JP2011141247A - 回転角度位置決め装置 - Google Patents
回転角度位置決め装置 Download PDFInfo
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- JP2011141247A JP2011141247A JP2010003258A JP2010003258A JP2011141247A JP 2011141247 A JP2011141247 A JP 2011141247A JP 2010003258 A JP2010003258 A JP 2010003258A JP 2010003258 A JP2010003258 A JP 2010003258A JP 2011141247 A JP2011141247 A JP 2011141247A
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- 238000001514 detection method Methods 0.000 claims abstract description 50
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/2449—Error correction using hard-stored calibration data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
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- General Physics & Mathematics (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Automatic Control Of Machine Tools (AREA)
- Numerical Control (AREA)
Abstract
【解決手段】
被検出リング8と、角度検出センサ9とを有する回転角度検出装置7と、回転角度が、与えられた回転角度指令値αとなるように回転軸を回転させる回転軸駆動装置10とを備えた回転角度位置決め装置6において、
前記被検出リング8における任意の1歯周期の補正分割点に対応する前記角度検出センサ9による検出回転角度と、実際の回転角度との誤差からなる1歯周期誤差パターンFを記憶する誤差パターン記憶部11aと、前記回転角度指令値αを前記1歯周期誤差パターンFに基づいて補正することにより回転角度補正指令値α2を求める指令値補正部11bとを備えた。
【選択図】 図1
Description
α1=α+E23
E23=E2+(E3−E2)×(α−60°)/30°
により求められる。
Ec1=E5+(E6−E5)×D
により演算される(図12参照)。
Ec1=0.003+0.002×0.4=0.0038 となる。
Fc2=F6+(F7−F6)×N
により演算される(図14参照)。
Fc2=−0.001+(−0.004+0.001)×0.4864・・=−0.0024594・・ となる。
8 被検出リング
8a 歯
9 角度検出センサ
7 回転角度検出装置
6 回転角度位置決め装置
10 駆動モータ(回転軸駆動装置)
E 1回転周期誤差パターン
F 1歯周期誤差パターン
11 コントローラ(誤差パターン記憶部,指令値補正部)
Claims (3)
- 回転軸に設けられ、所定ピッチで形成された複数の歯を有する被検出リングと、前記歯に対向するように配置され、該歯との距離に応じた出力を発生する角度検出センサとを有し、該角度検出センサからの前記出力に基づいて前記被検出リングの回転角度を求める回転角度検出装置と、
前記回転角度が、与えられた回転角度指令値となるように前記回転軸を回転させる回転軸駆動装置と
を備えた回転角度位置決め装置において、
前記被検出リングにおける任意の1歯周期の補正分割点に対応する前記角度検出センサによる検出回転角度と、実際の回転角度との誤差からなる1歯周期誤差パターンを記憶する誤差パターン記憶部と、
前記回転角度指令値を前記1歯周期誤差パターンに基づいて補正することにより回転角度補正指令値を求める指令値補正部と
を備えたことを特徴とする回転角度位置決め装置。 - 請求項1に記載の回転角度位置決め装置において、
前記誤差パターン記憶部は、前記1歯周期誤差パターン及び前記被検出リングを1回転させたときの前記角度検出センサによる検出回転角度と実際の回転角度との誤差からなる1回転周期誤差パターンを記憶し、
前記指令値補正部は、前記回転角度指令値を前記1回転周期誤差パターン及び前記1歯周期誤差パターンに基づいて補正することにより回転角度補正指令値を求める
ことを特徴とする回転角度位置決め装置。 - 請求項2に記載の回転角度位置決め装置において、
前記指令値補正部は、前記回転角度指令値を前記1回転周期誤差パターンに基づいて補正することにより第1回転角度補正指令値を求め、該第1回転角度補正指令値を前記1歯周期誤差パターンに基づいて補正することにより第2回転角度補正指令値を求める
ことを特徴とする回転角度位置決め装置。
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JP2010003258A JP5496690B2 (ja) | 2010-01-08 | 2010-01-08 | 回転角度位置決め装置 |
US13/115,936 US8560260B2 (en) | 2010-01-08 | 2011-05-25 | Rotation angle positioning device |
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Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012009837A1 (de) | 2011-06-24 | 2012-12-27 | Sumitomo Heavy Industries, Ltd. | Drehzahluntersetzungsgetriebe der oszillierenden inneneingreifenden Bauart |
CN104132672A (zh) * | 2013-05-02 | 2014-11-05 | 发那科株式会社 | 具备精度校正功能的编码器 |
JP2014232048A (ja) * | 2013-05-29 | 2014-12-11 | Dmg森精機株式会社 | 回転角度指令値の補正方法 |
