controlling the supply of these power sources. Is possible.
- control device CT and the encoder 100 are connected to each other via a wired or wireless transmission path so as to be able to communicate with each other.
- the control device CT includes a communication unit 209, a parameter setting unit 212, a communication control unit 210, a communication stop unit 214, and an upper speed setting unit 211.
- the encoder 100 also includes a communication unit 109, a communication control unit 110, a determination unit 113, and a speed setting unit 111.
- the communication unit 209 of the control device CT communicates with the encoder 100. Specifically, the communication unit 209 acquires the signal output from the communication control unit 210 and transmits the signal to the encoder 100, receives the signal transmitted from the encoder 100, and transmits the signal to the communication control unit 210. Output.
- the communication unit 209 can perform communication with the encoder 100 at a plurality of predetermined speeds. That is, the communication unit 209 can set the communication speed with the encoder 100 (hereinafter also referred to as “control device side communication speed”) to a plurality of predetermined speeds.
- control device side communication speed the communication speed with the encoder 100
- the value and the number of control device side communication speeds that can be set by the communication unit 209 are not particularly limited. However, for convenience of explanation, a case where the number of control device side communication speeds that can be set by the communication device 209 is two will be described below.
- the communication unit 209 can perform communication with the encoder 100 at two speeds of a speed V1 (for example, 4 Mbps) and a speed V2 (for example, 8 Mbps) faster than the speed V1. That is, the communication unit 209 can set the control device side communication speed to two speeds of the speed V1 and the speed V2.
- the control device side communication speed may be initially set to either the speed V1 or the speed V2. However, for convenience of explanation, a case where the control device side communication speed is initially set to the speed V1 will be described below.
- the communication unit 209 includes a first communication unit 209A, a second communication unit 209B, and a switching unit 209C.
- the first communication unit 209A executes communication with the encoder 100 at the speed V1 based on a predetermined communication protocol.
- the second communication unit 209B executes communication with the encoder 100 at the speed V2 based on a predetermined communication protocol.
- the switching unit 209C is a communication unit that performs communication with the encoder 100 based on a later-described upper switching signal acquired from the later-described upper speed setting unit 211.
- the switching unit 209C includes the first communication unit 209A and the second communication unit 209B. Switch between.
- the communication unit 109 of the encoder 100 communicates with the control device CT. Specifically, the communication unit 109 acquires the signal output from the communication control unit 110, transmits the signal to the control device CT, receives the signal transmitted from the control device CT, and the communication control unit for the signal. Output to 110.
- the communication unit 109 can perform communication with the control device CT at a plurality of predetermined speeds. That is, the communication unit 109 can set the communication speed with the control device CT (hereinafter also referred to as “encoder-side communication speed”) to a plurality of predetermined speeds.
- encoder-side communication speed the communication speed with the control device CT
- the value and number of encoder-side communication speeds that can be set by the communication unit 109 are not particularly limited. However, for convenience of explanation, a case where the number of encoder-side communication speeds that can be set in the communication device 109 is two will be described below.
- the communication unit 109 includes a first communication unit 109A, a second communication unit 109B, and a switching unit 109C.
- the first communication unit 109A executes communication with the control device CT at the speed V1 based on a predetermined communication protocol.
- the second communication unit 109B executes communication with the control device CT at the speed V2 based on a predetermined communication protocol.
- the switching unit 109C is a communication unit that performs communication with the control device CT based on a switching signal that will be described later acquired from the speed setting unit 111 that is described later, between the first communication unit 109A and the second communication unit 209B. Switch with.
- the parameter setting unit 212 of the control device CT is a parameter including a second speed higher than the first speed set as the current encoder communication speed (hereinafter, also referred to as “speed parameter”) in accordance with a user operation. ) Is set. Then, the parameter setting unit 212 outputs parameter data representing the set speed parameter to a first command transmission unit 210A described later provided in the communication control unit 210.
- the parameter setting unit 212 assumes that the first speed is the speed V1.
- a speed parameter indicating the speed V2 may be set as the two speeds.
- the speed parameter set by the parameter setting unit 212 is not limited to the parameter including the speed V2, and may be any parameter as long as it includes a speed higher than the first speed.
- the parameter setting unit 212 sets a speed parameter representing a speed other than the speed V2 as the second speed, the encoder communication speed cannot be set to the speed, so the encoder communication speed is not changed to the speed.
- the speed V1 is maintained.
- the communication control unit 210 of the control device CT controls transmission / reception of signals with the encoder 100 by communication via the communication unit 209.
- the communication control unit 210 includes a first command transmission unit 210A.
- the first command transmission unit 210A transmits a change command for changing the encoder communication speed to the second speed to the encoder 100 via the communication unit 209 at the first speed.
- the first command transmission unit 210 ⁇ / b> A outputs transmission time data representing the transmission time to the upper speed setting unit 211.
- the speed change command corresponds to an example of a first command signal.
- the control device side communication speed is initially set to the speed V1, that is, switched to the first communication unit 209A. Accordingly, the first command transmission unit 210A transmits the change command at the speed V1 via the first communication unit 209A.
- the first command transmission unit 210A acquires the parameter data from the parameter setting unit 212, and transmits a change command including the speed parameter represented by the parameter data.
- the first command transmission unit 210A may transmit a change command including a speed parameter (fixed value) representing a predetermined second speed, or may transmit a change command not including a speed parameter.
- the parameter setting unit 212 is not necessary.
- a case where the first command transmission unit 210A transmits a change command including a speed parameter represented by the parameter data will be described below.
