CN109844462B - Pulse conversion device and pulse conversion method for incremental encoder - Google Patents
Pulse conversion device and pulse conversion method for incremental encoder Download PDFInfo
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- CN109844462B CN109844462B CN201780065039.3A CN201780065039A CN109844462B CN 109844462 B CN109844462 B CN 109844462B CN 201780065039 A CN201780065039 A CN 201780065039A CN 109844462 B CN109844462 B CN 109844462B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
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Abstract
The invention provides a pulse conversion device of an incremental encoder, which can accurately generate a pulse origin signal synchronous with a pulse position signal even if the phase position of an origin detection signal relative to a periodic position signal changes. The encoder is configured so that 4 periodic position signals (2-5) output from the encoder body with phases different by 90 degrees according to the displacement of the moving body are provided with: a polarity switching unit 7; an interpolation dividing unit (14) for generating pulse position signals (16, 17) of the A phase and the B phase having a resolution set on the basis of 4 periodic position signals, the detection width of the origin detection signal (6) being 0.5 times or more but less than 1.5 times the period (T) of the periodic position signal; and an origin signal generation unit (15) that generates a pulse origin signal (18) in synchronization with the pulse position signal, at an origin synchronization phase X acquisition timing set during the detection period of the origin detection signal (6).
Description
Technical Field
The present invention relates to pulse conversion of a signal in an incremental encoder, and more particularly to generation of a pulse origin signal synchronized with a pulse position signal.
Background
In recent years, in incremental encoders that detect displacement and position based on a plurality of pulse position signals and a pulse origin signal synchronized with the pulse position signals, for example, as described in patent documents 1 to 4, the resolution of the encoders has been increasing.
Patent document 1: japanese unexamined patent publication No. H1-248020 (FIGS. 3 and 5)
Patent document 2: japanese patent No. 2558287 Specification FIG. 3
Patent document 3: japanese patent No. 4274751 Specification FIGS. 1, 2, and 3
Patent document 4: japanese patent laid-open publication No. 2000-213925 (FIGS. 1 and 13)
Disclosure of Invention
With the recent increase in the resolution of encoders, the scale grating has been finely pitched, and the period of the periodic position signal has become short. Therefore, the phase position of the origin detection signal with respect to the periodic position signal is likely to fluctuate due to the influence of manufacturing errors such as assembly errors relating to the structure of the encoder main body, and it is difficult to stably and accurately generate the pulse origin signal synchronized with the pulse position signal with good reproducibility.
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a pulse conversion device and a pulse conversion method for an incremental encoder, which are capable of accurately generating a pulse origin signal synchronized with a pulse position signal even if a manufacturing error such as an assembly error occurs and a phase position of an origin detection signal with respect to a periodic position signal changes in a configuration of an encoder main body, in accordance with a recent high resolution of the encoder.
The present invention provides a pulse conversion device of an incremental encoder, comprising: a position signal generating unit that generates 4 periodic position signals having phases different by 90 degrees, respectively, with the phase of the 1 periodic position signal as a reference phase, in accordance with a displacement of the position or angle of the moving body; an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the 4 periodic position signals when a displacement position of the movable body reaches a reference position; a polarity switching unit that selectively switches the polarity of each of the 4 periodic position signals; an interpolation dividing unit that generates a pulse position signal having a set resolution based on the 4-cycle position signals output by the polarity switching unit; and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position of the 2 periodic position signals having a phase difference of 90 degrees in a period in which the origin detection signal is detected.
ADVANTAGEOUS EFFECTS OF INVENTION
In the present invention, in the configuration of the encoder main body, even if a manufacturing error such as an assembly error occurs and the phase position of the origin detection signal with respect to the periodic position signal changes, the pulse origin signal synchronized with the pulse position signal can be accurately generated.
Drawings
Fig. 1 is a block diagram showing an example of the configuration of a pulse conversion device for converting a periodic position signal and an origin detection signal of an incremental encoder into a pulse signal according to embodiment 1 of the present invention.
Fig. 2 is a waveform diagram showing an example of the timing of synchronization between the periodic position signal and the origin detection signal according to embodiment 1 of the present invention.
Fig. 3 is a waveform diagram of a periodic position signal and an origin detection signal when the polarity switching unit is not inverted according to embodiment 1 of the present invention.
Fig. 4 is a waveform diagram of the periodic position signal and the origin detection signal after the polarity switching unit is switched to the inversion according to embodiment 1 of the present invention.
Fig. 5 is a lissajous waveform diagram illustrating a relationship between the inversion in the polarity switching unit and the center phase Pc of the detection width of the origin detection signal according to embodiment 1 of the present invention, in which an a-phase periodic position signal is plotted on the horizontal axis and a B-phase periodic position signal is plotted on the vertical axis.
Fig. 6 is a lissajous waveform diagram for explaining the detected position of the origin detection signal when the detection width W of the origin detection signal is less than 0.5 × T according to embodiment 1 of the present invention, in which the a-phase periodic position signal is plotted on the horizontal axis and the B-phase periodic position signal is plotted on the vertical axis.
Fig. 7 is a lissajous waveform diagram for explaining the detection position of the origin detection signal when the detection width W of the origin detection signal is equal to or greater than 1.5 × T according to embodiment 1 of the present invention, in which the a-phase periodic signal is plotted on the horizontal axis and the B-phase periodic signal is plotted on the vertical axis.
Fig. 8 is a schematic diagram showing an example of a configuration of a part of a polarity switching unit of the pulse conversion device of the incremental encoder according to embodiment 2 of the present invention.
Fig. 9 is a block diagram showing an example of the configuration of a pulse conversion device of an incremental encoder according to embodiment 3 of the present invention.
Fig. 10 is a diagram showing an example of a configuration of a part of a polarity switching unit of a pulse conversion device of an incremental encoder according to embodiment 4 of the present invention.
Fig. 11 is a block diagram showing an example of the configuration of a pulse conversion device of an incremental encoder according to embodiment 2 of the present invention.
Fig. 12 is a waveform diagram showing an example of the timing of synchronization between the periodic position signal and the origin detection signal according to the modification of embodiment 1 of the present invention.
Fig. 13 is a diagram for explaining an origin synchronization phase based on a lissajous waveform obtained from a 2-cycle phase signal in the pulse conversion device of the incremental encoder according to the present invention.
Detailed Description
An incremental encoder according to the present invention includes a polarity switching unit capable of switching between inversion and non-inversion of the polarity of each of 4 periodic position signals having different phases, and an origin signal generating unit for generating a pulse origin signal synchronized with a pulse position signal based on a set origin synchronization phase even when a conventional period for outputting the origin detection signal is used, the origin signal generating unit being capable of generating the pulse origin signal with good reproducibility, stably and accurately even if a manufacturing error such as an assembly error occurs in a configuration of an encoder main body having a high resolution.