JP2018532605A (ja) * | 2015-11-05 | 2018-11-08 | グリーソン − プァウター マシネンファブリク ゲーエムベーハー | 被加工物に歯部を作製または加工するための方法 |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5568005B2 (ja) | 2010-12-28 | 2014-08-06 | オークマ株式会社 | 工作機械の熱変位補正装置及び方法 |
JP6165541B2 (ja) * | 2013-07-26 | 2017-07-19 | Ntn株式会社 | 回転検出装置および回転検出装置付き軸受 |
JP7234737B2 (ja) * | 2019-03-28 | 2023-03-08 | 株式会社デンソー | 検出ユニット |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05288573A (ja) * | 1992-04-08 | 1993-11-02 | Yazaki Corp | 回転検出装置 |
JP2008145299A (ja) * | 2006-12-11 | 2008-06-26 | Mitsutoyo Corp | 回転変位補正装置、および、変位検出装置 |
JP2008249574A (ja) * | 2007-03-30 | 2008-10-16 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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JP3938501B2 (ja) * | 2001-10-16 | 2007-06-27 | 三菱電機株式会社 | 回転角度検出装置、それを用いた永久磁石型回転電機、及び、永久磁石型回転電機を用いた電動パワーステアリング装置 |
JP4589093B2 (ja) * | 2004-12-10 | 2010-12-01 | 日立オートモティブシステムズ株式会社 | 同期モータ駆動装置及び方法 |
JP2008086064A (ja) * | 2006-09-26 | 2008-04-10 | Jtekt Corp | ブラシレスモータ |
-
2010
- 2010-01-08 JP JP2010003258A patent/JP5496690B2/ja active Active
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- 2011-05-25 US US13/115,936 patent/US8560260B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH05288573A (ja) * | 1992-04-08 | 1993-11-02 | Yazaki Corp | 回転検出装置 |
JP2008145299A (ja) * | 2006-12-11 | 2008-06-26 | Mitsutoyo Corp | 回転変位補正装置、および、変位検出装置 |
JP2008249574A (ja) * | 2007-03-30 | 2008-10-16 | Ntn Corp | 回転検出装置および回転検出装置付き軸受 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012009837A1 (de) | 2011-06-24 | 2012-12-27 | Sumitomo Heavy Industries, Ltd. | Drehzahluntersetzungsgetriebe der oszillierenden inneneingreifenden Bauart |
CN104132672A (zh) * | 2013-05-02 | 2014-11-05 | 发那科株式会社 | 具备精度校正功能的编码器 |
DE102014006242A1 (de) | 2013-05-02 | 2014-11-06 | Fanuc Corporation | Messgeber mit Genauigkeitskorrekturfunktion |
JP2014219232A (ja) * | 2013-05-02 | 2014-11-20 | ファナック株式会社 | 精度補正機能を備えたエンコーダ |
DE102014006242B4 (de) * | 2013-05-02 | 2017-01-12 | Fanuc Corporation | Messgeber mit Genauigkeitskorrekturfunktion |
US10409670B2 (en) | 2013-05-02 | 2019-09-10 | Fanuc Corporation | Encoder with accuracy correction function |
JP2014232048A (ja) * | 2013-05-29 | 2014-12-11 | Dmg森精機株式会社 | 回転角度指令値の補正方法 |
DE102014210252A1 (de) | 2013-05-29 | 2014-12-24 | Dmg Mori Seiki Co., Ltd. | Verfahren zum Kompensieren eines Drehwinkel-Befehlswerts |
US9829349B2 (en) | 2013-05-29 | 2017-11-28 | Dmg Mori Seiki Co., Ltd. | Method of compensating command value for rotation angle |
JP2018532605A (ja) * | 2015-11-05 | 2018-11-08 | グリーソン − プァウター マシネンファブリク ゲーエムベーハー | 被加工物に歯部を作製または加工するための方法 |
JP7023226B2 (ja) | 2015-11-05 | 2022-02-21 | グリーソン - プァウター マシネンファブリク ゲーエムベーハー | 被加工物に歯部を作製または加工する方法、この方法を実行するコンピュータプログラム、及び、歯作製機械 |
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US20110320154A1 (en) | 2011-12-29 |
US8560260B2 (en) | 2013-10-15 |
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