- the first command transmission unit 210A repeatedly transmits the change command for a predetermined period (for example, 75 ms) or a predetermined number of times (for example, 3 times) within a predetermined time interval (for example, 25 ms interval). .
- the first command transmission unit 210A may transmit the change command only once or repeatedly transmit the change command until a first response described later is received.
- a case where the first command transmission unit 210A repeatedly transmits a change command a predetermined number of times within a predetermined time interval will be described below.
- Fig. 4A shows an example of the data structure of the change command.
- the change command includes 16 pieces of data D0 to D15.
- the data D0 has contents indicating that it is a change command.
- Data D1 is blank.
- Data D2 is a speed parameter. Description of the data D3 to D15 is omitted, but some contents or blanks are respectively provided.
- the communication control unit 110 of the encoder 100 controls transmission / reception of signals with the control device CT through communication via the communication unit 109.
- the communication control unit 110 includes a command response unit 110A.
- the command response unit 110A receives the signal transmitted from the control device CT via the communication unit 109.
- the command response unit 110 ⁇ / b> A outputs a signal indicating this (hereinafter also referred to as “signal reception signal”) to the determination unit 113.
- the command response unit 110A transmits a response to the signal to the control device CT via the communication unit 109.
- the command response unit 110A receives the change command transmitted from the control device CT via the communication unit 109.
- command response unit 110 ⁇ / b> A outputs reception time data representing the reception time to determination unit 113.
- the encoder-side communication speed is initially set to the speed V1, that is, switched to the first communication unit 109A. Accordingly, the command response unit 110A receives the change command via the first communication unit 109A.
- the command response unit 110A sends a response to the change command (hereinafter also referred to as “first response”) at the speed V1 via the first communication unit 109A to the control device CT. Send to.
- the command response unit 110 ⁇ / b> A outputs a signal indicating this (hereinafter also referred to as “response transmission signal”) to the determination unit 113.
- the first response corresponds to an example of a first response signal.
- the command response unit 110A transmits a first response including that fact.
- the encoder-side communication speed cannot be set to the second speed, that is, when the second speed is a speed other than the speed V2
- the command response unit 110A transmits a first response including that fact.
- the command response unit 110A may transmit the first response only when the encoder-side communication speed can be set to the second speed.
- the command response unit 110A transmits the first response regardless of whether or not the encoder-side communication speed can be set to the second speed. Will be described.
- FIG. 4B shows an example of the data structure of the first response.
- the first response has a data structure in which a status flag is assigned to the change command data D1 shown in FIG. 4A.
- the status flag indicates whether or not the encoder side communication speed can be set to the second speed represented by the speed parameter of the data D2.
- the status flag of the data D1 indicates the second speed. It represents that it can be set.
- the encoder communication speed cannot be set to the second speed represented by the speed parameter of the data D2, that is, when the second speed is a speed other than the speed V2
- the status flag of the data D1 is set to the second flag. This means that the speed cannot be set.
- the determination unit 113 of the encoder 100 acquires the reception time data from the command response unit 110A
- the determination unit 113 detects the reception time of the change command based on the reception time data. Further, when the determination unit 113 acquires the response transmission signal from the command response unit 110A, the command response unit 110A receives the response from the command response unit 110A while the first period (for example, 30 ms) elapses from the detected reception time of the change command. It is determined whether or not a signal reception signal is acquired. Then, the determination unit 113 outputs a signal representing the determination result (hereinafter also referred to as “determination signal”) to the speed changing unit 111A described later of the speed setting unit 111.
- the determination signal a signal representing the determination result
- the speed setting unit 111 of the encoder 100 outputs a signal for switching a communication unit that performs communication with the control device CT (hereinafter also referred to as a “switching signal”) to the switching unit 109C, whereby the encoder-side communication is performed. Change the speed.
- the speed setting unit 111 includes a speed changing unit 111A.
- the speed changing unit 111A When the command response unit 110A receives the change command, the speed changing unit 111A outputs a switching signal for switching the communication unit that performs communication with the control device CT to the second communication unit 109B to the switching unit 109C.
- the encoder side communication speed is changed to the second speed, that is, the speed V2. Therefore, in the present embodiment in which the control device CT transmits a change command including a speed parameter, the speed changing unit 111A changes the encoder-side communication speed to the speed V2 represented by the speed parameter included in the change command.
- the speed change unit 111A may change the encoder-side communication speed to a predetermined speed V2.
- the speed changing unit 111A sets the encoder-side communication speed to the speed V2.
- speed change unit 111A changes the encoder-side communication speed to speed V2 after at least the first period has elapsed since command response unit 110A received the change command. More specifically, the speed changing unit 111A acquires a determination signal from the determination unit 113, and changes the encoder-side communication speed to the speed V2 according to the determination result of the determination unit 113 represented in the determination signal. I do not.
- the speed change unit 111A indicates that the encoder-side communication speed is Is maintained at speed V1 without changing to speed V2.
- the speed change unit 111 sets the encoder side communication speed without sending the first response to the control device CT. You may change to 2nd speed. In this case, the function of transmitting the first response of the command response unit 110A to the control device CT becomes unnecessary.
- the encoder communication speed can be set to the second speed, and the command response unit 110A transmits the first response to the control device CT, the speed change unit A case where 111 changes the encoder-side communication speed to the second speed will be described.
- the speed changing unit 111A may change the encoder communication speed to the speed V2 before the first period elapses (for example, immediately after the command response unit 110A receives the change command).
- the speed changing unit 111A changes the encoder-side communication speed to the speed V2 after at least the first period has elapsed.
- the speed changing unit 111A sets the encoder-side communication speed after at least the first period has elapsed, regardless of whether the command response unit 110A has received a signal from the control device CT while the first period has elapsed.