According to this configuration, it is possible to prevent the problems that the a-phase pulse position signal or the B-phase pulse position signal is erroneously counted and the count is not cleared. The phase position of the origin detection signal with respect to the periodic position signal and the detection width W of the origin detection signal can be widened, and manufacturing errors such as assembly errors of the structure of the encoder main body can be made larger within a larger allowable range, so that the manufacturing cost can be suppressed and the encoder can be manufactured at low cost. Since the polarities of all the periodic position signals of the 4 periodic position signals having different phases are inverted or not inverted, the relationship of the phase advance of each periodic signal corresponding to the direction of displacement of the moving body does not change. Therefore, when detecting the positive displacement and the reverse displacement in the direction of displacement of the moving body, it is not necessary to add a new adjustment function, and the manufacturing cost is suppressed, which is low.
Next, a pulse conversion device and a pulse conversion method of an incremental encoder according to the present invention will be described in accordance with embodiments with reference to the drawings. In each embodiment, the same or corresponding portions are denoted by the same reference numerals, and redundant description thereof is omitted.
Fig. 1 is a block diagram showing an example of the configuration of a pulse conversion device for converting a periodic position signal and an origin detection signal of an incremental encoder into a pulse signal according to embodiment 1 of the present invention. The incremental encoder detects a displacement of a position or an angle of a moving body as a measurement object. 4 periodic position signals (A +, A-, B +, B-) 2-5 having different phases are output from an encoder body 1 of the incremental encoder in accordance with the displacement of the movable body. These periodic position signals 2-5 are sine wave signals of a frequency corresponding to the displacement speed,
if the periodic position signal (A +)2 is taken as the reference phase
The periodic position signal (B +)4 has a phase difference of 90 degrees with respect to the reference phase,
the periodic position signal (A-) 3 has a phase difference of 180 degrees with respect to the reference phase,
the periodic position signal (B-) 5 has a phase difference of 270 degrees with respect to the reference phase.
The phase of either the periodic position signal (a +)2 or the periodic position signal (B +)4 is advanced according to the direction of displacement of the mobile body. The encoder main body 1 also outputs an origin detection signal 6, which is a Z-phase signal and is output when detecting the reference position of the moving body.
As described later, the encoder body 1 includes: a position signal generating unit 1a that generates 4 periodic position signals 2 to 5 that differ in phase by 90 degrees, respectively, with the phase of 1 periodic position signal as a reference phase, in accordance with the displacement of the position or angle of the moving body; and an origin detection signal generating unit 1b that generates an origin detection signal 6 having a detection width W of 0.5 times or more and less than 1.5 times the period T of the 4 periodic position signals 2 to 5 when the displacement position of the moving body reaches the reference position. These signals are obtained by detecting a non-detection object provided in the moving object by a sensor or the like, for example.
The pulse converting apparatus of fig. 1 includes an encoder main body 1 and a counter unit 41, and has the following portions.
The switchable polarity switching unit 7 selectively switches between inversion and non-inversion of the polarity for each of 4 periodic position signals (A +, A-, B +, B-) 2-5 having different phases.
The 1 st synthesizing circuit 19 differentiates the periodic position signals (a + ') and (a-') whose phases after the polarity switching are shifted by 180 degrees, and generates a differential signal ((a + ') - (a-') as the a-phase periodic position signal 12.
The 2 nd synthesizing circuit 20 generates a differential signal ((B + ') - (B-') as the B-phase periodic position signal 13 by differentiating the periodic position signals (B + ') and (B-') whose phases after the polarity switching are shifted by 180 degrees.
The interpolation dividing unit 14 generates an a-phase pulse position signal 16 and a B-phase pulse position signal 17 having a preset resolution from the a-phase cycle position signal 12 and the B-phase cycle position signal 13.
The origin signal generating unit 15 receives the origin detection signal 6, the a-phase periodic position signal 12, the B-phase periodic position signal 13, the a-phase pulse position signal 16, and the B-phase pulse position signal 17 as inputs, and obtains a pulse origin signal 18 synchronized with the a-phase pulse position signal 16 and the B-phase pulse position signal 17.
The a-phase pulse position signal 16, the B-phase pulse position signal 17, and the pulse origin signal 18 output from the pulse conversion device are input to the counter unit 41. The counter unit 41 counts the a-phase pulse position signal 16 and the B-phase pulse position signal 17 and resets the count by the pulse origin signal 18 in order to obtain the displacement of the position or angle of the moving body.
The origin signal generating unit 15 generates a pulse origin signal 18 in synchronization with the a-phase pulse position signal 16 and the B-phase pulse position signal 17 based on a predetermined origin synchronization phase X during the period in which the origin detection signal 6 is detected.
Fig. 13 is a diagram for explaining an origin synchronization phase based on a lissajous waveform obtained from a 2-cycle phase signal in the pulse conversion device of the incremental encoder according to the present invention.
One value of the 2 periodic position signals of the a-phase periodic position signal 12 and the B-phase periodic position signal 13 is set to a horizontal axis direction (a) of a 2-dimensional orthogonal coordinate system, and the other value is set to a vertical axis direction (B), and on the orthogonal coordinate system, a waveform that a point determined by the values of the 2 periodic position signals 12 and 13 moves as the displacement of the moving object is set to a lissajous waveform LI of the 2 periodic position signals 12 and 13. The center position of the 2-dimensional orthogonal coordinate of the lissajous waveform LI shown by a chain line in fig. 13 is represented by O. The reference rotational position of the rotational position around the center position O of the lissajous waveform LI is PP. In fig. 13, an intersection point between the horizontal axis on the positive side of the orthogonal coordinate of the lissajous waveform LI and the lissajous waveform LI is taken as the reference rotational position PP. Q is a point at a predetermined phase position on the orthogonal coordinates of the lissajous waveform of the origin signal generating section 15, which is determined at the stage of circuit design of the origin signal generating section 15. Then, if the reference rotational position PP is set as a reference, for example, the angular position of the angle ═ PPOQ centered around the center position O is set as the origin synchronization phase X.
That is, the origin synchronization phase X is the phase position of the origin signal generating unit 15 around the center position of the orthogonal coordinate of the lissajous waveform LI formed by the values of the 2 periodic position signals 12 and 13.
As an example, the synchronization in the origin signal generating unit 15 is based on that one of the 2 periodic position signals of the a phase and the B phase in the period in which the origin detection signal 6 is detected is at a level higher or lower than the center value of the amplitude of the signal, and the other signal is synchronized with the a-phase pulse position signal 16 and the B-phase pulse position signal 17 based on the origin synchronization phase, which is the phase position where the center value of the amplitude of the signal crosses from below or above, to generate the pulse origin signal 18.
The center value of the amplitude is a value at the midpoint between the maximum value and the minimum value of the wave of 1 cycle of the signal, and is { (maximum value-minimum value)/2 } of the wave of the signal.
