ABSOLUTE POSITION ENCODER


Description: Technical Field The present invention relates to a position encoder, and more particularly to an absolute position encoder capable of complying with high speed rotations. Background Art Position encoders have been extensively employed as a position detector in a computerized numerical controller (CNC) or a robot controller. Absolute position encoders have particularly been extensively employed as they are capable of accurately detecting position data even after a power supply is again turned on. Conventional absolute position encoders which detect absolute positions are supplied with absolute data only from absolute code pattern formed in a code disk. The absolute code pattern requires a plurality of parallel patterns and is thus complex as compared with an incremental code pattern. Accordingly, with the conventional absolute position encoders, it has been difficult in the case of high speed rotations to simultaneously read all the codes due to variations in delay time of detection circuits for detecting the plurality of parallel code patterns, hence a problem exist in that those encoders cannot comply with high speed rotations. Document WO-A-86/06895 discloses an absolute position encoder which includes a linear code member having absolute and incremental patterns which are sensed by light source/detector combinations. The encoder further includes a counter (microprocessor) which counts the incremental pulses, but also registers the absolute data extracted from the absolute code pattern. The position data is then output via associated circuitry. This known encoder effectively combines the incremental and absolute codes to continually provide a single 10 bit code with the 5 most significant bits being provided by the absolute and the remaining 5 least significant bits being provided by the incremental code. A similar interpolation is performed in the encoder disclosed in document EP-A-0 286 322, which falls within the terms of Article 54(3) EPC. This encoder encodes angular position and has separate absolute and incremental code patterns. The sensor in particular includes an initialization circuit which upon power supply generates a signal such that it effectively functions as a power supply ON detection circuit. The "initialization" signal is output to the counter causing absolute data to be input into the preset counter. According to a first aspect of the present invention, there is provided an absolute position encoder for outputting position data as absolute data, the encoder comprising: a code member having an absolute code pattern of incremental tracks of varying resolution and an incremental code pattern which includes at least part of the absolute code pattern; a detection means for detecting incremental pulses from the incremental code pattern, and data representative of absolute position from the absolute code pattern, the detection means including light emitting devices and light receiving devices which receive the light from the emitting devices via said incremental code pattern and said absolute code pattern; a counter which is connected so as to be preset in response to a signal from a power supply ON detection circuit with data representative of absolute position as detected by the detection means and which in operation counts said incremental pulses with respect to said preset data; and, an output circuit for outputting contents of said counter as the absolute data. According to a second aspect of the present invention, there is provided an absolute position encoder for outputting position data as absolute data, the encoder comprising: a linear code member for encoding linear position data, the linear code member having an absolute code pattern and an incremental code pattern; a detection means for detecting incremental pulses from the incremental code pattern, and data representative of absolute position from the absolute code pattern, the detection means including light emitting devices and light receiving devices which receive the light from the emitting devices via said incremental code pattern and said absolute code pattern; a counter which is connected so as to be preset in response to a signal from a power supply ON detection circuit with data representative of absolute position as detected by the detection means and which in operation counts said incremental pulses with respect to said preset data; and, an output circuit for outputting contents of said counter as the absolute data. When a power supply is turned on, the absolute position data extracted from the absolute code pattern is set to the counter, whereby the counter is loaded with the absolute data. After the absolute data has been set, the incremental pulses extracted from the incremental code pattern are counted and the contents of the counter are updated. Accordingly, the counter retains the absolute data. This data is outputted to a computerized numerical controller (CNC) or a robot controller as absolute data. Brief Description of the Drawings Fig. 1 is a block diagram showing an absolute rotary encoder according to one embodiment of the invention; Fig. 2 is a schematic diagram illustrating an arrangement of the absolute rotary encoder according to the embodiment of the invention; Fig. 3(a) shows an example of a code pattern; Fig. 3(b) shows light receiving windows of detecting elements; Fig. 3(c) shows an output signal from the absolute pattern; Fig. 4 shows changing absolute codes; and Figs. 5(a) and 5(b) are diagrams illustrating relationships between incremental codes and incremental pulses. Best Mode for Carrying Out the Invention An embodiment of the present invention will now be described with reference to the accompanying drawings. Fig. 1 is a block diagram showing an absolute rotary encoder according to the embodiment of the invention. In the figure, a code disk 5 has a lower surface on which an absolute code pattern 6 and an incremental code pattern 7 ore printed. Lights emitted from LEDs 8a, 8b are irradiated onto the code disk 5 and the lights which have passed through the code patterns 6, 7 are received respectively at detecting elements 3, 4, each comprising, for example, a photodiode. An absolute code signal (AC signal) and an incremental code signal (IC signal) are outputted from the detecting elements 3, 4, respectively. Details of the code disk 5, absolute code pattern 6, etc. will be described later. A detection circuit A denoted by reference numeral 11 receives a minute absolute code signal (AC signal), in which the minute signal is amplified and is then subjected to waveform shaping whereupon an absolute position data signal (AD signal) is outputted therefrom. Another detection circuit B denoted by reference numeral 12 receives a minute incremental code signal (IC signal), in which the minute signal is amplified and is then subjected to waveform shaping. The detection circuit B selectively outputs a plus incremental pulse (+IP) and a minus incremental pulse (-IP) depending upon the rotational direction of the rotary encoder. A power supply ON detection circuit 13 outputs a preset signal (PR signal) when a power supply is turned on. A counter 14 presets the absolute data fed from the detection circuit A 11 in response to a preset signal (PR signal) from the power supply ON detection circuit 13. Thereafter, the counter 14 counts the plus incremental pulses (+IP) and the minus incremental pulses (-IP) both fed from the detection circuit B 12. Specifically, the counter 14 counts up the plus incremental pulse (+IP) and counts down the minus incremental pulse (-IP). The format of the count code of the counter 14 agrees with that of the absolute code to be described later. A transferring circuit 15 outputs the contents of the counter 14 as absolute data to a computerized numerical controller (CNC) or a robot controller. As described, the absolute data is preset in the counter 14 when the power supply is turned on and the counter 14 counts the incremental pulses. Therefore, an accurate pulse counting is ensured even at the time of high speed rotations of the rotary encoder, and the output of the absolute data is also ensured. Next, an arrangement of the absolute rotary encoder will be described. Fig. 2 schematically illustrates the arrangement of the absolute rotary encoder according to one embodiment of the invention. In the figure, a base portion 1 is fixed to a frame (not shown) of the absolute rotary encoder. A shaft 2 is coupled directly or through gears to the rotational shaft of a servo motor. Light detecting elements 3, 4, such as photodiodes, are mounted on the base portion 1, which receive the lights having passed through the absolute code pattern 6 and the incremental code pattern 7 and output the absolute code signal and the incremental code signal, respectively. Denoted by reference numeral 5 is the code disk 5, the lower surface of which is circumferentially formed with the absolute code pattern 6 and the incremental code pattern 7 by, for example, etching. Light emitting diodes 8a, 8b emit lights which are irradiated through the absolute code pattern 6 and the incremental code pattern 7 formed on the lower surface of the code disk onto the detecting elements 3, 4 to thereby output the absolute code signal (AC signal) and the incremental code signal (IC signal) dependent upon the rotational position and the amount of rotations of the shaft 2. A code pattern is exemplified in Fig 3(a). In the figure, the code pattern formed in the circumferential direction is linearly exploded for the sake of easy understanding. Hatched segments indicate light transmissive portions. In Fig. 3(b), there are shown light receiving windows for the detecting elements 3, 4, and in Fig. 3(c), there are shown output signals from the detecting elements. In the code pattern as exemplified, the absolute code is formed with five signals consisting of CH1A, CH1B, CH2, CH3 and CH4. The incremental code has the same code pattern arrangement as CH1A and CH1B, but CH1A and CH1B are commonly usable depending upon the situation. Fig. 4 shows a sequence of the absolute codes, in which the code sequentially changes downwardly as the absolute rotary encoder rotates in clockwise direction. This code pattern agrees with the code in the interior of the counter 14. Although a plurality of code patterns are actually required because of the need for the number of columns in the absolute value, only a partial code pattern is shown herein for the purpose of simplification. A relationship between the incremental code and the incremental pulse is shown in Figs. 5(a) and 5(b). Fig. 5(a) shows such a relationship where the absolute rotary encoder rotates in clockwise direction, in which case the plus incremental pulse is outputted. Fig. 5(b) also shows such a relationship where the absolute rotary encoder rotates in counterclockwise direction, in which case the minus incremental pulse is outputted. As those pulses are applied to the counter 14, the latter effects up-counting or down-counting. Although the above-described embodiment is directed to the absolute rotary encoder, the present invention is also applicable to an absolute linear encoder. The absolute linear encoder has a linearly extending code plate, so that the one shown in Fig. 3(a) is used as the code plate. The number of the pattern codes and the pattern format as described above are non-limitative example, and a various number of the pattern codes and a desired pattern format can be selected as the case commands. As described, according to the present invention, since the absolute code pattern is preset when the power supply is turned on and the incremental pulses are counted during rotations, accurate absolute data can be outputted even during a high speed rotation.

