POSITIONING SYSTEM

Abstract: The positioning system includes a pulse distributer (1), an instruction processing unit (2), a servo amplifier (3), a servo motor (4), an encoder (5) and a serial/parallel converter (7). The system controls the servo motor by comparing a feedback signal (6), from a position detector, with an instruction signal. The encoder consists of a pulse generator, an up/down counter and a parallel/serial converter, and gives a position signal in a serial binary code. This is fed back to the instruction processing unit via the serial/parallel converter.

Description: The present invention relates to a positioning system for use in a numerical control apparatus, a robot control apparatus, or the like, and more particularly to a positioning system which uses a feedback signal as a positional information signal to effect highly accurate and high-speed positioning operation. Conventional positioning systems have employed a pulse train having a certain weight as a feedback signal. One example of such an arrangement is shown in FIG. 3 of the accompanying drawings. Denoted in FIG. 3 at 1 is a pulse distributor for generating distribution pulses in response to a tape input or the like, 2 a command processor for comparing pulses from the pulse distributor 1 and feedback pulses to issue a servo command signal, 3 a servoamplifier responsive to a servo command signal from the command processor 2 for driving a servomotor 4 to actuate a movable unit (not shown), the servomotor 4 including an encoder 5 as a position detector coupled to the shaft of the servomotor 4 for generating feedback pulses 8 as a feedback signal, and 7 an up/down counter for counting feedback pulses 8, the count being read by the command processor 2. For numerical control apparatus and the like, there are demands for higher positioning accuracy and higher pulse distribution rate. The conventional systems find difficulty in meeting such demands. More specifically, the pulse distribution rate of the conventional systems is of the order of 1 MHz because of the characteristics of the transmission path for feedback pulses. The rate of the resolution "0.1 micron/pulse" at the pulse distribution rate is given by: 0.1. x 10⁻⁶ indicates a numerical value representing "0.1 micron/pulse" in terms of m (meter), 10⁶ indicates the transmission rate for feedback pulses (1 MHz expressed by pps), and 60 indicates a numerical value for conversion to a value per minute. From the above equation, the speed of movement of the movable unit is 6 m/minute, indicating a problem that a sufficiently high speed cannot be obtained. US-A-4086470 discloses a positioning system in which pulse signals are transmitted from an encoder to tachometer circuits, which analyse the pulse signals and transmit further signals to an up/down counter. It is an object of the present invention to provide a positioning system which will solve the aforesaid problems and is capable of high-speed positioning operation even at highly accurate resolution. According to the present invention, there is provided a positioning system comprising a servomotor rotatable in response to a servo command value for moving a movable unit, a position detector mounted on said servomotor or the movable unit and producing a signal indicative of the position of the servomotor or movable unit, positional information generating means responsive to the output of the position detector and producing a digital signal representing the actual position or change of position of the servomotor or movable unit, and command means for comparing the output signal of the positional information generating means with a command value to issue a servo command value to the servomotor, characterised in that: the positional information generating means is mounted together with said position detector on the servomotor or movable unit. Since the feedback signal is a positional information signal for the servomotor or the movable unit, this signal is read at given periods by a command processor which calculates the distance by which the movable unit is moved from a preceding positional information signal. For example, assuming that the resolution is 0.1 micron/pulse and the maximum range of movement of the movable unit is 100 m, the range may be expressed in the binary notation as follows: 100 ÷ (0.1 x 10⁻⁶) = 10⁹ ≈ 2³⁰ and hence can be represented in 30 bits. If the sampling period of the command processor is 1 ms, then the pulse transmission rate may be 30 bits per 1 ms, 30 (bits) ÷ 1 (ms) = 30 x 10³ (bits/s). Therefore, the feedback signal can be transmitted at a sufficiently low transmission rate. In the drawings: FIG. 1 is a block diagram of a positioning system according to an embodiment of the present invention; FIG. 2 is a block diagram of an encoder; and FIG. 3 is a block diagram of a conventional positioning system. An embodiment of the present invention will hereinafter be described in specific detail with reference to the drawings. FIG. 1 shows in block form a positioning system according to an embodiment of the present invention. Designated in FIG. 1 at 1 is a pulse distributor for generating distribution pulses in response to a tape input or the like, 2 a command processor for comparing pulses from the pulse distributor 1 and feedback pulses to issue a servo command signal, and 3 a servoamplifier responsive to a servo command signal from the command processor 2 for driving a servomotor 4 to actuate a movable unit (not shown), the servomotor 4 including an encoder 5 as a position detector coupled to the shaft of the servomotor 4. The encoder 5 includes a counter for counting the amount of movement, and a parallel-serial converter for converting the count of the counter to a serial signal. The servomotor 4 generates a feedback signal 6 indicative of the present position of the movable unit. The feedback signal 6 is shown here as an 8-bit signal for convenience. A serial-parallel converter 7 is responsive to the serial feedback signal 6 for converting the same to a parallel signal. The command processor 2 reads the parallel signal, i.e., the present position of the movable unit, calculates the difference between the present position thus read and the present position in the preceding cycle to detect the amount of movement of the movable unit, compares the detected amount of movement and a command value from the pulse generator 1 to find a servo command value, and then issue the servo command value. The arrangement of the encoder 5 will be described below. FIG. 2 shows the encoder 5 in block form. Denoted in FIG. 2 at 51 is an encoder proper for issuing pulses proportional to the amount of rotation of the servomotor, 52 an up/down counter for counting the pulses from the encoder proper and issues a value indicative of the count, and 53 a parallel-serial converter for reading the output from the up/down counter 52, converting the read output to a serial signal, and issuing the serial signal, which is shown as an 8-bit serial signal for convenience. Since the feedback signal is used as a present position signal in the present embodiment, the transmission rate for the feedback signal may be low as compared with the pulse feedback signal, and a wide choice is available of constants of filters for preventing noise in the transmission path, resulting in increased reliability of the transmission path. While the encoder coupled to the servomotor is used as a position detector in the above embodiment, the encoder may be coupled to a ball screw or the like of the movable unit separately from the servomotor. Instead of the encoder, a resolver, an electromagnetic linear scale, an optical linear scale, or the like may be employed as a position detector. The present position of the movable unit is used as a positional information signal in the above embodiment. However, the amount by which the movable unit is moved in a certain period of time may be detected by the encoder 5 and may be used as a positional information signal. With the present invention, as described above, the positioning feedback signal is used as a positional information signal representing positional information. Therefore, a high speed of movement is made possible at high resolution even if the transmission rate along the feedback transmission path is low. Moreover, the reliability of the transmission path for the feedback signal is increased.

Claims: A positioning system comprising a servomotor (4) rotatable in response to a servo command value for moving a movable unit, a position detector (5) mounted on said servomotor or the movable unit and producing a signal indicative of the position of the servomotor or movable unit, positional information generating means (5) responsive to the output of the position detector (5) and producing a digital signal representing the actual position or change of position of the servomotor or movable unit, and command means (2) for comparing the output signal of the positional information generating means (5) with a command value to issue a servo command value to the servomotor (4), characterised in that: the positional information generating means (5) is mounted together with said position detector (5) on the servomotor or movable unit. A positioning system according to claim 1 wherein the positional information signal is fed back as a serial signal. A positioning system according to claim 1 or claim 2, wherein the positional information generating means includes an encoder (51) and an up/down counter (52), the positional information signal being obtained by counting an output from the encoder.

Inventors: ISOBE, SHINICHI, KAGAWA, YOSHIMASA
Applicants: FANUC LTD.
Application year: 1987
Main classification: G05B19
IPC codes: G05B19, G05D3