- the speed may be changed to V2. In this case, the determination unit 113 is not necessary.
- the speed changing unit 111A does not change the encoder-side communication speed to the speed V2 when the command response unit 110A receives a signal from the control device CT while the first period elapses. The case will be described.
- the communication control unit 210 of the control device CT receives the first response transmitted from the encoder 100 via the communication unit 209.
- the communication control unit 210 outputs a signal indicating that effect (hereinafter also referred to as “response reception signal”) to the communication stop unit 214.
- response reception signal a signal indicating that effect
- the control device side communication speed is initially set to the speed V1, that is, switched to the first communication unit 209A. Accordingly, the communication control unit 210 receives the first response via the first communication unit 209A.
- the communication stop unit 214 of the control device CT acquires the response reception signal from the communication control unit 210, the communication speed on the encoder side can be set to the second speed during the first response based on the response reception signal. It is detected whether or not a certain fact is included.
- the first response includes that the encoder-side communication speed can be set to the second speed.
- the communication stop unit 214 outputs a signal for stopping communication with the encoder 100 (hereinafter, also referred to as “stop signal”) until the change of the control device side communication speed is completed.
- stop signal a signal for stopping communication with the encoder 100 (hereinafter, also referred to as “stop signal”) until the change of the control device side communication speed is completed.
- stop signal a signal for stopping communication with the encoder 100 (hereinafter, also referred to as “stop signal”) until the change of the control device side communication speed is completed.
- stop signal a signal for stopping communication with the encoder 100 (hereinafter, also referred to as “stop signal”) until the change of the control
- the communication stop unit 214 stops only the transmission of the change command by the first command transmission unit 210A, and does not need to stop the transmission / reception of other signals by the communication unit 209. However, for convenience of explanation, a case where the communication stop unit 214 stops all communication with the encoder 100 by the communication unit 209 will be described below.
- the communication stop unit 214 outputs a signal indicating that fact (hereinafter also referred to as “stopped signal”) to the upper speed setting unit 211. .
- the upper speed setting unit 211 of the control device CT outputs a signal for switching a communication unit that performs communication with the encoder 100 (hereinafter also referred to as “upper switching signal”) to the switching unit 209C, thereby controlling the control unit CT. Change the communication speed on the device side.
- the upper speed setting unit 211 detects the transmission time of the change command based on the transmission time data. Further, when the communication control unit 210 receives the first response, the upper speed setting unit 211 has passed at least a second period (for example, 40 ms) longer than the first period from the transmission time of the detected change command. Then, the control unit side communication speed is changed to the speed V ⁇ b> 2 by outputting to the switching unit 209 ⁇ / b> C an upper switching signal for switching the communication unit that performs communication with the encoder 100 to the second communication unit 209 ⁇ / b> B.
- a second period for example, 40 ms
- the upper speed setting unit 211 changes the control device side communication speed to the speed V2 after at least the second period has elapsed.
- the upper speed setting unit 211 sends a signal indicating that (hereinafter also referred to as “changed signal”) to the communication control unit 210, which will be described later. It outputs to the 2nd command transmission part 210B.
- the communication control unit 210 of the control device CT includes a second command transmission unit 210.
- the second command transmission unit 210 receives a confirmation command for checking whether or not the speed setting unit 111 of the encoder 100 has changed the encoder communication speed to the speed V2.
- the data is transmitted to the encoder 100 at the speed V2 via the second communication unit 209A.
- the confirmation command corresponds to an example of a second command signal.
- the command response unit 110A of the encoder 100 receives the confirmation command transmitted from the control device CT via the second communication unit 109B.
- the command response unit 110A sends a response to the confirmation command (hereinafter also referred to as “second response”) at the speed V2 via the second communication unit 109B.
- the second response corresponds to an example of a first response signal.
- the communication control unit 210A of the control device CT receives the second response transmitted from the encoder 100 via the second communication unit 209B. As a result, it is confirmed that the encoder-side communication speed has been changed to the speed V2, and the subsequent communication with the encoder 100 is performed at the speed V2.
- the speed setting unit 111 of the encoder 100 includes a speed initialization unit 111B.
- the speed initialization unit 111B When the power of the encoder 100 is shut off, the speed initialization unit 111B outputs a switching signal for switching the communication unit that communicates with the control device CT to the first communication unit 109A to the switching unit 109C.
- the encoder communication speed is initialized to the speed V1.
- Example of communication between control device and encoder> an example of communication between the control device CT and the encoder 100 will be described with reference to FIG.
- the behavior of communication between the control device CT and the encoder 100 is indicated by an arrow that connects the control device CT and the encoder 100 represented by vertical lines in the horizontal direction.
- the direction of the arrow indicates the communication direction, and the side on which the arrow is pointing is the receiving side.
- the time axis is taken downward in the figure, indicating that a longer time has passed as it goes down.
- the first command transmission unit 210A of the control device CT transmits a change command to the encoder 100 at the speed V1 via the first communication unit 209A.
- the first command transmission unit 210A of the control device CT transmits a change command to the encoder 100 at a speed V1 via the first communication unit 209A.
- the first command transmission unit 210A of the control device CT transmits a change command to the encoder 100 at the speed V1 via the first communication unit 209A.
- the command response unit 110A of the encoder 100 receives the change command transmitted from the control device CT at the time t3 via the first communication unit 109A. Thereafter, at time t5, the command response unit 110A of the encoder 100 transmits a first response to the change command received at the time t4 through the first communication unit 109A at the speed V1.
