ENCODER SIGNAL PROCESSOR HAVING AUTOMATIC ADJUSTMENT FUNCTION

• US 20160252375A1
• Filed: 02/25/2016
• Published: 09/01/2016
• Est. Priority Date: 02/27/2015
• Status: Active Grant

• Current Assignee: Fanuc Corporation
• Original Assignee: Fanuc Corporation
• Inventors: Hayashi, Takurou, Kikuchi, Hirofumi
• Granted Patent: US 10,309,804 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01D 5/24495 using previous values

Abstract

An encoder signal processor comprises an analog signal adjustment circuit for adjusting, based on an adjusting signal, at least one of an offset and an amplitude of a sinusoidal analog signal with two phases having a 90-degree difference outputted in accordance with a travel of a target to be measured, a position detection circuit for calculating position data of a target to be measured based on a digital signal obtained through analog/digital conversion of an analog signal adjusted, a velocity change amount detection circuit for detecting a change amount of velocity per predetermined detection cycle from a velocity calculated based on position data outputted while a target to be measured is traveling at a constant velocity, and an adjusting signal generation circuit for generating an adjusting signal that minimizes the change amount of velocity detected and transmitting the adjusting signal to the analog signal adjustment circuit.

Claims

1. An encoder signal processor comprising:

an analog signal adjustment circuit for adjusting, based on an adjusting signal received, at least one of an offset and an amplitude of a sinusoidal analog signal with two phases having a 90-degree difference outputted in accordance with a travel of a target to be measured;

a position detection circuit for calculating position data of a target to be measured based on a digital signal obtained through analog/digital conversion of an analog signal adjusted by the analog signal adjustment circuit;

a velocity change amount detection circuit for detecting a change amount of velocity per predetermined detection cycle from a velocity calculated based on position data outputted from the position detection circuit while a target to be measured is traveling at a constant velocity; and

an adjusting signal generation circuit for generating an adjusting signal that minimizes the change amount of velocity detected by the velocity change amount detection circuit and transmitting the adjusting signal to the analog signal adjustment circuit.

2. The encoder signal processor according to claim 1, wherein the analog signal adjustment circuit comprises variable resistors each having a resistance value that is adjusted to converge to a resistance value specified by an adjusting signal or a provisional adjusting signal received, and wherein

in conjunction with the adjustment of the resistance value of a variable resistor, at least one of an offset and an amplitude of a sinusoidal analog signal are adjusted with two phases having a 90-degree difference.

3. The encoder signal processor according to claim 2, wherein the variable resistors are individually provided to adjust each of an offset and an amplitude of a single-phase sinusoidal analog signal with one of the two phases having a 90-degree difference of a two-phase sinusoidal analog signal, and wherein

the adjusting signal and the provisional adjusting signal specify the variable resistors to be adjusted and the target resistance value of the variable resistors.

4. The encoder processor according to claim 3, wherein the adjusting signal generation circuit comprises:

a velocity change amount comparison unit for comparing a change amount of velocity detected by the velocity change amount detection circuit with a change amount of velocity detected in a first preceding detection cycle of detection of the change amount of velocity;

a provisional adjusting signal determination unit for determining a provisional adjusting signal based on the change amount of velocity detected by the velocity change amount detection circuit in the detection cycle and transmitting the provisional adjusting signal to the analog signal adjustment circuit, wherein when the velocity change amount comparison unit has determined that the change amount of velocity detected by the velocity change amount detection circuit is smaller than the change amount of velocity detected in a first preceding detection cycle, the provisional adjusting signal determination unit adds the same shift amount as that used for determination of the provisional adjusting signal in the first preceding detection cycle to a resistance value specified by the provisional adjusting signal in the first preceding detection cycle and transmits the resulting signal as a provisional adjusting signal in the current detection cycle to the analog signal adjustment circuit, and wherein when the velocity change amount comparison unit has determined that the change amount of velocity detected by the velocity change amount detection circuit is larger than the change amount of velocity detected in a first preceding detection cycle, the provisional adjusting signal determination unit subtracts the same shift amount as that used for determination of the provisional adjusting signal in the first preceding detection cycle from the resistance value specified by the provisional adjusting signal in the first preceding detection cycle, adds a shift amount different from the shift amount and transmits the resulting signal as a provisional adjusting signal in the current detection cycle to the analog signal adjustment circuit, or transmits an adjusting signal in which the variable resistor to be adjusted is changed to the analog signal adjustment circuit; and

an adjustment signal confirmation unit for confirming as an adjusting signal a provisional adjusting signal transmitted from the provisional adjusting signal determination unit to the analog signal adjustment circuit when the change amount of velocity detected by the velocity change amount detection circuit has converged to a predetermined value.

