WO2022034629A1

WO2022034629A1 - Rotary encoder and control accuracy switching type servo control device using same

Info

Publication number: WO2022034629A1
Application number: PCT/JP2020/030540
Authority: WO
Inventors: 純一多田
Original assignee: 株式会社五十嵐電機製作所
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2022-02-17
Also published as: JP6945914B1; JPWO2022034629A1

Abstract

The present invention solves a problem that, when high-accuracy position control is performed in a low-speed rotation range, a motor does not follow a control signal during a high-speed rotation.　This rotary encoder is provided with an MR sensor unit. This MR sensor unit is provided with a function of outputting one set of signals comprising an incremental signal and an absolute signal having different accuracies regarding the rotation/angle of a rotary axis. The rotary encoder is provided with a function of generating high-accuracy and intermediate-accuracy absolute signals and high-accuracy and intermediate-accuracy incremental signals on the basis of the one set of signals and outputting these signals as a motor control absolute signal and a motor control incremental signal.

Description

Rotary encoder and control accuracy switching servo control device using it

The present invention relates to a rotary encoder that outputs motor rotation / angle information to the outside as a digital signal, and a servo control device using the rotary encoder, and in particular, switches the accuracy of the motor control signal according to the rotation speed of the motor. It relates to a rotary encoder that generates information suitable for the above-mentioned, and a servo control device using the rotary encoder.

Patent Document 1 discloses a servo control device that can control a motor with high accuracy in a completely closed loop based on an output signal of a rotary encoder by using one MR sensor unit and a brushless DC servo motor. In such a servo control device, there is a problem that the motor does not follow the high-precision control signal at the time of high-speed rotation.

In Patent Document 2, in a servo system in which a resolver is connected, the resolution of the RD converter is switched based on the motor speed, the resolution is set low when the motor speed exceeds a certain level, the responsiveness is improved, and the motor speed is constant. If the following is true, the invention is disclosed in which the resolution is set high and the positioning accuracy is improved.
Patent Document 3 discloses a detection device that switches a detection mode between a low-speed mode and a high-speed mode in a rotary encoder.

On the other hand, rotary encoders are also required to take measures when battery power is lost.
Patent Document 4 discloses an optical or magnetic encoder device having a power supply unit using a large Barkhausen jump.

Japanese Patent No. 6291149 Special Table 2010-63218 Gazette Japanese Unexamined Patent Publication No. 2017-227457 Japanese Unexamined Patent Publication No. 2013-156255

Servo control device As the rotary encoder used, various types are known depending on the type and application of the motor.
The resolver and RD converter described in Patent Document 2 have a complicated structure and are expensive as compared with a rotary encoder using an MR sensor.
The rotary encoder described in Patent Document 3 intermittently drives a sensor element in order to reduce power consumption, and is not suitable for a servo control device such as a robot.
The magnetic sensor described in Patent Document 4 can supply an electric erne key for storing measured values when the supply of external power is lost. However, the sensor targets four Hall elements with vertical elements (components), and a deflector that completely covers all Hall elements is placed between the Hall element and the large Barkhausen effect power generation module. .. Therefore, the composite magnetic wire is located at a position away from the permanent magnet axis, and is a large magnetic sensor having a long axial length.

One of the problems of the present invention is to have a function of solving the problem that the motor does not follow the control signal at high speed rotation while performing high precision position accuracy in the low speed rotation range, regardless of the type and application of the motor. It is an object of the present invention to provide a rotary encoder having abundant versatility to meet various needs, and a servo control device using the rotary encoder.
Another object of the present invention is to provide a small and inexpensive rotary encoder and a servo control device using the rotary encoder while having a function of solving the problem that the motor does not follow the control signal at high speed rotation. be.

According to one aspect of the invention, the rotary encoder
It is a rotary encoder equipped with one MR sensor unit that outputs the rotation / angle information of the rotation axis of the motor and outputs the rotation / angle information of the motor to the outside as a digital signal.
The MR sensor unit is provided at a position on one surface side of a substrate fixed to the motor and facing the flat plate magnet, and one flat plate magnet fixed to the rotating shaft via a holder. Equipped with a pair of MR sensors
The MR sensor unit has a function of outputting a set of signals including an incremental signal and an absolute signal with respect to the rotation / angle of the rotating shaft, and the incremental signal and the absolute signal in the set of signals are The accuracy of rotation and angle of the rotation axis is different from each other, one is a medium accuracy signal and the other is a high accuracy signal.
The rotary encoder includes a medium- and high-precision absolute signal generation unit that generates medium-precision and high-precision absolute signals, and a medium- and high-precision incremental signal generation unit that generates medium-precision and high-precision incremental signals.
The medium / high precision absolute signal generation unit has a function of generating a medium precision absolute signal and a high precision absolute signal based on the set of signals.
The medium-high-precision incremental signal generation unit is characterized by having a function of generating a medium-precision incremental signal and a high-precision incremental signal based on the set of signals.

According to the present invention, the present invention has a function of solving the problem that the motor does not follow the control signal at the time of high-speed rotation while performing high-precision position accuracy in the low-speed rotation range, and is various regardless of the type and application of the motor. It is possible to provide a rotary encoder and a servo control device using the rotary encoder, which are rich in versatility and can meet the needs of the above.

According to another aspect of the present invention, a motor driver that controls the rotation of the motor body based on the output of the rotary encoder is provided, and the motor is driven by any one set of motor control signals according to the initial setting conditions. The motor driver acquires one of an absolute signal and an incremental signal as an encoder output as a signal for controlling the motor according to the type of the motor to which the rotary encoder is mounted. The motor driver includes a control accuracy switching prediction / control unit and a motor drive signal generation unit, and the control accuracy switching prediction / control unit is the acquired incremental for motor control. The timing of switching between the high-precision motor control signal and the medium-precision motor control signal in the signal or the absolute signal for motor control is predicted, and the motor drive signal generation unit is based on the operation command. It is characterized by generating a motor drive signal based on a high-precision motor control signal or the medium-precision motor control signal.

According to this aspect, although the present invention employs one general-purpose MR sensor unit having a small and inexpensive flat plate magnet, it is based on the output of this MR sensor unit and has medium accuracy and medium accuracy. Since it is possible to generate a highly accurate absolute drive signal or incremental drive signal, it is possible to provide a servo control device using a small and inexpensive rotary encoder.

