JPS6158496A - Regulating method of step motor encoder - Google Patents

Abstract

PURPOSE:To shorten a regulating work time by regulating the displacement of a slit plate so that the output waveform of a rotary encoder becomes the prescribed corresponding relationship to the stationary point of a step motor in a counterelectromotive force waveform. CONSTITUTION:An output shaft 5 is rotated at the certain prescribed speed by the secondary rotary force, the counterelectromotive force waveforms 3A, 4B of the exciting windings 3, 4 are observed, and compared with the output waveform C form a rotary encoder 2 simultaneously indicated with them. Thus, the angular position of the slit plate 13 is regulated and the waveform C of the encoder 2 is regulated corresponding to counterelectromotive force waveforms 3A, 4B, thereby unitarily corresponding the stationary angle position of a step motor 1 and the detecting angle position from the encoder 2.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention relates to a method for adjusting a step motor encoder. More specifically, the present invention relates to a method for adjusting a step motor encoder. More specifically, the present invention relates to a method for adjusting a step motor encoder. The present invention relates to a method of adjusting a step motor encoder for setting correspondence with a detected angular position.

[Conventional technology]

First, in a conventional step motor encoder coupled with a rotary encoder, as shown in Figs. , Hiro, rotor output shaft! It consists of a permanent magnet 6 fixed to a yoke 7 surrounding the permanent magnet 6, and is housed in a casing l. ? is a bearing that supports the output shaft 5.

The rotary encoder consists of a rotating plate fixed to the output shaft 5 and having a large number of first slit groups IO formed along the circumferential direction.
1, and a slit plate/ in which an appropriate number of first slit groups IO, which are disposed opposite to this rotary plate IO and have a slit shape similar to that of the first slit group IO and whose pitch is different from that of the first slit group IO, are formed. 3, and the first and first coslit groups 10. It consists of a light receiving cable 15 that receives light from the light emitting element /44 through the slit of /2, and a signal processing circuit /6 that processes the signal from the light receiving cable /3 and detects the angular position of the output shaft 5. , the light-emitting element/da, and the light-receiving element 15 are mounted on a support member /7, and their angular positions are adjustable with respect to the axis of the output shaft 5 by means of a slit plate /3. /Ir is the output conductor of the rotary encoder, /9 is the cover.

Here, the step motor is a rotary machine that can be controlled in an open loop and rotates by a predetermined displacement amount by applying a certain pulse-like input.

Then, by connecting a rotary encoder to the output shaft 3 of the step motor l and processing the angular displacement detection signal from the rotary encoder, closed loop control is achieved and more accurate control than the step motor/single control is achieved. It is well known that this is possible. For this purpose, it is necessary to adjust the rest position of the step motor and the detection position from the rotary encoder to a constant positional relationship for control.

The conventional method for such adjustment is to first energize the step motor to a stationary state, and adjust the slit group to a specified state while checking the signal from the signal processing circuit 16 of the rotary encoder λ. Adjust the position of step motor 2 several times while temporarily fixing it, and when the specified state is reached, permanently fix the first slit group and adjust the step motor's rest position and the rotary encoder position. It was compatible with the detected position signal from.

However, the conventional adjustment method as described above has the following problems: (1) There are many adjustment points and it takes an hour. (2) The first slit/2 is temporarily fixed, the step motor is rotated, and the step motor is rotated to temporarily fix it again. , the physical instability of the adjustment chamber is large;
(3) Since only a portion of the pulses around the entire circumference are adjusted, there is a large instability factor; and (4) a driving circuit for the step motor is required, resulting in high cost.

[Summary of the invention]

This invention solves the drawbacks of the conventional method by simultaneously displaying the back-up waveform generated by the step motor and the output waveform from the rotary encoder and adjusting them at the time level (angle). The present invention provides a method for adjusting a linear step motor encoder that is stable and significantly reduces adjustment costs.

〔Example〕

Hereinafter, an embodiment of the present invention will be described with reference to FIG. 1 and FIGS. 1-D showing an example of a conventional apparatus.

Now, as an example, if we are adjusting a step motor encoder in which a unipolar connected step motor with 8 pulses and 0 pulses is coupled to a rotary encoder λ with 200 pulses, the secondary rotation The force rotates the output shaft at a certain rotation rate, and as shown in Fig. 1, the back electromotive voltage waveform jA, # of the step motor / is generated.
B and the rotary encoder λ displayed at the same time.
Compare the output waveform C from. Then, the back electromotive force waveform J
A r lI'f3 becomes a sine waveform, and a waveform shifted by 900 phases is obtained. The apex P of this sine waveform is the resting position when the step motor / is excited with the phase l, and the waveform is
The intersection Q between 7A and +B is the resting position during da-phase -excitation.

Utilizing such a phenomenon, by adjusting the angular position of the slit plate 13 and adjusting the position of the output waveform C of the rotary encoder so as to correspond to point P or point q, the rest angular position of the step motor l can be adjusted. and the detected angular position from the rotary encoder 2 can be made to correspond uniquely.

〔Effect of the invention〕

As described above, the present invention rotates the output shaft of the step motor by a secondary rotational force, and creates a correlated positional relationship between the back electromotive voltage waveform on the step morph side and the output waveform on the rotary encoder side. The positional relationship between the stationary position of the step motor and the detection position of the rotary encoder can be easily seen, and by displacing the first slit of the rotary encoder and displacing the detection signal, the relationship between the detection position of the rotary encoder and the step motor can be easily determined. Compatibility with the rest position can be easily set.

In this way, a large number of adjustment points, which was a drawback of the conventional method, can be grasped at all circumference adjustment points at the same time by simultaneously displaying the output waveform, and adjustment can be achieved in the same way as single-point adjustment. Also,
Since this is a one-point adjustment method, there is no need to temporarily fix the first slit, and adjustments can be made using equipment such as a secondary rotating device and an oscilloscope, which significantly shortens adjustment work time and improves the economy of mass production. be done.

[Brief explanation of the drawing]

FIG. 1 is an output waveform diagram in one embodiment of the present invention. (2) Figures 2 to 2 show a step motor having a conventional encoder, in which Figure 1 is an external perspective view, Figure 3 is a partial vertical sectional view, and Figure Z is a schematic perspective view of the main part. ／・・Step motor, λ・・Low reencoder, J
, Z... Excitation winding, 5... Output shaft, 6... Permanent magnet, 1
06・First slit group, //・・Rotary plate, /Y・・Second
Slit group, /3...slit plate, /≠...light emitting element,
15... Light receiving element, /6... Signal processing circuit. Patent Applicant Tamogawa Seine Co., Ltd. Figure 1 P, Q Nistep ° - Evening Silence Figure 4

Claims (1)

[Claims] The first motor is fixed to the output shaft of the step motor and extends along the circumferential direction.
a rotary plate forming a slit group; a slit plate having a second slit opposite to the first slit group and rotatable with respect to the axis of the output shaft;
When adjusting the detection angle position of a rotary encoder consisting of a light-emitting element and a light-receiving element arranged oppositely across a slit, the step motor's back electromotive force is generated by rotating the output shaft with a secondary rotational force. Display the waveform and the output waveform of the rotary encoder at the same time level,
A method for adjusting a step motor encoder, which comprises observing and adjusting the displacement of the slit plate so that the output waveform of the rotary encoder has a predetermined correspondence with a stationary point of the step motor on the back electromotive voltage waveform.