5. The encoder signal processor according to claim 4, further comprising:

a storage circuit including a first storage area for storing a set of the change amount of velocity detected by the velocity change amount detection circuit and the provisional adjusting signal transmitted to the analog signal adjustment circuit when the change amount of velocity was detected; and

a second storage area for storing a predefined provisional adjusting signal as a candidate to be transmitted to the analog signal adjustment circuit;

wherein

the velocity change amount comparison unit compares the change amount of velocity detected by the velocity change amount detection circuit with the change amount of velocity stored in the first storage area, the change amount of velocity detected in a first preceding detection cycle of detection of the change amount of velocity, wherein

when the velocity change amount comparison unit has determined that the change amount of velocity detected by the velocity change amount detection circuit is smaller than the change amount of velocity detected in the first preceding detection cycle, the provisional adjusting signal determination unit transmits to the analog signal adjustment circuit a provisional adjusting signal stored in the second storage area specifying the resistance value adjusted by the same change amount as that of the resistance value between the provisional adjusting signal in a second preceding detection cycle and the provisional adjusting signal in the first preceding detection cycle stored in the first storage area, and wherein

when the velocity change amount comparison unit has determined that the change amount of velocity detected by the velocity change amount detection circuit is larger than the change amount of velocity detected in the first preceding detection cycle, the provisional adjusting signal determination unit transmits to the analog signal adjustment circuit a provisional adjusting signal in the second storage area specifying a change amount different from the change amount of the resistance value between the provisional adjusting signal in a second preceding detection cycle and the provisional adjusting signal in the first preceding detection cycle stored in the first storage area.

6. The encoder signal processor according to claim 4, wherein when the amplitude of an analog signal with one of the two phases having a 90-degree difference of a two-phase sinusoidal analog signal is in the vicinity of zero, the adjusting signal generation circuit generates a provisional adjusting signal for adjusting at least one of an offset and an amplitude of an analog signal with the other phase and transmits the provisional adjusting signal to the analog signal adjustment circuit.

7. The encoder signal processor according to claim 2, further comprising a command circuit for commanding the adjusting signal generation circuit to stop generation of an adjusting signal when the change amount of velocity detected by the velocity change amount detection circuit is smaller than a first predefined threshold, and for commanding the adjusting signal generation circuit to start generation of an adjusting signal when the change amount of velocity detected by the velocity change amount detection circuit is larger than a second threshold exceeding the first predefined threshold.

8. The encoder signal processor according to claim 7, wherein the command circuit commands the adjusting signal generation circuit to start generation of an adjusting signal when the change amount of velocity detected by the velocity change amount detection circuit is larger than the first threshold and an adjusting start signal is received from the outside or when the change amount of velocity detected by the velocity change amount detection circuit is larger than the second threshold.

9. The encoder signal processor according to claim 7, further comprising:

a monitoring unit for monitoring whether a monitoring target value as at least one of an offset and an amplitude of an analog signal adjusted by the analog signal adjustment circuit drops below a predefined third threshold or exceeds a fourth threshold that is larger than the third threshold, in a time interval after a command to start generation of an adjusting signal is received from the command circuit until the adjusting signal generation circuit is commanded to start generation of an adjusting signal;

a preadjustment unit for transmitting to the variable resistor a signal for adjusting the resistance value by a predetermined amount to cause the monitoring target value to increase until the monitoring target value exceeds the third threshold when the monitoring target value has dropped below the third threshold and for transmitting to the variable resistor a signal for adjusting the resistance value by a predetermined amount to cause the monitoring target value to decrease until it drops below the fourth threshold when the monitoring target value has exceeded the fourth threshold; and

a setting unit for setting, as a new predetermined amount used by the preadjustment unit, a value smaller than the predetermined amount used to adjust the monitoring target value each time the monitoring target value has dropped below the third threshold or has exceeded the fourth threshold;

wherein

the command circuit commands starting generation of an adjusting signal when the monitoring target value has settled between the third threshold and the fourth threshold.

10. The encoder signal processor according to claim 1, wherein the velocity change amount detection circuit comprises:

a velocity calculation unit for calculating a velocity V(m) based on

11. The encoder signal processor according to claim 1, comprising:

The predetermined detection cycle may be an integral multiple of the cycle of a sinusoidal analog signal with two phases having a 90-degree difference.