It is a figure which shows the structural example of the control accuracy switching type servo control apparatus which concerns on 1st Embodiment of this invention. It is a vertical sectional view which shows the structural example of the main part of the DC motor with a brush to which the servo control device of FIG. 1 is attached. It is a figure which shows the structural example of the magnetic circuit of the rotary encoder in the servo control device of 1st Example. It is a figure which shows the configuration example of the rotary encoder in 1st Example. It is a figure which shows an example of the input screen of the initial setting by a user interface in 1st Example. It is a figure which shows the flow of the process of a rotary encoder in 1st Example. It is a figure which shows an example of the relationship between the output of an MR sensor and the output of a rotary encoder in the first embodiment. It is a figure which shows the structural example of the control circuit and the drive circuit of the brushed DC motor in 1st Example. It is a figure which shows an example of the control flow of the brushed DC motor in 1st Example. It is a figure which shows the specific example of the switching of the control accuracy of a motor drive signal in 1st Embodiment. It is a figure which shows the structural example of the brushless DC servomotor which concerns on the 2nd Embodiment of this invention. It is a figure which shows an example of the control flow of the brushless DC motor in the 2nd Example. It is a figure which shows the specific example of the switching of the control accuracy of a motor drive signal in the 2nd Embodiment. FIG. 12 is a diagram showing an example of the relationship between the power supply, the output signal of the rotary encoder, and the drive signal of the brushless DC motor when the power supply of the main battery is cut off from the normal state in the processing flow of FIG. It is a figure which shows the structural example of the stepping servo motor which concerns on 3rd Embodiment of this invention.

The servo control device according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 10. Although the present invention is applicable to various types of motors, an example of applying the present invention to a brushed DC motor will be described below.
FIG. 1 is a diagram showing a configuration example of a control accuracy switching type servo control device 10 according to the first embodiment of the present invention.
The servo control device 10 includes a rotary encoder 100, a power supply 200, a motor driver 400, and a motor body 500. The rotary encoder 100 is attached to a part of the motor body 500, and outputs rotation / angle information of the motor body 500 as a digital signal.
The rotary encoder 100 includes one MR sensor unit 110 that outputs information on the rotation and angle of the rotation shaft of the motor body 500, a batteryless compatible unit 120 that supplies power to the main battery 210, and the like, and a medium-precision and high-precision absolute. Medium- and high-precision absolute signal generation unit 130 that generates signals, medium- and high-precision incremental signal generation unit 140 that generates medium- and high-precision incremental signals, and encoder output control that controls encoder output according to preset conditions. It includes a unit 160, a non-volatile memory 180, a serial / parallel signal transmission / reception unit 190, and the like.

The batteryless compatible unit 120 functions as a power source 200 when the power of the main battery is lost, temporarily supplies power to the rotary encoder 100, and uses a motor according to the conditions initially set via the user interface 300. It has a function of generating information about the rotation of the main body 500 and recording it in the non-volatile memory 180.
The MR sensor unit 110 has, as its basic configuration, an incremental signal with medium accuracy (for example, 4K pulse / rotation) and an absolute signal with high accuracy (for example, 32K pulse / rotation) regarding the rotation / angle of the rotation axis of the motor. It has a function to output two systems of signals as absolute / incremental signals.
The medium- and high-precision absolute signal generation unit 130 has a function of generating a set of medium-precision and high-precision absolute signals based on a set of absolute / incremental signals of the MR sensor unit 110.
The medium- and high-precision incremental signal generation unit 140 has a function of generating a set of medium-precision and high-precision incremental signals based on a set of absolute / incremental signals of the MR sensor unit 110.
The combination of output signals of the MR sensor unit 110 is not limited to the above example, and may be appropriately set according to the application of the servo control device. For example, the absolute / incremental signal may be a signal of three systems of high accuracy, medium accuracy, and low accuracy having different accuracy. Further, depending on the application, the absolute / incremental signal may include, for example, an ultra-high precision signal of about 32 M pulse / rotation.
Further, in the present invention, the relationship between high precision and medium precision, or each precision such as high precision, medium precision, and low precision is relative, and various motors to which the rotary encoder is mounted are mounted at low speed. Anything that can be optimally controlled in the rotation range and the high-speed rotation range, or in the low-speed rotation range, the medium-speed rotation range, and the high-speed rotation range may be used.

The encoder output control unit 160 generates output information of the batteryless compatible unit 120, the medium / high precision absolute signal generation unit 130, and the medium / high precision incremental signal generation unit 140 according to the initial setting conditions set by the user interface 300. It has a function of recording in the non-volatile memory 180 and outputting these signals to the motor driver 400 according to preset conditions.
The user interface 300 can be realized by installing a dedicated application that executes a program having a predetermined function on a smartphone or a tablet terminal. The user interface 300, the rotary encoder 100, and the motor driver 400 are configured to be able to communicate with each other via a communication network.

The power supply 200 provides the rotary encoder 100 and the motor driver 400 with a controlled predetermined, for example, 5V DC power supply via the power supply lines 230 and 240. The power supply 200 includes a main battery 210 and a sub-battery 220 (see FIG. 4). The sub-battery 220 stores electric power due to the large Barkhausen effect, and supplies electric power to the rotary encoder 100 when the power supply of the main battery 210 is lost. The sub-battery 220 may be configured to supply power to the rotary encoder 100 even during normal operation. In either case, the power supply lines of the main battery 210 and the sub-battery 220 are configured as two electrically independent lines.

The serial / parallel signal transmission / reception unit 190 has a function of converting various information into a parallel signal or a serial signal and transmitting / receiving between the rotary encoder 100 and the motor driver 400. For example, A-phase / B-phase signals and Z-phase signals generated by parallel transmission processing are converted into transmission data (BUS) for serial transmission conforming to the serial transmission communication standard, and this BUS signal is used as a communication cable. Is transmitted to the motor driver 400 via.

As shown in FIG. 1, the motor driver 400 includes an accuracy switching prediction / control unit 410, a motor drive signal generation unit 420, a batteryless mode compatible unit 430, a memory for recording an operation command 440, and the like. , The rotation of the motor body 500 is controlled based on the operation command 440 and the output of the rotary encoder 100.
That is, the control accuracy switching prediction / control unit 410 predicts the timing of switching between the two high-precision and medium-precision signals output from the rotary encoder 100, and is based on the operation command, which is high-precision and medium-precision. One of the signals of the system is supplied to the motor drive signal generation unit 420. The motor drive signal generation unit 420 generates a motor drive signal based on one of two high-precision and medium-precision signals based on the output of the rotary encoder 100, the operation command 440, the load of the motor, and the like. Output to the motor driver. For example, a PWM signal for driving an inverter is generated to drive the motor 500. The motor driver 400 may be realized by, for example, a microcomputer.

The batteryless mode compatible unit 430 has a function of controlling the output of the motor driver 400 at the time of restart after the power of the main battery 210 is lost according to the condition initially set via the user interface 300.
The user determines in advance which data to be adopted from the encoder output control unit 160 according to the type and specifications of the motor 500, and the memory of the batteryless mode compatible unit 430 via the user interface 300. Record in.

