Encoder signal output method and encoder

Description: TECHNICAL FIELD [Detailed description of the invention]

【0001】

[Industrial application field]

The present invention relates to an encoder signal output method and an encoder, and in particular, the functions of the encoders provided on each axis can be set programmable in advance, and each encoder output is taken out via a common bus line to achieve line saving. Regarding new improvements to enable two-way communication.

【0002】

[Conventional technology]

As a conventional encoder signal output method of this type, for example, in the case of multi-axis control, since an encoder is provided for each axis, the encoder for each axis has an individual receiving side and 1 It was communicating one-on-one.

【0003】

[Problems to be Solved by the Invention]

Since the conventional method is configured as described above, the following problems exist. That is, the encoder signal from the encoder provided on each axis requires a one-to-one communication route with the receiving side provided individually, and the same number of receiving devices as the number of axes is used. The number of lines required for the wiring became enormous, which was a major obstacle in the manufacture of robots and the like. In addition, a method of switching channels using a rotary switch or the like has also been proposed, but the drip-proof structure cannot be used, resulting in an increase in cost. In addition, if the stroke is different for each axis, it is necessary to create a multi-rotation N-ary counter and a glass code plate for one rotation with custom specifications, and it is extremely complicated to change and follow each user's specifications. It was work.

【0004】

The present invention has been made to solve the above problems. In particular, the functions of the encoders provided on each axis can be set programmable in advance, and each encoder output is taken out via a common bus line. It is an object of the present invention to provide an encoder signal output method that achieves line saving and enables bidirectional communication.

【0005】

[Means for solving problems]

The encoder signal output method according to the present invention is an encoder signal output method in which encoder signals from encoders provided on a plurality of axes are taken out, and at least the axis numbers of the axes are provided for each encoder. This is a method of reading the encoder output of each encoder for each axis number via a common bus line connected to each encoder.

【0006】

More specifically, each of the encoders is a method of presetting functional data of at least an axis number, a multi-rotation resolution, and a one-rotation resolution for each axis number by using a battery backup or a non-volatile readable memory.

【0007】

More specifically, the functional data is a method that can be rewritten from the outside.

【0008】

The encoder according to the present invention has a configuration in which a memory capable of programmablely setting at least one rotation resolution and a multi-rotation resolution rotation speed is provided in the encoder main body.

【0009】

[Action]

In the encoder signal output method and encoder according to the present invention, an axis number of each axis is provided for each axis encoder, and the encoder output of each encoder can be sequentially or freely taken out via a common bus line connected to each encoder. it can. In addition, each encoder can arbitrarily set the axis number, multi-rotation resolution, and one-rotation decomposition functions in advance by using the battery backup or non-volatile readable memory provided in each encoder. Functional data according to the stroke of the axis can be set or canceled by remote control from the receiving side.

【0010】

[Example]

Hereinafter, preferred embodiments of the encoder signal output method according to the present invention will be described in detail together with the drawings. In FIG. 1, the device indicated by reference numeral 1 is a device such as a robot, and the encoders 3, 3a having a case covering an encoder body having a well-known detection unit or the like on each axis 2, 2a, 2n of this device 1. , 3n are attached respectively, and the encoder main body of each encoder 3, 3a, 3n has a well-known battery backup (having a memory) or a non-volatile readable memory (EEPROM) (EEPROM) which is not shown.

【0011】

The common bus lines 4, 4a connecting the encoders 3, 3a, 3n of the device 1 are connected to the pair of input terminals 7, 7a of the control panel 6 via the pair of transmission lines 5, 5a. A request / serial data signal 8 can be input to one input terminal 7, and a request / serial data bar signal 8a can be input to the other input terminal 7a.

【0012】

Next, the operation will be described. First, functional specifications such as axis number of each encoder 3, 3a, 3n connected to each axis 2, 2a, 2n of device 1, multi-rotation resolution according to stroke of each axis 2, 2a, 2n, one-rotation decomposition, etc. Is input to the memory of each encoder 3, 3a, 3n via the request / serial data signal 8 from the control panel 6, and the functional specifications of each encoder 3, 3a, 3n are set as set.

【0013】

When the device 1 is operated in the above-mentioned state, the rotation information of each axis 2,2a, 2n is sequentially or arbitrarily sent to the control panel 6 side via each encoder 3,3a, 3n and the common bus line 5,5a. Can be taken out. Further, for example, when the operating range of the device 1 is converted, the above-mentioned functional specifications of the encoders 3, 3a, and 3n are changed, and it is desired to obtain a signal having a content different from the content of the encoder signal that has been output so far. Can be easily achieved by resetting the above settings with the request / serial data bar signal 8a and again changing to the contents of the memory with different functional specifications by the request / serial data 8. ..

【0014】

Further, according to the present invention, not only one-sided communication but also two-way communication between the encoders 3, 3a, 3n and the control panel 6 on the receiving side can be performed, and the writing mode by another code can be used. It is possible to change the setting by using the setting change code at the time of multi-rotation control, prevent the reduction of the set value set by using EEPROM, and the like.

【0015】

[Effect of the invention]

Since the encoder signal output method and the encoder according to the present invention are configured as described above, the following effects can be obtained. That is, since the encoder output of the encoder provided on each axis is commonly taken out via the common bus line, only two transmission lines are used during multi-axis control, and significant line saving can be achieved compared to the conventional method. .. In addition, since the optimum resolution for the stroke of each axis can be freely set for the memory in each encoder, it can be completed with one type of hardware configuration and software writing at the time of encoder manufacturing, and the efficiency of encoder manufacturing can be achieved. Can be improved.

[Simple explanation of drawings]

[Figure 1]

Configuration diagram showing the encoder according to the present invention [Explanation of symbols]

2,2a, 2n axis 3,3a, 3n encoder 5,5a Common bus line