- the communication control unit 210 of the control device CT receives the first response transmitted from the encoder 100 at the time t5 via the first communication unit 209A. Thereafter, the communication stop unit 214 of the control device CT stops communication with the encoder 100.
- the speed changing unit 111A of the encoder 100 changes the encoder-side communication speed to the speed V2.
- the upper speed change unit 211 of the control device CT changes the control device side communication speed to the speed V2.
- the second command transmission unit 210B of the control device CT transmits a confirmation command to the encoder 100 at the speed V2 via the second communication unit 209B.
- the command response unit 110A of the encoder 100 receives the confirmation command transmitted from the control device CT at the time t9 via the second communication unit 109B. Thereafter, at time t11, the command response unit 110A of the encoder 100 transmits a second response to the confirmation command received at the time t10 through the second communication unit 109B at a speed V2.
- the communication control unit 210 of the control device CT receives the second response transmitted from the encoder 100 at the time t11 via the second communication unit 209B.
- control device CT and the encoder 100 shown in FIG. 5 is merely an example, and the communication between the control device CT and the encoder 100 is not limited to the flow shown in FIG. .
- Example of control procedure executed by control device and encoder> an example of a control procedure for a portion related to a function of changing a communication speed executed between the control device CT and the encoder 100 will be described with reference to FIG.
- a portion related to a function for controlling the operation of the motor M of the control device CT, a portion related to a function for generating position data of the encoder 100, and the like are not shown.
- step SA5 the parameter setting unit 212 of the control device CT sets a speed parameter in accordance with a user operation.
- step SA10 the first command transmission unit 210A of the control device CT transmits a change command including the speed parameter set in step SA5 to the encoder 100 at the speed V1 via the first communication unit 209A.
- the procedure of step SA10 is repeatedly executed a predetermined number of times within a predetermined time interval.
- step SB10 the command response unit 110A of the encoder 100 waits until the change command transmitted from the control device CT in step SA10 is received via the first communication unit 109A.
- Control goes to step SB20.
- step SB20 the command response unit 110A of the encoder 100 transmits a first response to the change command received in step SB10 to the control device CT via the first communication unit 109A at the speed V1.
- the command response unit 110A A first response including this is transmitted, and the process proceeds to step SB30.
- the command response unit 110A cannot be set to the second speed represented by the speed parameter included in the change command (when the second speed is a speed other than the speed V2)
- the command response unit 110A The first response including is transmitted, and the process proceeds to step SB10.
- the command response unit 110A transmits a first response including that the encoder side communication speed can be set to the second speed represented by the speed parameter included in the change command. However, it is shown as moving to step SB30.
- step SB30 the determination unit 113 of the encoder 100 determines whether or not to acquire the signal reception signal from the command response unit 110A during the first period after the change command is received in step SB10. .
- the determination unit 113 acquires a signal reception signal while the first period elapses, the process proceeds to step SB40.
- step SB40 the speed change unit 111A of the encoder 100 maintains the speed V1 without changing the encoder-side communication speed to the speed V2, and the process proceeds to step SB20.
- step SB30 when the determination unit 113 does not acquire the signal reception signal while the first period elapses, the process proceeds to step SB50.
- step SB50 the speed changing unit 111A of the encoder 100 changes the encoder-side communication speed to the speed V2.
- step SA20 the communication control unit 210 of the control device CT transmits the first response transmitted from the encoder 100 in step SB20 while a predetermined period has elapsed after transmitting the change command in step SA10. If not received, the process proceeds to step SA25. Also, in step SA20, when the communication control unit 210 receives the first response transmitted from the encoder 100 in step SB20 and including that the encoder communication speed cannot be set to the second speed, the communication control unit 210 also returns to step SA25. Move.
- step SA25 the host speed changing unit 211 of the control device CT maintains the speed V1 without changing the host device side communication speed to the speed V2, and the processing shown in the sequence of the control device CT is ended.
- step SA30 when the communication control unit 210 receives the first response transmitted from the encoder 100 in the step SB20 and including that the encoder-side communication speed can be set to the second speed in the step SA20, Control goes to step SA30.
- step SA30 the communication stop unit 214 of the control device CT stops communication with the encoder 100 by the communication unit 209, and the process proceeds to step SA40.
- step SA40 the upper speed setting unit 211 of the control device CT changes the control device-side communication speed to the speed V2 after at least the second period has elapsed since the change command was transmitted in step SA10. Move on.
- step SA50 the second command transmission unit 210 of the control device CT transmits a confirmation command to the encoder 100 at the speed V2 via the second communication unit 209A.
- step SB60 the command response unit 110A of the encoder 100 waits until the confirmation command transmitted from the control device CT in step SA50 is received via the second communication unit 109B, and receives the confirmation update command. Then, the process proceeds to step SB70.
- step SB70 the command response unit 110A of the encoder 100 transmits a second response to the confirmation command received in step SB60 to the control device CT at the speed V2 via the second communication unit 109B. Thereafter, the sequence on the encoder 100 side is terminated.
- step SA70 the second response transmitted from the encoder 100 in step SB70 is performed while the predetermined period has elapsed after the communication control unit 210 of the control device CT transmits the confirmation command in step SA50. If not received, the process proceeds to step SA10. On the other hand, when the communication control unit 210 receives the second response transmitted from the encoder 100 in step SB70, the sequence on the control device CT side is ended.
- control procedure executed between the control device CT and the encoder 100 shown in FIG. 6 is merely an example, and the control procedure executed between the control device CT and the encoder 100 is shown in FIG. It is not limited to the flow.
- control device CT and the encoder 100 described above may be executed by one or a plurality of dedicated hardware, but may be executed by software.