The origin synchronization phase X is an integral multiple of 90 degrees such as-180 degrees, -90 degrees, 0 degrees, 90 degrees, or the like, that is, a phase position of 90 ° × N (N: integer) degrees. The position value is obtained by inputting the a-phase pulse position signal 16 and the B-phase pulse position signal 17 to the counter unit 41 and counting them. In this case, the origin of position detection can be specified by resetting the counter unit 41 when the pulse origin signal 18 is generated.
Fig. 2 is a signal waveform diagram showing an example of the timing of synchronization between the periodic position signals 12 and 13 of the a and B phases and the origin detection signal 6 in the origin signal generation unit 15 of fig. 1, that is, the origin synchronization phase. In fig. 2, the vertical axis represents amplitude, the horizontal axis represents time,
(a) representing the a-phase periodic position signal 12,
(b) representing the B-phase periodic position signal 13,
(c) the origin detection signal 6 is shown.
In fig. 2, the moving object rotates in a predetermined direction, for example, and the phase of the a-phase periodic position signal 12 is advanced by 90 degrees compared to the phase of the B-phase periodic position signal 13. As an example, the origin synchronization phase X indicated by a dotted line X shows a position where the a-phase periodic position signal 12 is higher than the center value thereof and the B-phase periodic position signal 13 crosses the center value thereof from below. The interpolation dividing unit 14 may have a function of correcting the offset value so that the center value of the a-phase periodic position signal 12 and the center value of the B-phase periodic position signal 13 are at the same level. The interpolation dividing unit 14 also has a function of correcting the phase difference between the a-phase periodic position signal 12 and the B-phase periodic position signal 13 and correcting the amplitude of the a-phase periodic position signal 12, the B-phase periodic position signal 13, and the respective signals. If the period in which the origin detection signal 6 is greater than the value of the origin detection threshold Vt is set as the origin detection period of the detection width W, 1 pulse origin signal 18 is generated in synchronization with the a-phase pulse position signal 16 and the B-phase pulse position signal 17 when the 1 st origin synchronization phase is included.
In recent years, the resolution of the encoder has been increased, and with this, the grating period P of the grating for position displacement detection has been made small, and the period T of the a-phase and B-phase periodic position signals 12 and 13 has been made small, thereby increasing the frequency. As the grating period P is made finer, manufacturing errors such as assembly errors in the structure of the encoder main body 1 become larger, and fluctuations in the phase position of the origin detection signal 6 with respect to the periodic position signals 12 and 13 become larger. Due to this fluctuation, the origin synchronization phase is not detected or is detected a plurality of times during the period in which the origin detection signal 6 is detected, and the pulse origin signal 18 cannot be accurately detected. The counter unit 41 performs count clearing and reset by the pulse origin signal 18, but the following problems occur: the problem that the pulse origin signal 18 is not detected and the count is not cleared or reset in the counter unit 41; and an erroneous count in which a plurality of pulse origin signals 18 are detected and unnecessary pulse origin signals 18 are generated, and the count value is different depending on the rotation direction of the moving body.
In the conventional method of generating the pulse origin signal 18 at the set origin synchronization phase acquisition timing during the period in which the origin detection signal 6 is output, there is a problem that the origin signal generating unit cannot accurately output the pulse origin signal 18. The following is assumed to be that,
t: period of the periodic position signals 2-5 and 12, 13
W: the detection width of the origin detection signal 6,
Δ W: phase error of detection width W of origin detection signal 6 due to manufacturing error of components of encoder main body 1 or the like
Pc: center phase of detection width W of origin detection signal 6
X: the origin is synchronized in phase.
Since the phase error Δ W of the detection width W of the origin detection signal 6 occurs due to a manufacturing error of the above-described components of the encoder main body 1, the detection width W of the origin detection signal 6 is within the range of the detection width W of the origin detection signal 6
(T－ΔW/360°×T)≤W＜T
The range of (3) is manufactured and adjusted. The center phase Pc of the detection width of the origin detection signal 6 exists
When (X-180 DEG) ≦ Pc < (X +180 DEG), the amount of the additive is not less than
(X-180) Pc < (X-180 + Δ W/2), or,
(X+180°－ΔW/2)＜Pc＜(X+180°)，
the pulse origin signal 18 is not output in the origin signal generating section 15.
As an example, if the phase error Δ W is set to 90 degrees, the detection width W of the origin detection signal is,
(3/4)×T≤W＜T，
if it is
(X-180) Pc < (X-135), or,
(X+135°)＜Pc＜(X+180°)，
the pulse origin signal 18 is not output. That is, since the phase error Δ W of the detection width W of the origin detection signal occurs, the origin detection signal 6 is not detected.
According to the configuration of the present invention, the polarity switching unit 7 capable of switching between inversion and non-inversion of the polarity of 4 periodic position signals (A +, A-, B +, B-) 2-5 having different phases is provided, and the signal detection width W of the origin detection signal 6 is set to be greater than or equal to 0.5 times and less than 1.5 times the period T of the periodic position signals 2-5, that is, to be more specific
T×0.5≤W＜T×1.5，
Accordingly, even if the center phase Pc of the detection width of the origin detection signal 6 fluctuates with respect to the periodic position signals 12 and 13, the pulse origin signal 18 can be generated with good reproducibility, stably and accurately, and the problems of erroneous counting and non-zero counting in the counter unit 41 of the a-phase pulse position signal 16 or the B-phase pulse position signal 17 can be prevented. The phase position of the origin detection signal 6 with respect to the periodic position signals 12 and 13 can be widened, and a larger allowable range can be obtained with respect to manufacturing errors such as assembly accuracy of the structure of the encoder main body 1.
In the polarity switching section 7, the 2 cycle position signals 2 and 3 and the cycle position signals 4 and 5 having a phase difference of 180 degrees are used as input values, whereby the structure of the polarity switching section 7 can be simplified.
The 1 st and 2 nd combining circuits 19 and 20 achieve an effect of removing noise and the like by differentiating 2 periodic position signals 2 and 3 and 4 and 5 when noise and the like are added to the periodic position signals 2 to 5 due to routing paths of electric wirings. These synthesizing circuits 19 and 20 are attached to the interpolation dividing section 14.
The 1 st synthesizing circuit 19 and the 2 nd synthesizing circuit 20 may be omitted. In this case, 2 periodic position signals having a phase difference of 90 degrees among the 4 periodic position signals (2 to 5) output from the polarity switching unit 7 are input as the a-phase periodic position signal 12 and the B-phase periodic position signal 13 by the interpolation dividing unit 14 and the origin signal generating unit 15.
FIG. 3 shows the presence of the center phase Pc of the detection width W of the origin detection signal 6
(X－180°)≤Pc＜(X－90°)
In the case of (3), the timing of synchronization between the periodic position signals 12 and 13 of the a and B phases and the origin detection signal 6 when the polarity switching unit 7 is not inverting, that is, the origin synchronization phase X
The signal waveform of the other example of (1). The vertical axis and the horizontal axes (a) - (c) correspond to fig. 2, respectively.