The batteryless compatible unit 120, the medium / high precision absolute signal generation unit 130, the medium / high precision incremental signal generation unit 140, and the encoder output control unit, which are shown in the form of functional blocks in FIG. 1, and operate based on the program. 160, Part or all of the serial / parallel signal transmission / reception unit 190 functions are configured by FPGA (Field Programmable Gate Array). This FPGA is composed of an I / O unit, internal wiring, a logic circuit, a clock network, a memory, a multiplier and the like. Programs and the like that form the basis of logic circuits are recorded in an external EEPROM.
The internal configuration of the FPGA, in other words, the batteryless compatible unit 120, the medium / high precision absolute signal generation unit 130, the medium / high precision incremental signal generation unit 140, and the encoder output control unit 160 are described in the program. It can be changed flexibly by changing. Therefore, assuming a wide range of initial settings according to the type and application of the motor, batteryless compatible unit 120, medium / high precision absolute signal generation unit 130, medium / high precision incremental signal generation unit 140, and encoder. By enriching the functions of the output control unit 160, it is possible to meet various needs regardless of the type and application of the motor.
If it is necessary to further enhance the rotary encoder 100 functions, a batteryless compatible unit 120, a medium / high precision absolute signal generation unit 130, a medium / high precision incremental signal generation unit 140, and an encoder output control unit 160 may be used. , ASIC (Application Specific Integrated Circuit) may be used.

FIG. 2 is a vertical sectional view showing a configuration example of a main part of a brushed DC motor main body 500 to which the rotary encoder 100 of FIG. 1 is mounted. In this example, a circular flat plate magnet 1110 of the MR sensor unit 110 is fixed to one end surface of the rotating shaft 510 of the brushed DC motor 500 via a magnet holder 1115. A driven member is fixed to the other end of the rotating shaft 510.
The brushed DC motor 500 includes a field iron core 570 and a field coil wound around the field iron core 570 as a stator fixed inside the motor housing 520. The rotor 560 integrally formed with the rotating shaft 510 is an 8-pole rotor having a rotor yoke and, for example, eight permanent magnets 562 fixed to the outer peripheral portion thereof. The rotating shaft 510 is held by a pair of bearings 530 provided on the motor housing 520 and the end bracket 521.
On the other hand, inside the cup-shaped cover 522 made of a magnetic material, a substrate 170 made of an insulating material on which a rotary encoder 100 is mounted is fixed to an end bracket 521 via a support pin 172. An MR sensor unit 110 including a pair of MR sensors 1122 (1122A, 1122B) is installed on the substrate 170 at a position facing the magnet 1110. Reference numeral 157 is a magnetic disk for magnetic shielding, which is fixed to the end bracket 521.

FIG. 3 is a diagram showing a configuration example of a magnetic circuit of the rotary encoder 100.
A circular flat plate magnet 1110 of the MR sensor unit 110 is fixed to the end surface of the rotating shaft 510 with the axis OO passing through the axis of the rotating shaft 510 as the center. The flat plate magnet 1110 is a ferrite magnet having a diameter of, for example, 5.0 mm to 10.0 mm, and has a pair of single-magnetized NS magnetic poles. As the small flat plate magnet, a rare earth magnet such as a neodymium magnet or a samarium-cobalt magnet may be used instead of the ferrite magnet. Since the flat plate magnet becomes expensive, it causes an increase in the price of the rotary encoder, but it has an advantage that more electric power can be secured.

On the other hand, the printed circuit board 170 made of an electrically insulating and non-magnetic material is a double-sided substrate, and a pair of MR sensors 1122 are fixed on one surface of the printed circuit board 170 at a position facing the magnet 1110. A large bulk Hausen effect power generation module 150 having a composite magnetic wire 152 and a coil 154 is fixed on the other surface of the printed circuit board 170 and at a position on the back surface of the MR sensor. The composite magnetic wire 152 is arranged around the axis OO and in a direction orthogonal to the axis. As a specific example of the large Barkhausen effect power generation module 150, there is a Weegand module composed of a combination of a Weegand wire and a coil.

The pair of MR sensors 1122 (1122A, 1122B) senses the magnetic flux Φa of the flat plate magnet 1110 as the rotation shaft 510 rotates, and outputs a sine wave and a cosine wave.
The rotary encoder 100 is completely surrounded by a magnetic shield 1500, that is, a cup-shaped cover 522 made of a magnetic material and a disk 157 of the magnetic material, and is shielded so as not to be affected by an external magnetic field. ing.

The pair of MR sensors 1122 are configured to detect the angle of the horizontal magnetic field of the flat plate magnet 1110. Since the large bulkhausen effect power generation module 150 is arranged close to and parallel to the MR sensor, electric power is generated by the magnetic flux Φb as the flat plate magnet 1110 rotates. It is necessary to secure a certain length, for example, about 2.0 mm to 4.0 mm, in consideration of the influence of deformation and vibration of the motor, for the gap between the flat plate magnet 1110 and the pair of MR sensors 1122. .. Further, the thickness dp of the substrate 170 needs to be, for example, about 0.80 mm to 1.00 mm in order to have rigidity to withstand vibration caused by rotation of the motor or the like.

The inventor of the present application manufactured a rotary encoder as the rotary encoder 100 shown in FIG. 3, which is a combination of a weegand module and a commercially available inexpensive ferrite magnet. Then, by experiment, by setting the distance between the weegand wire and the surface of the flat plate magnet in the OO direction of the axis to 10 mm or less, a power of 10 V or more for a predetermined period and a power of 15 V under appropriate conditions can be obtained. I confirmed that it was possible. To give a specific example of other experimental conditions, the magnet was made of strontium ferrite, had a diameter of 8.0 mm, had a thickness of 2.5 mm, and had a diameter of 5 mm in the coil of the Weegand module. ..

FIG. 4 shows the MR sensor unit 110, the batteryless compatible unit 120, the medium / high precision absolute signal generation unit 130, the medium / high precision incremental signal generation unit 140, and the encoder output control unit 160 in the rotary encoder 100 of FIG. It is a figure which shows the specific configuration example.
The MR sensor unit 110 includes a pair of MR sensors 1122, a temperature sensor 1122C, and a sensor output processing circuit unit 1120. In the MR sensor unit 110, when the magnet 1110 fixed to the rotation axis of the motor rotates by an angle θ (mechanical angle) and the direction of the magnetic field acting on each MR sensor rotates, the electricity of the MR sensor corresponds to this rotation. The resistance value, in other words, the voltage of the output signal of the sensor fluctuates as a SIN wave and a COS wave, and a pulse signal for one cycle is output for each rotation of the rotation axis. The sensor output processing circuit unit 1120 includes an AD converter 11123, an axis misalignment correction processing unit 1124, a sensor memory 1125 such as a RAM, an inverse tangential calculation processing unit 1126, an absolute signal generation unit 1127, and an incremental A-phase / B-phase signal generation unit 1128. And, the rotation direction determination unit 1129 is provided. The sensor output processing circuit unit 1120 quantizes the analog signals of the SIN wave from the MR sensor 1122A and the COS wave from the MR sensor 1122B, and divides them into 4K pulses / rotation, for example, by intercalation processing of the electric angle. , A phase, B phase digital signal. The MR sensor unit 110 may be realized by a microcomputer.