- various processes are performed by software, the above-described various processes can be realized by causing the control device CT and the encoder 100 as shown in FIG. 7 to execute programs.
- control device CT and the encoder 100 that realize various processes by executing a program will be described with reference to FIG.
- control device CT includes, for example, a CPU 201, a ROM 202, a RAM 203, an input device 206 such as a mouse and a keyboard, an output device 207 such as a monitor, a storage device 208 such as an HDD, and a communication device.
- Device 209. These components are connected via a bus 204 and an input / output interface 205 so that signals can be transmitted to each other.
- the program can be recorded in the ROM 202, the storage device 208, or the like, for example.
- the CPU 201 executes processes according to the programs recorded in the ROM 202, the storage device 208, etc., thereby realizing various processes on the control device CT side. At this time, for example, the CPU 201 may directly read and execute the program from the ROM 202, the storage device 208, or the like, or may be executed after temporarily loading the RAM 203.
- the CPU 901 may perform various processes on the control device CT side based on signals and information input from the input device 206 as necessary.
- the CPU 201 may output the result of executing various processes on the control device CT side from the output device 207 or may record it in the storage device 208 or the like.
- the encoder 100 includes, for example, a CPU 101, a ROM 102, a RAM 103, a storage device 108 such as an HDD, and a communication device 109. These components are connected via a bus 104 and an input / output interface 105 so that signals can be transmitted to each other.
- the program can be recorded in, for example, the ROM 102 or the storage device 108.
- the CPU 101 executes processes according to the programs recorded in the ROM 102, the storage device 108, etc., thereby realizing various processes on the encoder 100 side.
- the CPU 101 may directly read and execute the program from the ROM 102, the storage device 108, or the like, or may be executed after being loaded into the RAM 103.
- the first command transmission unit 210A of the control device CT sends a change command to the encoder 100 to change the encoder-side communication speed to the second speed faster than the current first speed. Send.
- the speed setting unit 111 of the encoder 100 changes the encoder-side communication speed to the second speed.
- the control device CT can change the encoder-side communication speed to a desired speed. As a result, it is not necessary to prepare the encoder 100 corresponding to each communication speed on the control device side, and an increase in the model of the encoder 100 can be prevented.
- the control device CT changes the encoder communication speed
- the user can select the encoder communication speed.
- a high communication speed can be selected.
- communication delays may occur due to the influence of physical specifications such as cables, and there is a possibility of erroneous detection. Therefore, when communication reliability is important, select a low communication speed. It becomes possible.
- the encoder 100 As a configuration for switching the encoder-side communication speed, it is conceivable to provide the encoder 100 with a determination unit that automatically determines the control-device-side communication speed based on a signal from the control device CT.
- a determination unit or the like is necessary for the encoder 100, the hardware circuit becomes complicated and the cost increases. In this case, a complicated calculation process is performed in which the clock signal included in the signal from the control device CT is detected, the control device side communication speed is determined, and the communication unit is switched. There is a problem that the waiting time until the speed is switched becomes long.
- the present embodiment since a hardware circuit such as a determination unit is not necessary, the configuration can be simplified and an increase in cost can be prevented.
- the encoder 100 changes the encoder communication speed in accordance with a command from the control device CT, the detection process of the clock signal and the determination process of the control device communication speed are not required, and the waiting time can be shortened.
- the first command transmission unit 210A of the control device CT transmits the change command to the encoder 100 at the first speed.
- the control device CT communicates at the slower speed and changes the encoder-side communication speed to the faster speed.
- a communication delay may occur due to the influence of physical specifications, and erroneous detection may occur.
- the control device CT communicates at a higher speed, and the encoder communication speed is increased. As compared with the case of changing to a slower speed, it is possible to improve the reliability of communication when the change command is transmitted.
- the command response unit 110A of the encoder 100 sends the first response to the control device CT.
- the high speed can be set by transmitting a change command including a speed parameter indicating the high speed to the encoder 100.
- the encoder 100 transmits the first response to the control device CT, and the control device CT can recognize the encoder 100. In this manner, since it is possible to support communication with the control device CT without providing a new high-speed speed determination unit in the encoder 100, there is an effect that backward compatibility is easily maintained.
- the encoder 100 when the command response unit 110A transmits the first response to the control device CT, the encoder 100 after the speed setting unit 111 of the encoder 100 receives the change command, at least after the first period has elapsed.
- the side communication speed is changed to the second speed.
- the communication speed can be changed after the communication with the control device CT is executed at the first speed before the change to the second speed before the first period elapses.
- control device CT acquires data of the encoder 100 and performs a predetermined setup operation
- communication is performed at a low speed (first speed) to ensure reliability and certainty
- the first period is
- the control device CT controls the operation of the motor M based on the detection result of the encoder 100 after the elapse of time
- the determination unit 113 of the encoder 100 determines whether or not the command response unit 110A has received a signal from the control device CT while the first period has elapsed.
- the speed setting unit 111 does not change the encoder-side communication speed to the second speed.
- the speed setting unit 111 can change the encoder-side communication speed to the second speed. Therefore, since the non-processing state of the communication unit 109 can be ensured during the first period and the communication unit can be switched after that, the reliability of changing the communication speed can be improved.
- the speed setting unit 211 of the control device CT receives a first time longer than the first period after the first command transmission unit 210A transmits the first change command. After at least two periods elapse, the control device side communication speed is changed to the second speed. Thereby, since the non-processing state of the communication unit 209 of the control device CT can be secured and the communication unit can be switched after the second period has elapsed, the reliability of the change in the communication speed is improved. it can.
