Encoder, servo motor, and servo system

Patent metadata

Field	Value
Publication number	US-11566920-B2
Application number	US-202016931493-A
Country	US
Kind code	B2
Filing date	Jul 17, 2020
Priority date	Jul 19, 2019
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

An encoder includes a scale and a sensor. The scale has first and second absolute patterns. The sensor includes a light source, and first and second absolute light receivers. The first and second absolute light receivers receive light from the first and second absolute patterns, respectively. The first absolute light receiver receives light from the first pattern and includes first and second light receiving elements. Each first light receiving elements outputs a first signal with a first phase. Each second light receiving elements outputs a first signal with a second phase. The first and second light receiving elements are arranged alternately. The second absolute light receiver includes third and fourth light receiving elements. Each third light receiving element outputs a second signal with the first phase. The third and fourth light receiving elements are arranged alternately. Each fourth light receiving element outputs a second signal with the second phase.

First claim

What is claimed as new and desired to be secured by Letters Patent of the United States is:

1. An encoder comprising:
a scale being movable along a measurement direction and having a first absolute pattern and a second absolute pattern that are provided along the measurement direction;
a sensor configured to measure the first absolute pattern and a second absolute pattern when the scale moves along the measurement direction, the sensor comprising:
a light source configured to emit light to the scale;
a first absolute light receiver configured to receive the light transmitted through or reflected on the first absolute pattern of the scale, the first absolute light receiver comprising:
a plurality of first light receiving elements each configured to output a first absolute signal with a first phase when each of the plurality of first light receiving elements receives the light transmitted or reflected; and
a plurality of second light receiving elements each configured to output a first absolute signal with a second phase different from the first phase when each of the plurality of second light receiving elements receives the light transmitted or reflected, each of the plurality of first light receiving elements and each of the plurality of second light receiving elements being arranged alternately along the measurement direction; and

a second absolute light receiver provided opposite to the first absolute light receiver with respect to an optical axis of the light source and configured to receive the light transmitted through or reflected on the second absolute pattern, the second absolute light receiver comprising:
a plurality of third light receiving elements each configured to output a second absolute signal with the first phase when each of the plurality of third light receiving elements receives the light transmitted or reflected; and
a plurality of fourth light receiving elements each configured to output a second absolute signal with the second phase when each of the plurality of fourth light receiving elements receives the light transmitted or reflected, each of the plurality of third light receiving elements and each of the plurality of fourth light receiving elements being arranged alternately along the measurement direction;

a first signal combiner configured to combine the first absolute signal having the first phase with the second absolute signal having the first phase to generate a first phase signal;
a second signal combiner configured to combine the first absolute signal having the second phase with the second absolute signal having the second phase to generate a second phase signal; and
a signal processing circuit,
wherein the scale has an incremental pattern provided along the measurement direction,
wherein the sensor comprises an incremental light receiver provided between the first absolute light receiver and the second absolute light receiver, the incremental light receiver being configured to receive the light emitted from the light source and transmitted through or reflected on the incremental pattern and configured to output an incremental signal,
wherein the incremental pattern has a first incremental pattern and a second incremental pattern shorter in pitch than the first incremental pattern,
wherein the incremental light receiver comprises
a first incremental light receiver configured to receive the light transmitted through or reflected on the first incremental pattern, and configured to output a first incremental signal, and
a second incremental light receiver provided opposite to the first incremental light receiver with respect to the optical axis, the second incremental light receiver being configured to receive the light transmitted through or reflected on the second incremental pattern and configured to output a second incremental signal, and

wherein the signal processing circuit comprises
a signal selection circuit configured to select the first phase signal or the second phase signal based on the first incremental signal, and
a position data generation circuit configured to, based on the first phase signal or the second phase signal selected by the signal selection circuit, generate position data indicating an absolute position.

2. The encoder according to claim 1 ,
wherein the signal processing circuit comprises a reference signal generation circuit configured to generate a reference incremental signal based on the first incremental signal and the second incremental signal, and
wherein the signal selection circuit is configured to select the first phase signal or the second phase signal based on the reference incremental signal.

3. The encoder according to claim 1 , wherein the first absolute light receiver is configured to output the first absolute signal such that the first absolute signal is substantially same in size to the second absolute signal output from the second absolute light receiver.

4. The encoder according to claim 3 ,
wherein the first absolute light receiver has a first light receiving area in which a first amount of the light is received, and
wherein the second absolute light receiver has a second light receiving area in which a second amount of the light is received, the second amount of the light being approximately equal to the first amount of the light.

5. The encoder according to claim 1 ,
wherein the scale comprises a disc on which the first absolute pattern and the second absolute pattern are provided along a circumferential direction of the disc around a disc center of the disc, and
wherein the sensor is configured to measure the first absolute pattern and the second absolute pattern along the circumferential direction.

6. A servo motor comprising:
a motor comprising a stator and a movable member movable rotationally or linearly relative to the stator along a measurement direction; and
the encoder according to claim 1 , the encoder being configured to detect at least one of a position, a speed, and an acceleration of the movable member.

7. A servo system comprising:
a motor comprising a stator and a movable member movable rotationally or linearly relative to the stator along a measurement direction;
the encoder according to claim 1 , the encoder being configured to detect at least one of a position, a speed, and an acceleration of the movable member; and
a control apparatus configured to control the motor based on the at least one of the position, the speed, and the acceleration of the movable member detected by the encoder.

8. The encoder according to claim 2 , wherein the first absolute light receiver is configured to output the first absolute signal such that the first absolute signal is substantially same in size to the second absolute signal output from the second absolute light receiver.

9. An encoder comprising:
a scale being movable along a measurement direction and having a first absolute pattern and a second absolute pattern that are provided along the measurement direction; and
a sensor configured to measure the first absolute pattern and a second absolute pattern when the scale moves along the measurement direction, the sensor comprising:
a light source configured to emit light to the scale;
a first absolute light receiver configured to receive the light transmitted through or reflected on the first absolute pattern of the scale, the first absolute light receiver comprising:
a plurality of first light receiving elements each configured to output a first absolute signal with a first phase when each of the plurality of first light receiving elements receives the light transmitted or reflected; and
a plurality of second light receiving elements each configured to output a first absolute signal with a second phase diff

Assignees

• Yaskawa Electric Corp

Inventors

• Takada Hiroshi
• Yoshida Yasushi
• Yoshidomi Shiro
• Harada Masanobu
• Matsutani Yasuhiro
• Furukawa Daisuke

Classifications

• G05B19/358

  with a combination of feedback covered by G05B19/353 - G05B19/356 · CPC title

• G01D5/34792

  with only digital scales or both digital and incremental scales · CPC title

• G01D5/3473

  Circular or rotary encoders · CPC title

• G01D5/34715 Primary

  Scale reading or illumination devices · CPC title

• G01D5/24457

  Failure detection · CPC title