The composite magnetic wire 152 of the large Barkhausen effect power generation module 150 has a relationship in which the center line XX is orthogonal to the line YY passing through the NS boundary (= origin position Z0) of the flat plate magnet 1110. It is fixed to the substrate 170 so as to be.
As the MR sensor 1122, any element of a magnetoresistive effect element (MR: AMR, GMR, TMR, etc.) including GMR may be adopted.

The absolute signal generation unit 1127 generates absolute signal data indicating the absolute value of the rotation and angle (mechanical angle) of the motor based on the linear signal (see FIG. 7) output from the inverse tangent calculation processing unit 1126. It is held in the sensor memory 1125. The incremental A-phase / B-phase signal generation unit 1128 generates incremental A-phase signal and B-phase signal pulse data based on the linear signal output from the inverse tangential arithmetic processing unit 1126, and the sensor. It is held in the memory 1125. A Z signal is also generated in synchronization with the position of the angle 0 (origin) that appears for each rotation of the rotation axis (hereinafter referred to as A-phase, B-phase, and Z-phase signals). The position of the origin (Z0) of the MR sensor 1122 is a specific position on the magnet 1110 fixed to the rotation axis of the motor, for example, a position corresponding to the time when the analog output value of the SIN wave is 0 (FIG. FIG. 7). The rotation direction determination unit 1129 determines the rotation direction of the rotation axis from the phase relationship between the A phase and the B phase. These pieces of information are recorded as time-series data in the MR sensor data recording unit of the non-volatile memory 180.

The batteryless compatible unit 120 has a coil output current detection unit 1210, a coil output rectification / voltage control / storage unit 1220, and an angle information processing unit 1230. The angle information processing unit 1230 includes a shaft rotation speed / rotation direction detection unit 1232, an initial setting unit 1234, a multi-rotation signal generation processing unit 1235, a batteryless mode determination unit 1236, and a batteryless mode information generation unit 1238.

The coil output current detection unit 1210 has a function of detecting the pulse current (coil pulse) generated in the large Bulkhausen effect power generation module only once every 180 degrees due to the rotation of the magnet 1110, and has the function of detecting the rotation of the shaft. The number / rotation direction detection unit 1232 has a function of generating data on the rotation speed and rotation direction of the shaft, and in response to this, the multi-rotation signal generation processing unit 1235 has a function of generating multi-rotation information of the shaft. The coil output rectification / voltage control / storage unit 1220 has a function of full-wave rectifying the pulse current, controlling the voltage to a predetermined reference voltage Vcc, for example, 5V, and storing the voltage in the sub-battery 220.

The batteryless mode determination unit 1236 detects the voltages of the main battery 210 and the sub-battery 220, and if the voltage of the main battery 210 is lower than the reference voltage Vcc, it determines that the mode is batteryless. The batteryless mode information generation unit 1238 receives power from the sub-battery 220 based on the determination of the batteryless mode, generates predetermined information regarding the output of the rotary encoder 100 in the batteryless mode, and generates the non-volatile memory 180. Record in.

The medium- and high-precision absolute signal generation unit 130 includes a high-precision absolute signal generation unit 1310 and a medium-precision absolute signal generation unit 1320.
The medium- and high-precision incremental signal generation unit 140 includes a high-precision incremental signal generation unit 1410 and a medium-precision incremental signal generation unit 1420.

The encoder output control unit 160 includes a batteryless initial setting unit 1610, a power supply state determination unit 1620, a batteryless output generation unit 1630, and a normal output generation unit 1640.
The batteryless initial setting unit 1610 has a function of accepting the setting of the output condition of the rotary encoder 100 in the batteryless mode by the user via the user interface 300.
In the batteryless output generation unit 1630, the output of the incremental value of, for example, 4K pulse / rotation from the MR sensor unit 110 and the large bulkhausen effect power generation module according to the initial setting conditions within the normal range of the power of the sub-battery 220. The output of the 2 pulse / rotation pulse current generated in the above is generated as batteryless mode information and recorded in the non-volatile memory 180.
The normal time output generation unit 1640 controls the output of the rotary encoder 100 in the normal time when the battery power supply is normal, and this control is executed according to the conditions initialized by the user.

FIG. 5 is a diagram showing an example of

input screens

3001 and 3002 for performing initial settings for the rotary encoder 100 and the motor driver 400 by the user interface 300. Through the user interface 300, the user can use the rotary encoder 100 as a batteryless compatible unit 120, a medium / high precision absolute signal generation unit 130, a medium / high precision incremental signal generation unit 140, an encoder output control unit 160, and a motor driver 400. On the other hand, it is possible to set the output condition of the rotary encoder in the normal operation and the information to be recorded, the processing or the condition to be executed in the batteryless mode.

For example, regarding the normal operation mode, the following conditions are selected on the initial setting screen 3001 and set in the rotary encoder 100 and the motor driver 400.
(1) What rpm is the precision switching rotation speed Ns of the motor that switches between high-precision signals and medium-precision signals?
(2) What kind of accuracy (pulse / rotation) should the absolute signal and incremental signal be output with respect to high-precision signals and medium-precision signals?
(3) In the case of an incremental signal, the presence / absence of U, V, W phases and the number of pulses thereof.
(4) Types and specifications of the motor to be driven.
Further, regarding the batteryless mode, the following items are set on the initial setting screen 3002.
(1) Under what conditions (pulse / rotation, rotation direction) should each of the absolute signal, the incremental signal, and the weegand module signal be output?
(2) Regarding the incremental signal, the presence / absence of U, V, W phases and the number of pulses thereof, etc.
(3) The length of the recording period in which the angle information of the rotating shaft should be recorded.
(4) What are the conditions for restarting?
By adding such an initial setting function to the rotary encoder 100 and the motor driver 400, while adopting an MR sensor unit having a small and inexpensive flat plate magnet, limited power can be effectively used when there is no battery. By utilizing it, it is possible to appropriately record necessary and sufficient information the next time the motor is started.