- the second period from when the change command is transmitted to when the communication speed is changed to be longer than the first period it is possible to secure the time required for changing the communication speed on the encoder 100 side. The certainty of change can be improved.
- the second command transmission unit 210B is connected to the encoder 100 and the speed setting unit 111 of the encoder 100 is connected to the encoder side.
- a confirmation command for confirming whether or not the communication speed has been changed to the second speed is transmitted to the encoder 100.
- the command response unit 110A of the encoder 100 transmits the second response to the control device CT.
- the parameter setting unit 212 of the control device CT sets a speed parameter including a desired second speed. Then, the speed setting unit 211 of the encoder 100 changes the encoder side communication speed to the second speed represented by the speed parameter included in the change command. As a result, the user can easily change or add the second speed, and the versatility of the change command can be improved.
- the speed setting unit 111 of the encoder 100 includes a speed initialization unit 111B that initializes the encoder-side communication speed to the first speed when the power of the encoder 100 is shut off. Since the control device CT first communicates with the encoder 100 at the first speed, even if communication between the control device CT and the encoder 100 (due to a difference in communication speed) is impossible due to the above-described configuration, The communication with the control device CT can be restored by shutting off the power supply.
- the control device CT transmits a change command for changing the encoder-side communication speed to the second speed higher than the current first speed to the encoder 100 at the first speed.
- the case where the encoder side communication speed is changed to the second speed when the change command is received has been described.
- the embodiment of the present disclosure is not limited to this content.
- the control device CT transmits a change command for changing the encoder-side communication speed to a speed slower than the current speed to the encoder 100 at the current speed, and the encoder 100 receives the change command.
- the encoder-side communication speed can be changed to the slower speed.
- the embodiment of the present disclosure is not limited to the case where the communication speed between the control device CT and the encoder 100 is changed, but the transmission code of communication between the control device CT and the encoder 100 is changed. It is also applicable to cases.
- the transmission code include transmission codes in various directions such as an RZ code, an NRZ code, an NRZI code, an AMI code, a CMI code, and a Manchester code.
- a transmission code of one method is initially set as a method of a transmission code for communication between the control device CT and the encoder 100. Then, for example, when it is desired to change the transmission code method due to restrictions on the components of the physical layer, the control device CT changes the communication transmission code method to the current transmission code (hereinafter also referred to as “first transmission code”)
- first transmission code A command signal (hereinafter also referred to as “third command signal”) to be changed to another transmission code (hereinafter also referred to as “second transmission code”) is transmitted to the encoder 100 using the first transmission code.
- the encoder 100 receives the third command signal, the encoder 100 changes the communication transmission code method to the second transmission code.
- control device CT can change the transmission code system on the encoder 100 side to a desired transmission code. As a result, it is not necessary to prepare the encoder 100 corresponding to each transmission code method on the control device side, and an increase in the number of encoder 100 models can be prevented. Further, since the control device CT changes the transmission code system on the encoder 100 side, it is possible to select the transmission code system on the user side.
- the encoder 100 when the encoder 100 receives the third command signal and the communication transmission code method can be set to the second transmission code, the encoder 100 also refers to a response signal (hereinafter referred to as “third response signal”). And the third response signal is transmitted to the control device CT, the transmission code method on the encoder 100 side may be changed to the second transmission code.
- the encoder 100 transmits the third response signal to the control device CT, the encoder 100 receives at least a predetermined period (hereinafter also referred to as “third period”) after receiving the third command signal. After the elapse, the transmission code system on the encoder 100 side may be changed to the second transmission code.
- the encoder 100 determines whether or not a signal is received from the control device CT while the third period elapses, and the encoder 100 receives a signal from the control device CT while the third period elapses.
- the transmission code system on the encoder 100 side may not be changed to the second transmission code.
- the control device CT transmits a third command signal and then transmits a predetermined period longer than the third period (hereinafter also referred to as “fourth period”). )) May be changed to the second transmission code after at least the elapse of.
- the control device CT does not change the transmission code method on the encoder 100 side to the second transmission code after the encoder 100 has changed the transmission code method on the control device CT side to the second transmission code.
- a command signal for confirming whether or not (hereinafter also referred to as “fourth command signal”) may be transmitted to the encoder 100.
- the encoder 100 receives the fourth response signal and the transmission code method on the encoder 100 side is set to the second transmission code, the encoder 100 receives a response signal (hereinafter referred to as “fourth response signal”). May also be transmitted to the control device CT.
- control device CT sets a parameter including the second transmission code
- the encoder 100 sets the transmission code system on the encoder 100 side to the first parameter represented by the parameter included in the third command signal. You may change to 2 transmission codes.
- the encoder 100 may initialize the transmission code system on the encoder 100 side to the first transmission code when the power of the encoder 100 is cut off.
- the present invention can be applied to a case where both the communication speed between the control device CT and the encoder 100 and the transmission code of communication between the control device CT and the encoder 100 are changed.
- FIGS. 1 to 3 show an example of the signal flow, and do not limit the signal flow direction.
