Encoder, servo motor, servo system, and encoder control method

Patent metadata

Field	Value
Publication number	US-12422244-B2
Application number	US-202418643946-A
Country	US
Kind code	B2
Filing date	Apr 23, 2024
Priority date	Apr 9, 2021
Publication date	Sep 23, 2025
Grant date	Sep 23, 2025

Abstract

An encoder includes: an optical module that detects angular position information indicating an angular position of a rotating disk within one rotation thereof; a magnetic detecting unit that detects multi-rotation information indicating the number of rotations of the disk; a battery that supplies a power to the magnetic detecting unit when an external power is not supplied to the encoder; and a connector that connects connection terminals of the battery to a substrate to which at least one of the optical module and the magnetic detecting unit is connected, via solders in contact with the connection terminals.

First claim

What is claimed is:

1. An encoder comprising:
an angular position information detector configured to detect angular position information indicating an angular position of a rotating disk within one rotation thereof;
a multi-rotation information detector configured to detect multi-rotation information indicating a number of rotations of the disk;
a battery configured to supply a power to the multi-rotation information detector when an external power is not supplied to the encoder; and
a single processor,
wherein the single processor executes a process of switching between supply of the power from the battery to the multi-rotation information detector and stop of the supply, and a process of performing a predetermined arithmetic process based on the multi-rotation information detected by the multi-rotation information detector,
the power is supplied through the processor from the battery to the multi-rotation information detector to detect the multi-rotation information, when the external power is not supplied, and
the processor stops the supply of the power from the battery to the multi-rotation information detector, after acquiring the multi-rotation information from the multi-rotation information detector.

2. The encoder according to claim 1 , further comprising:
a substrate, on which at least the multi-rotation information detector, the battery, and the single processor are mounted; and
a connector configured to directly connect a connection terminal of the battery to the substrate via a solder in contact with the connection terminal.

3. The encoder according to claim 1 , wherein the processor executes, as the predetermined arithmetic process,
generating first position data of the disk based on at least one of the angular position information and the multi-rotation information, when the external power is supplied, and
generating second position data of the disk based on the multi-rotation information detected by the multi-rotation information detector using the power supplied from the battery, when the external power is not supplied.

4. The encoder according to claim 1 , wherein the processor stops the supply of the power from the battery to the multi-rotation information detector before starting the predetermined arithmetic process.

5. The encoder according to claim 1 , further comprising:
a non-volatile memory capable of recording and reading data and maintaining recorded contents even when the power is OFF,
wherein the processor records a result of the predetermined arithmetic process in the non-volatile memory.

6. The encoder according to claim 1 , wherein when a supply of the external power is stopped, the processor enters a sleep mode by the power from the battery, and stops the supply of the power to the multi-rotation information detector in the sleep mode.

7. The encoder according to claim 6 , further comprising:
an electric signal generator configured to generate an electric signal in response to a rotation of the disk,
wherein the processor receives the electric signal to be restored from the sleep mode and start the supply of the power to the multi-rotation information detector.

8. The encoder according to claim 1 , wherein the battery is a secondary battery that is usable repeatedly by being charged, and
when a state where the external power is not supplied is restored to a state where the external power is supplied, the processor executes a process of detecting an abnormality of the battery, with reference to information recorded by performing the process of detecting an abnormality of the battery based on a voltage of the battery when the external power is not supplied.

9. The encoder according to claim 8 , wherein the battery is an all-solid-state battery having a solid electrolyte.

10. The encoder according to claim 9 , further comprising:
a charger configured to charge the all-solid-state battery when the external power is supplied, and to stop the charging of the all-solid-state battery when the external power is not supplied.

11. The encoder according to claim 10 , further comprising:
a rectifier electrically connected between the charger and the all-solid-state battery, and configured to regulate a current direction to a direction from the charger toward the all-solid-state battery.

12. The encoder according to claim 10 , wherein the processor generates position data of the disk based on at least one of the angular position information and the multi-rotation information, when the external power is supplied, and
the charger and the processor are connected to a power supply line of the external power, to be electrically parallel with each other.

13. The encoder according to claim 1 , further comprising:
a connector configured to directly connect a connection terminal of the battery to a substrate by a solder.

14. A servo system comprising:
a motor in which a rotor rotates around a stator;
the encoder of claim 1 configured to detect at least one of a position, speed, and acceleration of the rotor; and
a controller configured to control the motor based on a detection result of the encoder.

Assignees

• Yaskawa Electric Corp

Inventors

• Inoue Ryo
• Murokita Ikuma
• Sadakane Kenichi
• Harada Masanobu
• Arinaga Yuji
• Matsutani Yasuhiro

Classifications

• H02J7/933

  the cycle being controlled or terminated in response to electric parameters · CPC title

• H02J7/865

  Battery or charger load switching, e.g. concurrent charging and load supply (H02J7/50 takes precedence) · CPC title

• Y02E60/10

  Energy storage using batteries · CPC title

• H01M10/46

  Accumulators structurally combined with charging apparatus (circuits for charging H02J7/00) · CPC title

• H01M10/0585

  of accumulators having only flat construction elements, i.e. flat positive electrodes, flat negative electrodes and flat separators · CPC title