FIG. 6 is a diagram showing a processing flow of the rotary encoder 100 in the first embodiment.
First, the initial setting conditions regarding the function of the rotary encoder 100 set by the user interface 300 are acquired (S600). Here, it is assumed that a 32K pulse / rotation incremental signal and an absolute signal are set as the high-precision signal, and a 4K pulse / rotation incremental signal and an absolute signal are set as the medium-precision signal. Further, in the batteryless mode, it is assumed that the initial setting is made so as to record the operating state of the rotary encoder up to the length of the recording period Cns = 50 rotations.
Next, the encoder output control unit 160 acquires the voltage value of the main battery 210 (S602), and determines whether or not the voltage of the main battery is normal. When the voltage value of the main battery is normal (YES in S604), the incremental A and B signals of medium accuracy, that is, 4K pulse / rotation are obtained from the MR sensor unit (S606), and the absolute of high accuracy, that is, 32K pulse / rotation. Acquire A, B, Z signals (S608).
Next, in the medium- and high-precision incremental signal generation unit 140, 4K pulse / rotation and 32K pulse / rotation incremental signals are generated from the phase information of the incremental signal and the angle information of the absolute signal and recorded in the non-volatile memory. (S610). Further, in the medium / high precision absolute signal generation unit 130, 4K pulse / rotation and 32K pulse / rotation absolute signals are generated from the angular information of the incremental signal and the phase information of the absolute signal and recorded in the non-volatile memory ( S612).

Here, the relationship between the output of the MR sensor unit 110 and the outputs of the medium / high precision absolute signal generation unit 130 and the medium / high precision incremental signal generation unit 140 in S606 to S612 is described in more detail with reference to FIG. 7. To explain to.
In the MR sensor unit 110, as a result of the inverse tangent calculation from the A-phase and B-phase digital signals, the incremental value of 4K pulse / rotation is synchronized with the position of the angle 0 (= 360 degrees) for each rotation of the rotation axis. Generates a right-angled triangular signal that repeats increasing and decreasing linearly. Then, the cumulative addition value of each A-phase / B-phase signal is then converted into a cumulative addition value for each rotation of the rotation axis (every 360 degrees), and an EEPROM address is added to obtain medium accuracy, that is, 4K. A pulse / rotation incremental signal is generated (FIG. 7 (A)).
In the MR sensor unit 110, the incremental value of this 4K pulse / rotation is further divided into 32K pulses / rotation, combined with a Z-phase signal based on the origin Z0 of the rotation axis, and further given an EEPROM address. Highly accurate or 32K pulse / rotation absolute signal is generated (FIG. 7B).

In the rotary encoder 100, based on these outputs, the medium / high precision incremental signal generation unit 140 includes the phase information of the A and B phases included in the incremental signal of 4K pulse / rotation and the absolute signal of 32K pulse / rotation. An incremental signal with high accuracy, that is, a 32K pulse / rotation ((a2) in FIG. 7) is generated based on the angle information obtained. Further, in the medium / high precision absolute signal generation unit 130, the angle information included in the medium precision, that is, the incremental signal of 4K pulse / rotation and the phase information of the A, B, Z phases included in the absolute signal of 32K pulse / rotation are obtained. Based on this, a medium precision or 4K pulse / rotation absolute signal is generated (FIG. 7 (b1)).
In this way, in the medium / high precision incremental signal generation unit 140, a medium precision incremental signal ((a1) in FIG. 7) and a high precision incremental signal ((a2) in FIG. 7) are generated, and the medium / high precision incremental signal is generated. In the precision absolute signal generation unit 130, a medium-precision absolute signal ((b1) in FIG. 7) and a high-precision absolute signal ((b2) in FIG. 7) are generated.

Returning to FIG. 6, data on the rotation speed and rotation direction of the shaft based on the pulse current is acquired from the batteryless compatible unit 120 and recorded in the non-volatile memory 180 (S614).
That is, as shown in FIG. 7 as (C), the batteryless compatible unit 120 also generates a 2-pulse / rotation signal based on the output of the large Barkhausen effect power generation module 150.

In FIG. 6, when the voltage value of the main battery is abnormal (NO in S604), the batteryless mode is started (S620). First, the initially set predetermined measured rotation speed Cns is acquired (S622). Next, the incremental signal and the absolute signal are acquired from the MR sensor unit 110 (S624). Then, a 4K pulse / rotation incremental signal and an absolute signal are generated and recorded in the non-volatile memory (S626). Further, the rotation stop of the shaft 510 is determined based on the presence or absence of the output current of the coil (S628). When the shaft 510 has not stopped rotating, the measured rotation speed Cn of the rotation speed is acquired, and this Cn is compared with the predetermined measured rotation speed Cns (S632). When the measured rotation speed Cn reaches a predetermined measured rotation speed Cns = 50 rotations, batteryless mode information is created (S634), the information is recorded in the non-volatile memory 180 (S636), and the process is terminated. Even when the shaft 510 has stopped rotating (YES in S630), the process proceeds to the creation of batteryless mode information (S634). If the rotation speed of the shaft 510 has not reached the predetermined measured rotation speed Cns (NO in S632), the process returns to S624.

FIG. 8 is a diagram showing a configuration example of a drive circuit of the brushed DC servomotor 500 in the first embodiment. The drive circuit of the DC motor includes a motor driver 400, a PWM drive circuit 450, and an H-bridge circuit in which four switching elements SW1 to SW4 composed of transistors are assembled in an H shape. One end of the first switching element SW1 is connected to one brush 565A of the DC motor and the other end is connected to the DC power supply (Vcc), and one end of the second switching element SW2 is connected to the other brush 565B of the DC motor. It is connected and the other end is connected to a DC power supply (Vcc). One end of the third switching element SW3 is connected to one brush 565A of the DC motor and the other end is grounded, and one end of the fourth switching element SW4 is connected to the other brush 565B of the DC motor and the other end is grounded. Has been done.
The control accuracy switching prediction / control unit 410 of the motor driver 400 includes a switching time prediction unit 412, a switching preparation control unit 414, and a switching execution unit 416. The motor drive signal generation unit 420 includes a medium-precision drive signal generation unit 422 that generates an incremental motor control signal for high speed, and a high-precision drive signal generation unit 424 that generates an incremental motor control signal for low speed.
In the PWM drive circuit 450, a PWM signal is generated based on the incremental motor control signal for low speed or high speed generated by the motor drive signal generation unit 420, and this PWM signal is input to the bases of the switching elements SW1 to SW4. The rotation of the motor 500 is controlled. The rotation speed of the brushed DC motor can be arbitrarily controlled by the duty ratio during the ON period of the PWM signal.

