Encoder and control apparatus for motor

• US 7,012,397 B2
• Filed: 02/18/2005
• Issued: 03/14/2006
• Est. Priority Date: 02/18/2004
• Status: Expired due to Fees

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Harada, Takashi, Horikoshi, Shinichi, Taniguchi, Mitsuyuki, Imai, Keisuke, Nagatomo, Ichirou
• Primary Examiner(s): IP, SHIK LUEN PAUL
• Application Number:
  US11/061,544
• Publication Number:
  US 20050182591A1
• Time in Patent Office: 389 Days
• Field of Search: 318600-608, 318616-618, 318/661, 318/594, 341/1, 341/11, 341/115, 341/116
• US Class Current: 318/601
• CPC Class Codes: H03M 1/109 for dc performance, i.e. static testing H03M1/1085 takes precedence
• CPC Class Codes: H03M 1/485 for position encoding, e.g. using resolvers or synchros

Abstract

In a control apparatus, a “characteristic value calculation” block calculates a characteristic value (such as amplitude value, offset value, or waveform distortion for each phase of two-phase sinusoidal signals optically input from an encoder, or phase difference between the two phase signals) for each of the two-phase sinusoidal signals, and an “alarm detection” block checks the presence or absence of an excursion outside a predetermined allowable range and, if such an excursion is detected, produces an alarm indication or the like. Each time the “present characteristic value” is input, a “characteristic value comparison” block compares it with “previous characteristic values”, and analyzes the result of the comparison. That is, the difference between the present value and each previous data is calculated, and the largest amount of variation (with plus or minus sign) is obtained; if this amount is larger than a predetermined value, a signal indicating an “imminent failure” is output. In an alternative method, the present value is compared with a characteristic value calculated from an encoder reference signal. Further, the characteristic value monitoring and comparison may be performed within the encoder. In this way, data useful for the prediction of encoder failure, etc. is provided.

Claims

1. An encoder to be attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, comprising:

storage means for storing an encoder signal characteristic value obtained from a digital quantity into which an analog encoder signal generated within the encoder has been converted;

comparison means for comparing the characteristic value stored in the storage means with a characteristic value obtained from a digital quantity into which a present encoder signal has been converted; and

means for notifying a comparison result output from the comparison means to a control apparatus of the motor.

2. An encoder as claimed in claim 1, wherein the analog encoder signal comprises two substantially sinusoidal signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

3. An encoder to be attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, comprising:

means for generating an analog encoder signal that serves as a reference;

storage means for storing a reference encoder signal characteristic value obtained from a digital quantity into which the reference encoder signal has been converted;

comparison means for comparing the characteristic value stored in the storage means with a characteristic value obtained from a digital quantity into which an analog encoder signal generated within the encoder has been converted; and

means for notifying a comparison result output from the comparison means to a control apparatus of the motor.

4. An encoder as claimed in claim 3, wherein the analog encoder signal comprises two substantially sinusoidal signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

5. An encoder to be attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, comprising:

means for generating an analog encoder signal that serves as a reference;

comparison means for comparing a characteristic value obtained from a digital quantity into which the reference encoder signal has been converted, with a characteristic value obtained from a digital quantity into which a present analog encoder signal generated within the encoder has been converted; and

means for notifying a comparison result output from the comparison means to a control apparatus of the motor.

6. An encoder as claimed in claim 5, wherein the analog encoder signal comprises two substantially sinusoidal signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

7. An encoder to be attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, comprising:

storage means for storing an encoder signal characteristic value obtained from a digital quantity into which an analog encoder signal generated within the encoder has been converted;

comparison means for comparing, at predetermined intervals of time, the characteristic value stored in the storage means with a characteristic value obtained from a digital quantity into which a present encoder signal has been converted; and

means for notifying a comparison result output from the comparison means to a control apparatus of the motor.

8. An encoder as claimed in claim 7, wherein the analog encoder signal comprises two substantially sinusoidal signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

9. A control apparatus which receives and analyzes an analog encoder signal generated within an encoder that is attached to a motor or a motor-driven apparatus and is used for detecting position information or speed information, and which thereby controls the motor, comprising:

storage means for storing an encoder signal characteristic value obtained from a digital quantity into which the encoder signal has been converted;

comparison means for comparing the characteristic value stored in the storage means with an encoder signal characteristic value obtained from a digital quantity into which a present analog encoder signal generated within the encoder has been converted; and

means for analyzing a comparison result output from the comparison means.

10. A control apparatus as claimed in claim 9, wherein the analog encoder signal comprises two substantially sinusoidal encoder signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

11. A control apparatus which receives and analyzes an analog encoder signal generated within an encoder that is attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, and which thereby controls the motor, comprising:

storage means for storing an encoder signal characteristic value obtained from a digital quantity into which an analog reference encoder signal that serves as a reference has been converted;

comparison means for comparing the characteristic value stored in the storage means with an encoder signal characteristic value obtained from a digital quantity into which a present analog encoder signal generated within the encoder has been converted; and

means for analyzing a comparison result output from the comparison means.

12. A control apparatus as claimed in claim 11, wherein the analog encoder signal comprises two substantially sinusoidal encoder signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

13. A control apparatus which receives and analyzes an analog encoder signal generated within an encoder that is attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, and which thereby controls the motor, comprising:

comparison means for comparing a reference encoder signal characteristic value obtained from a digital quantity into which an analog reference encoder signal that serves as a reference has been converted, with a characteristic value obtained from a digital quantity into which a present analog encoder signal generated within the encoder has been converted; and

means for analyzing a comparison result output from the comparison means.

14. A control apparatus as claimed in claim 13, wherein the analog encoder signal comprises two substantially sinusoidal encoder signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.

15. A control apparatus which receives and analyzes an analog encoder signal generated within an encoder that is attached to a motor or a motor-driven apparatus and used for detecting position information or speed information, and which thereby controls the motor, comprising:

storage means for storing an encoder signal characteristic value obtained from a digital quantity into which the encoder signal has been converted;

comparison means for comparing, at predetermined intervals of time, the characteristic value stored in the storage means with a characteristic value obtained from a digital quantity into which a present encoder signal has been converted; and

means for analyzing a comparison result output from the comparison means.

16. A control apparatus as claimed in claim 15, wherein the analog encoder signal comprises two substantially sinusoidal encoder signals approximately 90 degrees apart in phase, and

the characteristic value includes at least one value selected from values representing amplitude, offset, and waveform distortion of each of the two encoder signals and phase difference between the two encoder signals.