In the detection width W, which is a period during which the origin detection signal 6 is detected as shown in (c), the origin synchronization phase X is generated 2 times, and 2 pulse origin signals 18 are generated. In this case, if the polarity switching unit 7 switches the polarities of all the 4 periodic position signals to the reverse, the signal waveform diagram of the periodic position signal and the origin detection signal shown in fig. 4 is obtained. By switching all the polarities of the 4 periodic position signals 2 to 5 to be inverted, the origin synchronization phase X, that is, the pulse origin signal 18 is 1 time within the detection width W of the origin detection signal 6.
The polarity switching unit 7 measures the center phase Pc of the detection width W of the origin detection signal 6 corresponding to each of the periodic position signals 2 to 5 in advance, and switches the polarity switching circuit of the polarity switching unit 7 according to the position of the center phase Pc. The center phase Pc of the detection width W of the origin detection signal 6 exists
(X-180 DEG) Pc < (X +180 DEG), when the condition is satisfied
(X + 90) < Pc < (X + 180), or,
(X－180°)≤Pc＜(X－90°)
in the case of (2), the polarities of the 4 periodic position signals 2 to 5 are all set to be reversed,
satisfy (X-90 degree) Pc (X +90 degree)
In the case of (2), the polarities of all the 4 periodic position signals 2 to 5 are set to be non-inverted.
If the origin synchronization phase X is set to a phase position where one of the 2 periodic position signals of the a-phase and the B-phase is higher or lower than the above-mentioned center value and the other periodic position signal increases, exceeds, or decreases the center value of the amplitude, the origin synchronization phase X is one of-180 °, -90 °, 0 °, and 90 ° in the lissajous wave in which the horizontal axis depicts the a-phase periodic position signal 12 and the vertical axis depicts the B-phase periodic position signal 13.
Fig. 5 shows a lissajous waveform in which the a-phase periodic position signal 12 is plotted on the abscissa and the B-phase periodic position signal 13 is plotted on the ordinate. As an example, if the origin synchronous phase X is set to 0 degree, the phase is satisfied
Pc < 180 DEG < 90 DEG, or,
－180°≤Pc＜－90°
in the case of (2), the polarities of all 4 periodic position signals (2-5) are set to be reversed
－90°≤Pc≤90°
In the case of (2), the polarities of all the 4 periodic position signals 2 to 5 are set to be non-inverted.
That is, the center phase Pc of the detection width W of the origin detection signal 6 is reversed in polarity when the a-phase periodic position signal 12 is negative, that is, when the center phase Pc exists in a diagonally shaded area in fig. 5.
Existing at 90 DEG < Pc < 180 DEG
The center phase Pc2 of (a) is switched to be inverted by the polarity switching circuit of the polarity switching unit 7, and is switched to Pc 2' of-90 ° < Pc < 0 ° symmetrically with respect to the origin (0, 0) of the lissajous waveform. By switching to Pc 2', the origin synchronization phase X becomes 1 time during the period when the origin detection signal 6 is detected.
In the same way as above, the first and second,
exists in Pc less than or equal to-90 degrees and is more than or equal to-180 degrees
The center phase Pc3 of (a) is switched to be inverted by the polarity switching circuit of the polarity switching unit 7, and is switched to Pc 3' of 0 ° < Pc < 90 ° symmetrically with respect to the origin (0, 0) of the lissajous waveform, whereby the origin synchronization phase X is 1 time during the period when the origin detection signal 6 is detected.
After the structure of the encoder main body 1 is assembled to the moving body, the moving body is displaced, each of the periodic position signals 2 to 5 and the origin detection signal 6 detected from the encoder main body 1 is monitored using an oscilloscope or the like, and the center phase Pc of the detection width W of the origin detection signal 6 corresponding to each of the periodic position signals 2 to 5 is measured.
As an example, the encoder body 1 is attached to a motor as a moving body, and a shaft of the motor is coupled to a shaft of a measuring motor that rotates the motor. The measurement motor is driven by using a measurement motor drive control device. The rotation of the motor shaft is monitored by an oscilloscope with respect to each periodic position signal 2-5 and origin detection signal 6 outputted from the encoder main body 1, and the center phase Pc of the detection width W of the origin detection signal 6 corresponding to each periodic position signal 2-5 is measured.
Note that the motor, the motor for measurement, the drive control device for the motor for measurement, and the oscilloscope are not shown.
By setting the inversion and non-inversion of the polarity switching circuit of the polarity switching unit 7 based on the measurement result, the pulse origin signal can be generated stably and accurately with good reproducibility. Further, since the polarities of the periodic position signals 2 to 5 are all inverted or not inverted, the relationship of the phase advance of the periodic position signals 2 to 5 corresponding to the direction of displacement of the moving body does not change. Therefore, when detecting the positive displacement and the reverse displacement in the direction of displacement of the moving body, it is not necessary to add a new adjustment function, and the manufacturing cost is suppressed, which is low.
In the original point signal generating section 15 for generating the pulse original point signal 18 at the set original point synchronous phase X acquisition timing during the period of outputting the original point detecting signal 6, the detection width W of the original point detecting signal 6 is,
(T－ΔW/360°×T)≤W＜T
. However, the polarity switching unit 7 is provided, so that the accuracy of the detection width W of the origin detection signal 6 becomes higher
0.5×T≤W＜1.5×T
The allowable value of the detection width W can be increased.
When the detection width W of the origin detection signal 6 is less than 0.5 × T, the center phase Pc of the detection width W of the origin detection signal 6 is located at 90 degrees of the lissajous waveform as an example, and if the origin synchronization phase X is set to 0 degree, the origin detection signal 6 is not detected at the origin synchronization phase X and the pulse origin signal 18 is not detected as shown in fig. 6. Therefore, in order to stably and accurately generate the pulse origin signal 18 with good reproducibility regardless of the position of the center phase Pc of the detection width W of the origin detection signal 6, the detection width W of the origin detection signal 6 needs to be equal to or greater than 0.5 × T.
In the case where the detection width W of the origin detection signal 6 is 1.5 × T or more, as an example, the center phase Pc of the detection width W of the origin detection signal 6 is located at 90 degrees of the lissajous waveform, and if the origin synchronization phase X is set to 0 degree, the origin detection signal 6 is detected 2 times at the origin synchronization phase X as shown in fig. 7, and thus 2 pulse origin signals 18 are generated. Therefore, in order to stably and accurately generate the pulse origin with good reproducibility regardless of the position of the center phase Pc of the detection width W of the origin detection signal 6, the detection width W of the origin detection signal 6 needs to be smaller than 1.5 × T.
As described above, in order to stably and accurately generate the pulse origin signal 18 with good reproducibility regardless of the position of the center phase Pc of the detection width W of the origin detection signal 6, the accuracy of the detection width W of the origin detection signal 6 needs to satisfy the following expression (1).