Next, FIG. 9 is a diagram showing a processing flow of the driver 400 of the brushed DC motor 500 in the first embodiment.
First, the operation command data is acquired (S902). Here, it is assumed that the precision switching rotation speed Ns is set to ± 40 rpm. When the batteryless mode information is acquired from the non-volatile memory (S904) and the motor is rotating in the batteryless mode (YES in S906), the data of the motor rotation in the batteryless mode is acquired (S908) and the operation is performed. The initial data of the command is corrected by the batteryless mode information (S909).
After the initial data of the operation command is corrected, or when the motor is not rotating in the batteryless mode, the high precision drive signal generation unit 424 of the motor drive signal generation unit 420 is activated and the 32K pulse / rotation is high. A precision incremental drive signal is generated. That is, since the brushed DC motor 500 is driven by the incremental signal, the high-precision drive signal generation unit 424 acquires the high-precision incremental signal from the rotary encoder 100 (S910). Then, based on the operation command and the high-precision incremental signal generated by the encoder, a 32K pulse / rotation motor drive signal is generated, output to the PWM drive circuit 450, and the motor is controlled (S912).

Next, the switching time prediction unit 412 acquires the motor rotation speed N (S914), and further predicts the switching time when the motor rotation speed exceeds the accuracy switching rotation speed Ns from the operation command and the motor rotation speed N. (S916). If the switching time is not near (NO in S918), it is determined whether or not the operation is finished, and if it is finished (YES in S920), the operation is stopped (S922).
When it is determined that the switching time is near (YES in S918), for example, when the difference between the motor rotation speed and the accuracy switching rotation speed Ns is within 20 rpm and the command is such that the rotation speed increases toward the switching time. The switching preparation control unit 414 enters the "control switching preparation" mode (S924), and in addition to the high-precision incremental signal generation unit 1410, the medium-precision incremental signal generation unit 1420 also starts operation, and the medium-precision 4K pulse / rotation Motor drive signal is generated. When the switching time is reached (YES in S926), the switching execution unit 416 outputs a medium-precision motor drive signal to the PWM drive circuit 450 to control the motor and stops the output of the high-precision motor drive signal. (S928). When the rotation speed of the motor becomes higher, the "preparation for switching control" mode is canceled, and the generation of the high-precision motor drive signal in the high-precision incremental signal generation unit 1410 is stopped.
The switching preparation control unit 414 and the switching execution unit 416 also perform control via the "control switching preparation" mode for switching from the medium-precision motor drive signal to the high-precision motor drive signal. That is, when the rotation speed of the motor becomes the precision switching rotation speed Ns or less, a high-precision motor drive signal is output to the PWM drive circuit 450 to control the motor, and the output of the medium-precision motor drive signal is stopped ( S930-S938-S912)

FIG. 10 is a diagram showing a specific example of accuracy switching of the motor drive signal in the first embodiment. When the motor rotation speed N is in the vicinity of the precision switching rotation speed Ns, here ± 40 rpm, the switching preparation control unit 414 is in the “control switching preparation” mode, and the motor drive signal generation unit 420 generates a medium-precision drive signal. Both the unit 422 and the high-precision drive signal generation unit 424 are activated to generate both a high-precision incremental drive signal of 32K pulse / rotation and a medium-precision incremental drive signal of 4K pulse / rotation.
When the motor rotation speed N is within ± 40 rpm, the switching execution unit 416 outputs a high-precision PWM signal to the PWM drive circuit 450, and when the motor rotation speed N is other than ± 40 rpm, the switching execution unit 416 Therefore, a medium-precision PWM signal is output to the PWM drive circuit 450.

As described above, according to this embodiment, the motor is controlled by the high-precision incremental drive signal in the low-speed rotation range, and the motor is controlled by the medium-precision incremental drive signal in the high-speed range. It is possible to solve the problem that the motor does not follow the control signal at high speed rotation while performing accuracy. Since the rotary encoder is used for both incremental and absolute, it is highly versatile. Further, despite the fact that one general-purpose MR sensor unit having a small and inexpensive flat plate magnet is adopted, a medium-precision drive signal and a high-precision drive signal can be generated based on the output of the MR sensor unit. , A small and inexpensive rotary encoder, and a servo control device using the same can be provided.
Further, according to this embodiment, since the rotary encoder and the motor driver have the initial setting function, the rotary is compact and versatile enough to meet various needs regardless of the type and application of the motor. An encoder and a servo control device using the encoder can be provided.

Next, a second embodiment in which the present invention is applied to a brushless DC motor will be described with reference to FIGS. 11 to 14.
FIG. 11 is a diagram showing a configuration example of the brushless DC servomotor according to the second embodiment. The brushless DC motor 500 includes a field iron core 541 and a field coil 542 wound around the field iron core 541 as a stator fixed inside the motor housing 520. The rotor 543 integrally formed with the rotating shaft 510 is an 8-pole rotor having a rotor yoke and, for example, eight permanent magnets fixed to the outer peripheral portion thereof. The rotating shaft 510 is held by a pair of bearings 530 provided in the motor housing 520.
This brushless DC servomotor also includes a rotary encoder 100, a power supply 200, a user interface 300, and a motor driver 400 having the same configurations as those described in the first embodiment.
The brushless DC motor 500 has U1, U2, U3 field coils in series, V1, V2, V3 field coils in series, W1, W2, as a group of field coils of each phase constituting the stator. The W3 coils are connected in series, respectively. One end of each of these three field coils is connected at a neutral point.

In the normal operation mode, the motor drive signal generation unit 420 of the motor driver 400 has the operation command 440, the control signal generated based on the motor control signal (iu, iv, iw), and the A phase from the rotary encoder 100. The inverter is driven based on the serial / parallel signals related to the B phase and the Z phase, and the operation of the brushless DC motor 500, for example, the sinusoidal drive is continued.

Next, FIG. 12 is a diagram showing a processing flow of the driver 400 of the brushless DC motor 500 in the second embodiment.
First, the operation command data is acquired (S1202). Again, it is assumed that the precision switching rotation speed Ns is set to ± 40 rpm. In addition, batteryless mode information is acquired from the non-volatile memory, and necessary processing is performed (S1204 to S1209).
After the initial data of the operation command is corrected, or when the motor is not rotating in the batteryless mode, the high precision drive signal generation unit 424 of the motor drive signal generation unit 420 is activated and the 32K pulse / rotation is high. Precision Absolute drive signal is generated.
That is, since the brushless DC motor 500 is driven by the absolute signal, the high-precision drive signal generation unit 424 acquires the high-precision absolute signal from the rotary encoder 100 (S1210). Then, based on the operation command and the high-precision absolute signal generated by the encoder, a 32K pulse / rotation motor drive signal is generated, output to the PWM drive circuit, and the motor is controlled (S1212).
When it is determined that the switching time is near (YES in S1218), the switching preparation control unit 414 enters the "control switching preparation" mode (S1224), and in addition to the high-precision absolute signal generation unit 1310, the medium-precision absolute signal generation The unit 1320 also starts operation. When the switching time is reached (YES in S1226), the switching execution unit 416 outputs a medium-precision absolute drive signal to the motor driver to control the motor, and when the motor rotation speed becomes higher, " The "preparation for switching control" mode is canceled, and the generation of the high-precision motor drive signal in the high-precision absolute signal generation unit 1310 is stopped.
Similarly, for switching from a medium-precision motor drive signal to a high-precision motor drive signal, control is performed via a "control switching preparation" mode (S1230 to S1238 to S1212).