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Abstract
Description
まず、図1を参照しつつ、本実施形態に係るサーボシステムの構成の概略について説明する。
次に、図2及び図3を参照しつつ、制御装置CT及びエンコーダ100の通信速度を変更する機能に係る部分の機能的構成について説明する。なお、図2及び図3中では、制御装置CTのモータMの動作を制御する機能に係る部分やエンコーダ100の位置データを生成する機能に係る部分等の図示を省略している。
次に、図5を参照しつつ、制御装置CTとエンコーダ100との間の通信の一例について説明する。なお、図5中では、縦線で表された制御装置CTとエンコーダ100との間を横方向に結ぶ矢印により、制御装置CTとエンコーダ100との間の通信の挙動を示している。また、矢印の向きは通信方向を示しており、矢印の先が向いている側が受信側である。また、図中下向きに時間軸をとっており、下へ行くほど長い時間が経過したことを表している。
次に、図6を参照しつつ、制御装置CTとエンコーダ100との間で実行される通信速度を変更する機能に係る部分の制御手順の一例について説明する。なお、図6中では、制御装置CTのモータMの動作を制御する機能に係る部分やエンコーダ100の位置データを生成する機能に係る部分等の図示を省略している。
ここで、上記で説明した制御装置CT及びエンコーダ100で実行される各種処理は、1又は複数の専用のハードウエアにより実行させてもよいが、ソフトウエアにより実行させてもよい。各種処理をソフトウエアにより行う場合、図7に示すような制御装置CT及びエンコーダ100にプログラムを実行させることにより、上記各種処理を実現することができる。
以上説明した本実施形態に係るサーボシステムSでは、制御装置CTの第1指令送信部210Aは、エンコーダ側通信速度を現在の第1速度よりも速い第2速度に変更する変更コマンドをエンコーダ100に送信する。変更コマンドが受信されると、エンコーダ100の速度設定部111は、エンコーダ側通信速度を第2速度に変更する。これにより、制御装置CTがエンコーダ側通信速度を所望の速度に変更することができる。その結果、制御装置側通信速度に各々対応したエンコーダ100を用意する必要がなくなり、エンコーダ100の機種の増大を防止できる。
以上、添付図面を参照しながら一実施形態について詳細に説明した。しかしながら、特許請求の範囲に記載された技術的思想の範囲は、ここで説明した実施形態に限定されるものではない。本開示の実施形態の属する技術の分野における通常の知識を有する者であれば、技術的思想の範囲内において、様々な変更や修正、組み合わせなどを行うことに想到できることは明らかである。従って、これらの変更や修正、組み合わせなどが行われた後の技術も、当然に技術的思想の範囲に属するものである。以下、そのような変形例等について順を追って説明する。
CT 制御装置(上位装置の一例)
M モータ
S サーボシステム
110A 指令応答部
111 速度設定部
111B 速度初期化部
113 判定部
210A 第1指令送信部
210B 第2指令送信部
211 上位速度設定部
212 パラメータ設定部
Claims (9)
- 可動子が固定子に対して移動するように構成されたモータと、
前記可動子の位置及び速度の少なくとも一方を検出するように構成されたエンコーダと、
前記エンコーダの検出結果に基づき、前記モータの動作を制御するように構成された上位装置と、
を備え、
前記上位装置は、
該上位装置との間の通信速度を現在の第1速度よりも速い第2速度に変更する第1指令信号を、前記第1速度で前記エンコーダに送信するように構成された第1指令送信部を有し、
前記エンコーダは、
前記第1指令信号を受信した場合に、前記上位装置との間の通信速度を前記第2速度に変更するように構成された速度設定部を有する
ことを特徴とするサーボシステム。 - 前記エンコーダは、
前記第1指令信号を受信した場合に、前記上位装置との間の通信速度が前記第2速度に設定可能である場合には、第1応答信号を前記上位装置に送信するように構成された指令応答部を更に有し、
前記速度設定部は、
前記指令応答部が前記第1応答信号を前記上位装置に送信した場合に、前記上位装置との間の通信速度を前記第2速度に変更するように構成される
ことを特徴とする請求項1に記載のサーボシステム。 - 前記速度設定部は、
前記指令応答部が前記第1応答信号を前記上位装置に送信した場合に、前記第1指令信号を受信してから第1期間が少なくとも経過した後に、前記上位装置との間の通信速度を前記第2速度に変更するように構成される
ことを特徴とする請求項2に記載のサーボシステム。 - 前記エンコーダは、
前記第1期間が経過する間に、前記指令応答部が前記上位装置から信号を受信したか否かを判定するように構成された判定部を更に有し、
前記速度設定部は、
前記判定部が前記上位装置から信号を受信したと判定した場合に、前記上位装置との間の通信速度を前記第2速度に変更しないように構成される
ことを特徴とする請求項3に記載のサーボシステム。 - 前記上位装置は、
前記第1応答信号を受信した場合に、前記第1指令送信部が前記第1指令信号を送信してから前記第1期間よりも長い第2期間が少なくとも経過してから、前記エンコーダとの間の通信速度を前記第2速度に変更するように構成された上位速度設定部を更に有する
ことを特徴とする請求項4に記載のサーボシステム。 - 前記上位装置は、
前記上位速度設定部が前記エンコーダとの間の通信速度を前記第2速度に変更した後に、前記速度設定部が前記上位装置との間の通信速度を前記第2速度に変更したか否かを確認する第2指令信号を前記エンコーダに送信するように構成された第2指令送信部を更に有し、
前記指令応答部は、
前記第2指令信号を受信した場合に、前記上位装置との間の通信速度が前記第2速度に設定されている場合には、第2応答信号を前記上位装置に送信するように構成される
ことを特徴とする請求項5に記載のサーボシステム。 - 前記上位装置は、
前記第2速度を含むパラメータを設定するように構成されたパラメータ設定部を更に有し、
前記速度設定部は、
前記上位装置との間の通信速度を、前記第1指令信号に含まれる前記パラメータに表された前記第2速度に変更するように構成される
ことを特徴とする請求項1~6のいずれか1項に記載のサーボシステム。 - 前記速度設定部は、
前記エンコーダの電源が遮断された場合に、前記上位装置との間の通信速度を前記第1速度に初期化するように構成された速度初期化部を有する
ことを特徴とする請求項1~7のいずれか1項に記載のサーボシステム。 - 請求項1~8のいずれか1項に記載のサーボシステムに使用されることを特徴とするエンコーダ。
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SG11201508722XA SG11201508722XA (en) | 2013-11-05 | 2013-11-05 | Server system and encoder |
JP2015543970A JP5910958B2 (ja) | 2013-11-05 | 2013-11-05 | サーボシステム及びエンコーダ |
EA201500846A EA201500846A1 (ru) | 2013-11-05 | 2013-11-05 | Сервосистема и датчик положения |
PCT/JP2013/079942 WO2015068211A1 (ja) | 2013-11-05 | 2013-11-05 | サーボシステム及びエンコーダ |
DE112013007586.5T DE112013007586T5 (de) | 2013-11-05 | 2013-11-05 | Servosystem und Kodierer |
DE212013000314.5U DE212013000314U1 (de) | 2013-11-05 | 2013-11-05 | Servosystem und Kodierer |