0.5×T≤W＜1.5×T (1)
Satisfies the formula (1), thereby satisfying the detection width W of the conventional origin detection signal 6
T－ΔW/360°×T≤W＜T
In contrast, the accuracy of detecting the width W is relaxed. Therefore, the encoder body 1 can be manufactured at low cost while suppressing the manufacturing cost because the flexibility of design is extended and the allowable range of manufacturing can be increased. After the encoder main body 1 is assembled to the moving body, the moving body is displaced, and the periodic position signals 2 to 5 and the origin detection signal 6 detected from the encoder main body 1 are monitored using an oscilloscope or the like, and the detection width W of the origin detection signal 6 is measured. In setting the detection width W of the origin detection signal 6, an adjustment function using a digital potentiometer or the like is added to the encoder main body 1. The digital potentiometer is not shown. Further, by adding an adjustment function for adjusting the origin detection threshold Vt or the like to the origin signal generation unit 15 and adjusting the detection width W of the origin detection signal 6 to be 0.5 × T or more and less than 1.5 × T, the pulse origin signal 18 can be generated stably and accurately with good reproducibility.
The pulse converting device includes a 1 st synthesizing circuit 19, a 2 nd synthesizing circuit 20, an interpolation dividing unit 14, and an origin signal generating unit 15, and is configured by a digital integrated circuit unit including 1 or a plurality of digital integrated circuits, and a pulse converting substrate in which the digital integrated circuit unit and the polarity switching unit 7 are mounted on 1 substrate. From the viewpoint of the effect of noise removal, the integrated circuit preferably has a structure including the 1 st synthesizing circuit 19 and the 2 nd synthesizing circuit 20. By using this integrated circuit, the installation area can be significantly reduced, and miniaturization can be achieved.
In the above example, as shown in fig. 2, the case where the origin synchronization phase X, which is the predetermined phase position Q on the orthogonal coordinates of the lissajous waveform of the origin signal generating unit 15, determined at the circuit design stage of the origin signal generating unit 15, is 90 degrees × N (N: integer) which is an integral multiple of 90 degrees, has been described.
Fig. 12 shows another example of the phase position Q. As shown in fig. 12, regarding the 2 periodic position signals 12 and 13 of the a-phase and the B-phase, the phase position where the 2 periodic position signals intersect can be set as the origin synchronization phase X, regardless of whether the periodic position signals are at a level higher or lower than the center value of the amplitude of the wave of the signal. The origin synchronization phase X is any one of-135 ° and 45 ° in the lissajous wave in which the horizontal axis represents the a-phase periodic position signal 12 and the vertical axis represents the B-phase periodic position signal 13.
Further, the predetermined phase position Q is 45+180 XN degrees (N: integer) obtained by adding an integer multiple of 180 degrees to 45 degrees.
In embodiment 2, the polarity switching unit 7 in embodiment 1 roughly has:
a 1 st polarity switching circuit 71 capable of electrically switching the wiring between a periodic position signal 2 of a reference phase and a periodic position signal 3 different from the reference phase by 180 phases; and
and a 2 nd polarity switching circuit 72 capable of electrically switching between the periodic position signal 4 having a phase different from the reference phase by 90 degrees and the periodic position signal 5 having a phase different from the reference phase by 270 degrees.
Fig. 8 is a schematic diagram of an example of the 1 st polarity switching circuit 71, and the 2 nd polarity switching circuit 72 has the same configuration.
As an example, fig. 11 shows a most simplified configuration of the pulse conversion device. The 1 st synthesizing circuit 19, the 2 nd synthesizing circuit 20, the interpolation dividing unit 14, and the origin signal generating unit 15 are each constituted by a digital integrated circuit unit shown by a pulse conversion ic (dc). The digital integrated circuit portion can be constituted by 1 or a plurality of digital integrated circuits.
The 1 st polarity switching circuit 71 includes 1 st switching selection units 71a and 71b, and the 1 st switching selection units 71a and 71b have the same configuration. The 2 nd polarity switching circuit 72 also has the same configuration, and includes 2 nd switching selection portions 72a and 72 b. Each switching selection unit has a terminal 1, a terminal 2, and a terminal 3, and by electrically connecting the terminal 2 to the terminal 1, the polarity of the input periodic position signal is not inverted, and by electrically connecting the terminal 2 to the terminal 3, the polarity of each periodic position signal is inverted.
Of 4 periodic position signals (2-5) which are output from the encoder main body 1 and have phases different by 90 degrees with respect to the phase of the 1 periodic position signal as a reference phase, 2 periodic position signals shown by a +, a-which have phases different by 180 degrees from each other are input as 1 group to the 1 st polarity switching circuit 71. Similarly, 2 periodic position signals, shown by B + and B-, other than the periodic position signal input to the 1 st polarity switching circuit 71, which are 180 degrees out of phase with each other, are input to the 2 nd polarity switching circuit 72.
As described above, based on the measurement result obtained by measuring the center phase Pc of the detection width W of the origin detection signal 6 corresponding to each of the periodic position signals 2 to 5, the terminal 2 is electrically connected to one of the terminal 1 and the terminal 3 in the switching selection portions 71a, 71b, 72a, and 72b by the 1 st and 2 nd polarity switching circuits 71 and 72. The 4 periodic position signals output from the 1 st and 2 nd polarity switching circuits 71 and 72 and having phases different by 90 degrees from each other with the phase of the 1 st periodic position signal as a reference phase are input to the pulse conversion ic (dc). The origin detection signal 6a is also input to the pulse conversion ic (dc). The origin detection signal 6a may be input to the pulse conversion ic (dc) together with an inverted origin detection signal 6b obtained by inverting the polarity of the origin detection signal 6 a. In this case, the origin detection signal 6a and the inverted origin detection signal 6b are differentially processed by the pulse conversion ic (dc). An A-phase pulse position signal 16, a B-phase pulse position signal 17, and a pulse origin signal 18 are output from the pulse conversion IC (DC). These pulse conversion ics (dc) may be mounted on the same substrate together with the 1 st and 2 nd polarity switching circuits 71 and 72.
When the 1 st switching selector 71a, 71b of the 1 st polarity switching circuit 71 is switched to the inverted state shown in fig. 8, the periodic position signal (a +)2 of the reference phase is switched to a periodic position signal (a- ') 9 that is different from the reference phase by 180 degrees, and the periodic position signal (a-) 3 that is different from the reference phase by 180 degrees is switched to a periodic position signal (a +') 8 of the reference phase.
When the 1 st switching selector 71a, 71b of the 1 st polarity switching circuit 71 is switched to non-inversion connection with the respective lower terminals in fig. 8, the periodic position signal (a +)2 of the reference phase is directly output as the periodic position signal (a + ') 8 of the reference phase, and the periodic position signal (a-) 3 that is 180 degrees out of phase with the reference phase is directly output as the periodic position signal (a-') 9 that is 180 degrees out of phase with the reference phase.