FIG. 13 is a diagram showing a specific example of accuracy switching of the motor drive signal in the second embodiment. The brushless DC motor is started with a high precision absolute drive signal of 32K pulse / rotation. When the motor rotation speed N is in the vicinity of the precision switching rotation speed Ns, the switching preparation control unit 414 enters the "control switching preparation" mode, and the motor drive signal generation unit 420 and the medium precision drive signal generation unit 422 Both of the high-precision drive signal generation unit 424 are activated, and both a high-precision absolute drive signal of 32K pulse / rotation and a medium-precision absolute drive signal of 4K pulse / rotation are generated. Then, when the rotation speed N of the motor becomes higher, the PWM signal based on the medium-precision drive signal is output to the PWM drive circuit 450.

Next, FIG. 14 is a diagram showing an example of the relationship between the output signals of the power supply 200 and the rotary encoder 100 and the drive signal of the brushless DC motor 500 when a power failure occurs during the operation of the brushless DC motor.
When the power supply is normal, as shown in FIG. 14B, the encoder output is based on the 32K pulse / rotation A, B, Z absolute signals output from the MR sensor unit 110 and these signals. The generated "(b1) motor drive signal", that is, a medium-precision and high-precision signal including each signal of Z phase, U phase, V phase, and W phase. In this example, the rising edge of the first U-phase signal and the rising edge of the first A-phase signal are synchronized with the magnet origin position (Z ₀ ), and further, every rotation of the rotating shaft 13 360 ° (mechanical angle). A Z-phase signal is set in.
On the other hand, when a power failure occurs, the output (b1) of the multi-rotation absolute signal is stopped, as shown in (a) power supply voltage of FIG. Then, as shown in "(b2) Pulse count / MR sensor", the mode shifts to the batteryless mode, and based on the initial setting conditions, the number of pulses and the rotation direction from the coil output, or the absolute / absolute signal of the MR sensor unit. That signal is output as a medium precision signal. Further, when the measured rotation speed Cn reaches a predetermined measured rotation speed Cns, the function of the pulse count / MR sensor is stopped.
The batteryless mode information when this power failure occurs is recorded in the non-volatile memory and acquired at the next operation start degree.

As described above, according to this embodiment, the motor is controlled by the high-precision drive signal in the low-speed range, and the motor is controlled by the medium-precision drive signal in the high-speed range. Therefore, high-precision position accuracy is performed in the low-speed rotation range. At the same time, it is possible to solve the problem that the motor does not follow the control signal during high-speed rotation. Since the rotary encoder is used for both incremental and absolute, it is highly versatile. Further, despite the fact that one general-purpose MR sensor unit having a small and inexpensive flat plate magnet is adopted, a medium-precision drive signal and a high-precision drive signal can be generated based on the output of the MR sensor unit. , A small and inexpensive rotary encoder, and a servo control device using the same can be provided.
Further, according to this embodiment, since the rotary encoder and the motor driver have the initial setting function, the rotary is compact and versatile enough to meet various needs regardless of the type and application of the motor. An encoder and a servo control device using the encoder can be provided.

FIG. 15 is a diagram showing a configuration example of a stepping servomotor according to a third embodiment of the present invention. This stepping servomotor includes a rotary encoder 100, a power supply 200, a user interface 300, and a motor driver 400 having the same configurations as those described in the first embodiment.
The motor 500 is a two-phase PM type stepping motor, and includes a rotor 580 integrated with a rotary shaft 510 and a stator core 592 housed in a motor housing 520. The rotating shaft 510 is held by a pair of bearings 530 provided on the left and

right end brackets

521 and 524. The rotor 580 includes a rotor magnet 582. The stator cores 592 are arranged at equal intervals in the circumferential direction and have pole teeth 595 facing the rotor 580, the first group salient pole (A phase salient pole) 594A and the second group salient pole (B phase). 16 salient poles consisting of 594B salient poles, a first phase stator coil (A phase stator coil) 596A and a second phase stator coil (for B phase) wound around these salient poles. It is equipped with a stator coil) 596B.
Similar to the rotary encoder 100 of the first embodiment, the rotary encoder 100 includes one MR sensor unit 110, a batteryless compatible unit 120, a medium / high precision absolute signal generation unit 130, and a medium / high precision incremental signal generation unit 140. It includes an encoder output control unit 160, a non-volatile memory 180, and a serial / parallel signal transmission / reception unit 190. One flat plate magnet 1110 is fixed to one end of the rotating shaft 510. A pair of

MR sensors

1122A and 1122B and one large Barkhausen effect power generation module 150 are fixed at opposite positions on the substrate 170 fixed to the end bracket 521.

With the activation of the stepping servomotor, the high-precision drive signal generation unit 424 of the motor drive signal generation unit 420 is activated, and a high-precision incremental drive signal of 32K pulse / rotation is generated. That is, the stepping servomotor is driven by an incremental signal, like the brushed DC motor of the first embodiment. Therefore, the high-precision drive signal generation unit 424 acquires a high-precision incremental signal from the rotary encoder 100. The motor drive signal generation unit of the driver 400 determines the motor control signal, that is, the phase count information of the drive waveform applied to the A-phase stator coil 596A and the B-phase stator coil 596B, and converts the phase count information into the PWM drive circuit. Send the corresponding PWM command value. The PWM drive circuit applies a voltage to the A-phase stator coil 596A and the B-phase stator coil 596B of the stepping motor according to the PWM command value, whereby the rotor magnet 582 rotates.

The motor driver 400 of the stepping motor starts driving with an incremental high-precision drive signal of 32K pulse / rotation as described with reference to FIG. 10 with respect to the first embodiment. Then, when the rotation speed N of the motor is in the vicinity of the precision switching rotation speed Ns, the switching preparation control unit 414 is in the "control switching preparation" mode. Therefore, both the medium-precision drive signal generation unit 422 and the high-precision drive signal generation unit 424 of the motor drive signal generation unit 420 are activated, and the high-precision incremental drive signal of 32K pulse / rotation and the medium-precision incremental drive of 4K pulse / rotation are activated. Both signals are generated. When the motor rotation speed N is within ± 40 rpm, the switching execution unit 416 outputs a high-precision PWM signal to the PWM drive circuit, and when the motor rotation speed N is other than ± 40 rpm, the switching execution unit 416 outputs the high-precision PWM signal. , Medium precision PWM signal is output to the PWM drive circuit.