Claims: An absolute position encoder for outputting position data as absolute data, the encoder comprising: a code member (5) having an absolute code pattern (6) of incremental tracks of varying resolution and an incremental code pattern (7) which includes at least part of the absolute code pattern (6); a detection means for detecting incremental pulses from the incremental code pattern, and data representative of absolute position from the absolute code pattern, the detection means including light emitting devices (8a,8b) and light receiving devices (3,4) which receive the light from the emitting devices via said incremental code pattern and said absolute code pattern; a counter (14) which is connected so as to be preset in response to a signal from a power supply ON detection circuit (13) with data representative of absolute position as detected by the detection means and which in operation counts said incremental pulses with respect to said preset data; and, an output circuit (15) for outputting contents of said counter as the absolute data. An absolute position encoder according to claim 1, wherein said code member is a rotary disk (5) encoding rotational position data. An absolute position encoder according to claim 1, wherein said code member (5) is a linear code member encoding linear position data. An absolute position encoder for outputting position data as absolute data, the encoder comprising: a linear code member (5) for encoding linear position data, the linear code member having an absolute code pattern (6) and an incremental code pattern (7); a detection means for detecting incremental pulses from the incremental code pattern, and data representative of absolute position from the absolute code pattern, the detection means including light emitting devices (8a,8b) and light receiving devices (3,4) which receive the light from the emitting devices via said incremental code pattern and said absolute code pattern; a counter (14) which is connected so as to be preset in response to a signal from a power supply ON detection circuit (13) with data representative of absolute position as detected by the detection means and which in operation counts said incremental pulses with respect to said preset data; and, an output circuit (15) for outputting contents of said counter as the absolute data. An absolute position encoder according to claim 4, wherein the absolute code pattern (6) consists of incremental tracks of varying resolution and the incremental code pattern (7) includes at least part of said absolute code pattern (6).

Inventors: SAKANO TETSURO FANUC MANSION H, SAKANO, TETSURO FANUC MANSION HARIMOMI 3-103
Applicants: FANUC LTD, FANUC LTD.
Application year: 1988
Main classification: G01D5
IPC codes: H03M1, G01D5