The same applies to the 2 nd polarity switching circuit 72 having the 2 nd switching selector 72a and 72 b.
Each of the polarity switching circuits according to embodiment 1 has a configuration in which the wiring can be electrically switched by using 2 periodic position signals having a phase difference of 180 degrees, that is, 4 periodic position signals having a phase difference of 90 degrees as input values.
Each polarity switching circuit has a simple configuration as shown in fig. 8, for example, and does not require signal comparison processing, logic processing, addition, or arithmetic processing. An arithmetic processing circuit including an operational amplifier and the like, a comparison circuit including a comparator and the like, and the like are not required. In recent years, the displacement speed of a moving body has been increased, and expensive circuit components having excellent frequency characteristics have been used, but the number of components has not increased. Therefore, the manufacturing cost is suppressed, and the cost is reduced. The increase of the installation area is suppressed, and the miniaturization can be realized. In addition, heat generation from the circuit components is also suppressed, and a problem of signal characteristics is prevented.
Fig. 9 is a block diagram showing an example of the configuration of a pulse conversion device of an incremental encoder according to embodiment 3 of the present invention. In embodiment 3, the periodic position signals output from the encoder main body 1 according to the displacement of the moving body in embodiment 1 are 2 periodic position signals (a)31 and (B)32 that differ in phase by 90 degrees, and include the 1 st polarity switching unit 21 and the 2 nd polarity switching unit 22.
The 2-cycle position signals (A, B)31, 32 that differ in phase by 90 degrees are shown in accordance with the displacement of the moving body from the encoder main body 1. These 2 periodic position signals 31 and 32 are sinusoidal signals having a frequency corresponding to the displacement speed, and the phase of either the periodic position signal (a)31 or the periodic position signal (B)32 is advanced according to the direction of displacement of the moving body.
In this case, the encoder body 1 includes: a position signal generating unit 1a that generates 2 periodic position signals whose phases are different by 90 degrees in accordance with a displacement of a position or an angle of the moving body; and an origin detection signal generating unit 1b for generating an origin detection signal 6 having a detection width W of 0.5 times or more and 1.5 times or less the period T of the periodic position signals 31 and 32 if the displacement position of the moving body reaches the reference position.
The polarity of the periodic position signal (a)31 is inverted and not inverted in the switchable 1 st polarity switching unit 21, and the polarity of the periodic position signal (B)32 is inverted and not inverted in the switchable 2 nd polarity switching unit 22. The other portions of the interpolation dividing unit 14, the origin signal generating unit 15, and the counter unit 41 are the same as those of the above-described embodiment.
The periodic position signals 31 and 32 output from the encoder main body 1 are 2 periodic position signals having phases different by 90 degrees, and the 1 st polarity switching unit 21 and the 2 nd polarity switching unit 22 are provided, whereby the same effects as those of embodiment 1 can be obtained.
In embodiment 4, the polarity switching units 21 and 22 in embodiment 3 are each composed of a non-inverting circuit 212b, an inverting circuit 212a, and a switching selector 212 c. Fig. 10 shows an example of the 1 st polarity switching unit 21, and the 2 nd polarity switching unit 22 has the same configuration.
The inverter circuit 212a is configured using an operational amplifier or the like, and can adjust the amplification factor of the amplitude value of each periodic position signal and adjust the offset value. The same applies to the non-inverting circuit 212 b. However, if the adjustment of the periodic position signals is not necessary, the non-inverting circuit 212b may not be provided as shown by a broken line in fig. 10. For example, in the case of a periodic position signal having an amplitude of ± 0.5V centered on the offset value of 1.0V, a differential circuit for differentiating the periodic position signal from 2.0V is provided, and an inverted signal is obtained.
The periodic position signals output from the encoder main body 1 are 2 periodic position signals 31 and 32 having phases different by 90 degrees, and can be switched between inversion and non-inversion by a switching selector 212c including a switch and a polarity switching unit including a non-inversion circuit 212b and an inversion circuit 212a having 1 or 2 arithmetic circuits. The polarity switching unit including the non-inverting circuit 212b and the inverting circuit 212a includes 1 or 2 arithmetic circuits, and has a relatively simple circuit configuration. The number of the restricting members is increased, the manufacturing cost is suppressed, and the cost is reduced. The increase of the installation area is also suppressed, and the miniaturization can be realized. In addition, heat generation from the circuit components is also suppressed, and a problem of poor signal characteristics is prevented.
The portion for measuring the displacement of the position or angle of the movable body of the encoder main body 1 may be of an optical type or a magnetic type.
In each of the above embodiments, the center phase Pc of the detection width W of the origin detection signal 6 corresponding to each of the periodic position signals 2 to 5 is measured by a human hand, and the polarity switching circuit of the polarity switching unit 7 is switched according to the position of the center phase Pc. However, for example, the origin detection signal 6 may be input to the polarity switching unit 7, the polarity switching unit 7 may be provided with an arithmetic control unit for performing arithmetic processing and control based on a sensor such as a voltmeter and a detection value of the sensor, and the polarity switching circuit may be constituted by an electric switch controlled by the arithmetic control unit, thereby automatically performing measurement of the center phase Pc of the detection width W and the like and switching of the circuit. In this case, the arithmetic control unit of the polarity switching unit 7 is configured in the digital integrated circuit unit together with the 1 st and 2 nd synthesizing circuits 19 and 20, the interpolation/division unit 14, and the origin signal generation unit 15.
Further, a setting signal of a digital potentiometer for setting the detection width W of the origin detection signal 6 may be input from the encoder main body 1 and used by the polarity switching unit 7.
The present invention is not limited to the above embodiments, and includes all possible combinations thereof.
Industrial applicability
The present invention is applicable to various fields and various types of pulse conversion devices for incremental encoders.
Description of the reference numerals
1 encoder body, 1a position signal generating section, 1B origin detecting signal generating section, 2-5 periodic position signal, 6A origin detecting signal, 6B reverse origin detecting signal, 7 polarity switching section, 12A phase periodic position signal, 13B phase periodic position signal, 14 interpolation dividing section, 15 origin signal generating section, 16A phase pulse position signal, 17B phase pulse position signal, 18 pulse origin signal, 19 st 1 synthesizing circuit, 20 nd 2 synthesizing circuit, 21 st 1 polarity switching section, 22 nd 2 polarity switching section, 31, 32 periodic position signal, 41 counter section, 71 st 1 polarity switching circuit, 72 nd 2 polarity switching circuit, 71a, 71B, 72A, 72B switching selecting section, 212A reversing circuit, 212B non-reversing circuit, 212c switching selecting section.