CN201380080451.4A CN105683851B (zh) | 2013-11-05 | 2013-11-05 | 伺服系统以及编码器 |
US15/142,179 US9690287B2 (en) | 2013-11-05 | 2016-04-29 | Servo system and encoder |
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PCT/JP2013/079942 WO2015068211A1 (ja) | 2013-11-05 | 2013-11-05 | サーボシステム及びエンコーダ |
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US15/142,179 Continuation US9690287B2 (en) | 2013-11-05 | 2016-04-29 | Servo system and encoder |
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WO2015068211A1 true WO2015068211A1 (ja) | 2015-05-14 |
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US (1) | US9690287B2 (ja) |
JP (1) | JP5910958B2 (ja) |
CN (1) | CN105683851B (ja) |
DE (2) | DE112013007586T5 (ja) |
EA (1) | EA201500846A1 (ja) |
SG (1) | SG11201508722XA (ja) |
WO (1) | WO2015068211A1 (ja) |
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CN113454909B (zh) * | 2019-02-22 | 2022-11-01 | 三菱电机株式会社 | 电动机驱动控制装置、连结控制系统及电动机驱动控制方法 |
CN114362879B (zh) * | 2020-09-28 | 2024-04-16 | 日本电产三协株式会社 | 编码器及编码器的通信控制方法 |
Citations (3)
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JP2007194826A (ja) * | 2006-01-18 | 2007-08-02 | Oki Electric Ind Co Ltd | xDSLシステム用のDSLAM及びCPE |
WO2010131361A1 (ja) * | 2009-05-15 | 2010-11-18 | 三菱電機株式会社 | モータ駆動制御装置 |
JP2013110904A (ja) * | 2011-11-24 | 2013-06-06 | Fuji Electric Co Ltd | 電動機の駆動装置 |
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JP3921928B2 (ja) * | 1999-09-24 | 2007-05-30 | セイコーエプソン株式会社 | 印刷制御装置および印刷制御方法ならびに印刷制御プログラムを記録した記録媒体 |
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 |
JP5408342B2 (ja) * | 2010-04-02 | 2014-02-05 | 株式会社安川電機 | エンコーダ、駆動装置、絶対位置算出方法及びエンコーダ製造方法 |
JP4816988B1 (ja) | 2011-02-10 | 2011-11-16 | 株式会社安川電機 | エンコーダ、光学モジュール及びサーボシステム |
US8457824B2 (en) * | 2011-03-01 | 2013-06-04 | Deere & Company | Embedded controller frequency inputs re-used for speed sensor diagnostics |
JP5003832B1 (ja) * | 2011-03-08 | 2012-08-15 | 株式会社安川電機 | モータ制御装置及びモータ制御方法 |
JP5998434B2 (ja) | 2011-06-23 | 2016-09-28 | 株式会社ジェイテクト | ブラシレスdcモータのセンサレス制御装置 |
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2013
- 2013-11-05 JP JP2015543970A patent/JP5910958B2/ja active Active
- 2013-11-05 SG SG11201508722XA patent/SG11201508722XA/en unknown
- 2013-11-05 DE DE112013007586.5T patent/DE112013007586T5/de active Pending
- 2013-11-05 EA EA201500846A patent/EA201500846A1/ru unknown
- 2013-11-05 WO PCT/JP2013/079942 patent/WO2015068211A1/ja active Application Filing
- 2013-11-05 CN CN201380080451.4A patent/CN105683851B/zh active Active
- 2013-11-05 DE DE212013000314.5U patent/DE212013000314U1/de not_active Expired - Lifetime
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Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007194826A (ja) * | 2006-01-18 | 2007-08-02 | Oki Electric Ind Co Ltd | xDSLシステム用のDSLAM及びCPE |
WO2010131361A1 (ja) * | 2009-05-15 | 2010-11-18 | 三菱電機株式会社 | モータ駆動制御装置 |
JP2013110904A (ja) * | 2011-11-24 | 2013-06-06 | Fuji Electric Co Ltd | 電動機の駆動装置 |
Also Published As
Publication number | Publication date |
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DE112013007586T5 (de) | 2016-08-18 |
JP5910958B2 (ja) | 2016-04-27 |
CN105683851A (zh) | 2016-06-15 |
EA201500846A1 (ru) | 2016-02-29 |
JPWO2015068211A1 (ja) | 2017-03-09 |
US9690287B2 (en) | 2017-06-27 |
DE212013000314U1 (de) | 2016-06-09 |
CN105683851B (zh) | 2018-04-06 |
US20160246289A1 (en) | 2016-08-25 |
SG11201508722XA (en) | 2015-11-27 |
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