Also in this embodiment, since the stepping motor is controlled by the high-precision drive signal in the low-speed range and the stepping motor is controlled by the medium-precision drive signal in the high-speed range, there is a problem that the stepping motor does not follow the control signal at the time of high-speed rotation. Can be resolved. Since the rotary encoder is used for both incremental and absolute, it is highly versatile. Further, despite the fact that one general-purpose MR sensor unit having a small and inexpensive flat plate magnet is adopted, a medium-precision drive signal and a high-precision drive signal can be generated based on the output of the MR sensor unit. , Small and inexpensive rotary encoders, and stepping servomotors using the same can be provided.
Further, according to this embodiment, since the rotary encoder and the motor driver have the initial setting function, they are compact and versatile enough to meet various needs regardless of the type and application of the motor. A rotary encoder and a stepping servomotor using the rotary encoder can be provided.

The present invention can be applied to various motors other than the types of motors described in the above examples. For example, it can be widely applied to various motors such as synchronous motors and induction motors. It can also be applied to a servo control device using these motors.

10 Servo control device 100 Rotary encoder 110 MR sensor unit 1110 Flat plate magnet 1122 MR sensor 120 Batteryless compatible unit 130 Medium / high precision absolute signal generation unit 1310 High precision absolute signal generation unit 1320 Medium precision absolute signal generation unit 140 Medium / high Precision incremental signal generation unit 1410 High precision incremental signal generation unit 1420 Medium precision incremental signal generation unit 150 Large bulk Hausen effect power generation module 152 Composite magnetic wire 154 Coil 157 Magnetic disk 160 Encoder output control unit 170 Board 180 Non-volatile memory 200 Power supply 210 Main battery 220 Sub battery 300 User interface 400 Motor driver 410 Control accuracy switching prediction / control unit 420 Motor drive signal generation unit 430 Batteryless mode compatible unit 440 Operation command 500 Motor body 510 Motor rotary shaft 520 Motor housing 530 Bearing

Claims

It is a rotary encoder equipped with one MR sensor unit that outputs the rotation / angle information of the rotation axis of the motor and outputs the rotation / angle information of the motor to the outside as a digital signal.
The MR sensor unit is provided at a position on one surface side of a substrate fixed to the motor and facing the flat plate magnet, and one flat plate magnet fixed to the rotating shaft via a holder. Equipped with a pair of MR sensors
The MR sensor unit has a function of outputting a set of signals including an incremental signal and an absolute signal with respect to the rotation / angle of the rotating shaft, and the incremental signal and the absolute signal in the set of signals are The accuracy of rotation and angle of the rotation axis is different from each other, one is a medium accuracy signal and the other is a high accuracy signal.
The rotary encoder includes a medium / high precision absolute signal generation unit and a medium / high precision incremental signal generation unit.
The medium / high precision absolute signal generation unit has a function of generating a medium precision absolute signal and a high precision absolute signal based on the set of signals.
The medium / high precision incremental signal generation unit is a rotary encoder having a function of generating a medium precision incremental signal and a high precision incremental signal based on the set of signals.
In claim 1,
The MR sensor unit has a function of outputting two systems of the high-precision absolute signal and the medium-precision incremental signal.
The medium / high precision absolute signal generation unit is
It has a function to generate the high-precision incremental A and B signals based on the angle information included in the high-precision absolute signal and the phase information included in the medium-precision incremental signal.
The medium- and high-precision incremental signal generation unit is
It is characterized by having a function of generating the medium-precision absolute A, B, and Z signals based on the phase information included in the high-precision absolute signal and the angle information included in the medium-precision incremental signal. Rotary encoder.
In claim 2,
The medium / high precision absolute signal generation unit has a function of outputting the medium precision absolute A, B, Z signals and the high precision absolute A, B, Z signals based on the output of the MR sensor unit. ,
The medium- and high-precision incremental signal generation unit has a function of outputting the high-precision incremental A and B signals and the medium-precision incremental A and B signals based on the output of the MR sensor unit. Characterized rotary encoder.
In claim 1,
Equipped with encoder output control unit
The encoder output control unit generates output information of the medium / high precision absolute signal generation unit and the medium / high precision incremental signal generation unit according to the initial setting conditions set by the user interface, and records the output information in the non-volatile memory. In addition, it has a function to output two systems of signals including the high-precision absolute signal, the medium-precision absolute signal, the high-precision incremental signal, and the medium-precision incremental signal according to preset conditions. A rotary encoder characterized by being.
In claim 4,
The rotary encoder, wherein the medium / high precision absolute signal generation unit, the medium / high precision incremental signal generation unit, and the encoder output control unit are configured by FPGA or ASIC.
In claim 4,
The flat plate magnet is a magnet having an outer diameter of 5.0 mm to 10.0 mm, and has a pair of single-magnetized NS magnetic poles.
A large Bulk Hausen effect power generation module having a composite magnetic wire and a coil is fixed on a surface of the substrate opposite to the surface on which the pair of MR sensors are fixed and on the back surface of the MR sensor. Has been
The large Barkhausen effect power generation module has a function of supplying power to the rotary encoder when the supply of external power is lost.
The encoder output control unit has a function of generating batteryless mode information by combining the medium-precision incremental signal and the output of a 2-pulse / rotation pulse current generated by the large-bulk Hausen effect power generation module. A rotary encoder featuring.
A servo control device provided with a motor driver that controls the rotation of the motor body based on the output of the rotary encoder, and drives the motor by any one set of motor control signals according to the initial setting conditions.
The rotary encoder is the rotary encoder according to claim 1.
The motor driver has a function of acquiring either an absolute signal or an incremental signal as an encoder output as a signal for controlling the motor according to the type of the motor to which the rotary encoder is mounted.
The motor driver includes a control accuracy switching prediction / control unit and a motor drive signal generation unit.
The control accuracy switching prediction / control unit switches between the high-precision motor control signal and the medium-precision motor control signal in the acquired incremental signal for motor control or the absolute signal for motor control. Predict and
The motor drive signal generation unit is a control accuracy switching type servo control device, characterized in that it generates a motor drive signal based on the high-precision motor control signal or the medium-precision motor control signal based on an operation command. ..
In claim 7,
The control accuracy switching prediction / control unit acquires the rotation speed N of the motor, and predicts the switching time point at which the rotation speed of the motor exceeds the accuracy switching rotation speed Ns from the operation command and the rotation speed N of the motor. If it is determined that the switching time is near, the mode shifts to the control switching preparation mode.
The motor drive signal generation unit simultaneously generates the high-precision signal and the medium-precision signal in the switching preparation mode, and when the switching time point is reached, the control is characterized in that the output of the motor drive signal is switched. Precision switching type servo control device.
In claim 7,
The rotary encoder and the motor driver are controlled precision switching servo control devices, wherein the type and specifications of the motor to be driven can be set via a user interface.