Claims (24)
1. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 4 periodic position signals having phases different by 90 degrees, respectively, with the phase of the 1 periodic position signal as a reference phase, in accordance with a displacement of the position or angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the 4 periodic position signals when a displacement position of the movable body reaches a reference position;
a polarity switching unit that selectively switches the polarity of each of the 4 periodic position signals;
a 1 st synthesizing circuit and a 2 nd synthesizing circuit which generate a periodic position signal which is a differential signal of 2 periodic position signals output from the polarity switching unit and having phases different by 180 degrees from each other;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the cycle position signal that is the 2 differential signals having phases different by 90 degrees from each other from the 1 st synthesizing circuit and the 2 nd synthesizing circuit; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position of the periodic position signal, which is 2 differential signals having phases different by 90 degrees from each other from the 1 st combining circuit and the 2 nd combining circuit, in a period in which the origin detection signal is detected.
2. The pulsed conversion arrangement of an incremental encoder according to claim 1,
the predetermined phase position in the origin signal generating section is an angular position around a center position of a lissajous waveform according to a displacement of the moving body, which is determined by values of the 2 periodic position signals in the orthogonal coordinate system, with respect to a reference rotational position, in which one value of the 2 periodic position signals is a direction of a horizontal axis of the orthogonal coordinate system of 2 dimensions, and the other value is a direction of a vertical axis.
3. The pulsed conversion arrangement of an incremental encoder according to claim 2,
the predetermined phase position is an integer multiple of 90 degrees, i.e., 90 × N degrees, where N is an integer.
4. The pulsed conversion arrangement of an incremental encoder according to claim 2,
the predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees, i.e., 45+180 × N degrees, where N is an integer.
5. Pulsed conversion device of an incremental encoder according to claim 1 or 2,
the polarity switching unit includes:
a 1 st polarity switching circuit including a 1 st switching selection section; and
a 2 nd polarity switching circuit including a 2 nd switching selection portion,
the 1 st polarity switching circuit switches the connection of the electric wiring of the periodic position signal of the reference phase and the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 180 degrees based on the selection of the polarity of the 1 st switching selection unit,
the 2 nd polarity switching circuit switches the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 90 degrees and the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 270 degrees, based on the selection of the polarity of the 2 nd switching selection unit.
6. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 4 periodic position signals having phases different by 90 degrees, respectively, with the phase of the 1 periodic position signal as a reference phase, in accordance with a displacement of the position or angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the 4 periodic position signals when a displacement position of the movable body reaches a reference position;
a polarity switching unit that selectively switches the polarity of each of the 4 periodic position signals;
a 1 st synthesizing circuit and a 2 nd synthesizing circuit which generate a periodic position signal which is a differential signal of 2 periodic position signals output from the polarity switching unit and having phases different by 180 degrees from each other;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the cycle position signal that is the 2 differential signals having phases different by 90 degrees from each other from the 1 st synthesizing circuit and the 2 nd synthesizing circuit; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal based on a phase position at which one of the periodic position signals, which are 2 differential signals having phases different by 90 degrees from each other from the 1 st combining circuit and the 2 nd combining circuit in a period in which the origin detection signal is detected, is higher or lower than a center value of an amplitude and the other periodic position signal increases the center value of the amplitude and exceeds or decreases the center value of the amplitude and decreases the center value of the amplitude.
7. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 4 periodic position signals having phases different by 90 degrees, respectively, with the phase of the 1 periodic position signal as a reference phase, in accordance with a displacement of the position or angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the 4 periodic position signals when a displacement position of the movable body reaches a reference position;
a polarity switching unit that selectively switches the polarity of each of the 4 periodic position signals;
a 1 st synthesizing circuit and a 2 nd synthesizing circuit which generate a periodic position signal which is a differential signal of 2 periodic position signals output from the polarity switching unit and having phases different by 180 degrees from each other;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the cycle position signal that is the 2 differential signals having phases different by 90 degrees from each other from the 1 st synthesizing circuit and the 2 nd synthesizing circuit; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal, based on a phase position at which the periodic position signals of the 2 periodic position signals having phases different by 90 degrees, out of the 2 periodic position signals having phases different by 90 degrees, which are the 2 differential signals having phases different by 90 degrees from the 1 st combining circuit and the 2 nd combining circuit in a period in which the origin detection signal is detected, are both at a level higher or lower than a center value of an amplitude, and the 2 periodic position signals intersect with each other.
8. The pulsed conversion arrangement of an incremental encoder according to claim 6 or 7,
the polarity switching unit includes:
a 1 st polarity switching circuit including a 1 st switching selection section; and
a 2 nd polarity switching circuit including a 2 nd switching selection portion,
the 1 st polarity switching circuit switches the connection of the electric wiring of the periodic position signal of the reference phase and the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 180 degrees based on the selection of the polarity of the 1 st switching selection unit,
the 2 nd polarity switching circuit switches the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 90 degrees and the connection of the electric wiring of the periodic position signal having a phase different from the reference phase by 270 degrees, based on the selection of the polarity of the 2 nd switching selection unit.
9. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 2 periodic position signals having phases different by 90 degrees in accordance with a displacement of a position or an angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the periodic position signal when the displacement position of the movable body reaches the reference position;
a 1 st polarity switching unit that selectively performs inversion and non-inversion of a polarity of one of the periodic position signals;
a 2 nd polarity switching unit that selectively performs inversion and non-inversion of a polarity of the other of the periodic position signals;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the 2 periodic position signals from the 1 st and 2 nd polarity switching units; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal based on a predetermined phase position of 2 periodic position signals in a period in which the origin detection signal is detected.
10. The pulsed conversion arrangement of an incremental encoder according to claim 9,
the predetermined phase position in the origin signal generating section is an angular position around a center position of a lissajous waveform according to a displacement of the moving body, which is determined by values of the 2 periodic position signals on the orthogonal coordinate system, with respect to a reference rotational position, in which one value of the 2 periodic position signals is a direction of a horizontal axis of the orthogonal coordinate system of 2 dimensions, and the other value is a direction of a vertical axis.
11. The pulsed conversion arrangement of an incremental encoder according to claim 10,
the predetermined phase position is an integer multiple of 90 degrees, i.e., 90 × N degrees, where N is an integer.
12. The pulsed conversion arrangement of an incremental encoder according to claim 10,
the predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees, i.e., 45+180 × N degrees, where N is an integer.
13. Pulsed conversion arrangement of an incremental encoder according to any one of claims 9 to 12,
the 1 st polarity switching unit and the 2 nd polarity switching unit each have:
an inversion circuit that inverts a polarity of the periodic position signal;
a non-inversion circuit that does not invert the polarity of the periodic position signal; and
and a switching selection unit that switches outputs of the inverting circuit and the non-inverting circuit.
14. Pulsed conversion arrangement of an incremental encoder according to any one of claims 9 to 12,
the 1 st polarity switching unit and the 2 nd polarity switching unit each have:
an inversion circuit that inverts a polarity of the periodic position signal; and
and a switching selection unit that switches between the periodic position signal and an output of the inverter circuit.
15. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 2 periodic position signals having phases different by 90 degrees in accordance with a displacement of a position or an angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the periodic position signal when the displacement position of the movable body reaches the reference position;
a 1 st polarity switching unit that selectively performs inversion and non-inversion of a polarity of one of the periodic position signals;
a 2 nd polarity switching unit that selectively performs inversion and non-inversion of a polarity of the other of the periodic position signals;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the 2 periodic position signals from the 1 st and 2 nd polarity switching units; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal, based on a phase position in which one of the 2 periodic position signals is higher or lower than a center value of the amplitude and the other periodic position signal increases the center value of the amplitude to exceed or decrease the center value of the amplitude and decreases the center value of the amplitude, in a period in which the origin detection signal is detected.
16. A pulse conversion device of an incremental encoder, comprising:
a position signal generating unit that generates 2 periodic position signals having phases different by 90 degrees in accordance with a displacement of a position or an angle of the moving body;
an origin detection signal generating unit that generates an origin detection signal having a detection width of a signal greater than or equal to 0.5 times and less than 1.5 times a period of the periodic position signal when the displacement position of the movable body reaches the reference position;
a 1 st polarity switching unit that selectively performs inversion and non-inversion of a polarity of one of the periodic position signals;
a 2 nd polarity switching unit that selectively performs inversion and non-inversion of a polarity of the other of the periodic position signals;
an interpolation dividing unit that generates a pulse position signal having a set resolution based on the 2 periodic position signals from the 1 st polarity switching unit and the 2 nd polarity switching unit; and
and an origin signal generating unit that generates a pulse origin signal in synchronization with the pulse position signal, based on a phase position at which the 2 periodic position signals intersect each other, the phase position being higher or lower than a center value of an amplitude of each of the 2 periodic position signals in a period in which the origin detection signal is detected.
17. The pulsed conversion arrangement of an incremental encoder according to claim 15 or 16,
the 1 st polarity switching unit and the 2 nd polarity switching unit each have:
an inversion circuit that inverts a polarity of the periodic position signal;
a non-inversion circuit that does not invert the polarity of the periodic position signal; and
and a switching selection unit that switches outputs of the inverting circuit and the non-inverting circuit.
18. The pulsed conversion arrangement of an incremental encoder according to claim 15 or 16,
the 1 st polarity switching unit and the 2 nd polarity switching unit each have:
an inversion circuit that inverts a polarity of the periodic position signal; and
and a switching selection unit that switches between the periodic position signal and an output of the inverter circuit.
19. A method of pulsed transformation in an incremental encoder, comprising:
generating 4 periodic position signals having phases different by 90 degrees, respectively, with the phases of the 1 periodic position signal as reference phases, in accordance with the displacement of the position or angle of the moving body;
generating an origin detection signal having a detection width of a signal of 0.5 times or more and less than 1.5 times the period of the 4 periodic position signals when the displacement position of the moving body reaches a reference position;
selectively switching the polarity of each of the 4 periodic position signals;
generating a periodic position signal which is a differential signal of 2 periodic position signals having phases different from each other by 180 degrees and having polarities selectively switched;
generating a pulse position signal having a set resolution based on the 4-cycle position signals whose polarities are selectively switched; and
the pulse origin signal is generated in synchronization with the pulse position signal based on a predetermined phase position of 2 periodic position signals having phases different by 90 degrees in a period in which the origin detection signal is detected.
20. The method of pulsed conversion in an incremental encoder according to claim 19,
the predetermined phase position is an angular position around a center position of a lissajous waveform according to a displacement of the moving body with respect to a reference rotational position, which is determined by values of the 2 periodic position signals on the orthogonal coordinate system, in which one value of the 2 periodic position signals is taken as a direction of a horizontal axis of the orthogonal coordinate system of 2 dimensions, and the other value is taken as a direction of a vertical axis.
21. The method of pulsed conversion in an incremental encoder according to claim 20,
the predetermined phase position is an integer multiple of 90 degrees, i.e., 90 × N degrees, where N is an integer.
22. The method of pulsed conversion in an incremental encoder according to claim 20,
the predetermined phase position is a value obtained by adding an integer multiple of 180 degrees to 45 degrees, i.e., 45+180 × N degrees, where N is an integer.
23. A method of pulsed transformation in an incremental encoder, comprising:
generating 4 periodic position signals having phases different by 90 degrees, respectively, with the phases of the 1 periodic position signal as reference phases, in accordance with the displacement of the position or angle of the moving body;
generating an origin detection signal having a detection width of a signal of 0.5 times or more and less than 1.5 times the period of the 4 periodic position signals when the displacement position of the moving body reaches a reference position;
selectively switching the polarity of each of the 4 periodic position signals;
generating a pulse position signal having a set resolution based on the 4-cycle position signals whose polarities are selectively switched; and
the pulse origin signal is generated in synchronization with the pulse position signal based on a phase position in which one of the 2 periodic position signals having phases different by 90 degrees is higher or lower than a central value of an amplitude and the other periodic position signal increases the central value of the amplitude to exceed or decrease the central value of the amplitude to decrease the central value of the amplitude in a period in which the origin detection signal is detected.
24. A method of pulsed transformation in an incremental encoder, comprising:
a phase detector for generating 4 periodic position signals having phases different by 90 degrees, based on the phase of 1 periodic position signal, in accordance with the displacement of the position or angle of the moving body;
generating an origin detection signal having a detection width of a signal of 0.5 times or more and less than 1.5 times the period of the 4 periodic position signals when the displacement position of the moving body reaches a reference position;
selectively switching the polarity of each of the 4 periodic position signals;
generating a periodic position signal which is a differential signal of 2 periodic position signals having phases different from each other by 180 degrees and having polarities selectively switched;
generating a pulse position signal having a set resolution based on the 4-cycle position signals whose polarities are selectively switched; and
the pulse origin signal is generated in synchronization with the pulse position signal based on a phase position at which the 2 periodic position signals, of the 2 periodic position signals, whose phases are different by 90 degrees in a period in which the origin detection signal is detected, are both higher or lower than a center value of amplitude and the 2 periodic position signals intersect.
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| JP2016208412 | 2016-10-25 | ||
| PCT/JP2017/029090 WO2018079014A1 (en) | 2016-10-25 | 2017-08-10 | Pulsing conversion device of incremental encoder, and pulsing conversion method |
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| CN109844462A CN109844462A (en) | 2019-06-04 |
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| JP2021047033A (en) | 2019-09-17 | 2021-03-25 | ファナック株式会社 | Encoder and encoder control method |
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| TWI650532B (en) | 2019-02-11 |
| TW201829983A (en) | 2018-08-16 |
| JP6625236B2 (en) | 2019-12-25 |
| KR20190047081A (en) | 2019-05-07 |
| CN109844462A (en) | 2019-06-04 |
| JPWO2018079014A1 (en) | 2019-02-07 |
| KR102113456B1 (en) | 2020-06-02 |
| WO2018079014A1 (en) | 2018-05-03 |
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