1250717 九、發明說明： 【發明所屬之技術領域】 一種以r可整除之步距運行定位的電機，尤指直接將目標步 距設定為r可整除之目標麵，即可簡綠得所需她步進電機 之轉子齒數·距度數’進醇確達朗達_定位及角度之偵 測。 【先前技術】 目鈉科技日新月異，利用馬達驅動技術之進步，廣泛使用於 傳統機具及精密機具等相關工業產品。而為了使馬達電機更為進 步，如何容錢測馬達轉軸位置歧之方法，仍為不斷努力之方 向。 —然而本發明人從事馬達電機近3〇年之經驗發現，目前電機 每^期運行之__ 1。所能歸之度數，所料論以何種方 夕:>、都k成偵測馬達轉動位置角度之不易及誤差。 人例如以目前穩定性極#，到定位時不會抖動之感應及永磁混 合式之HB錢電機每触為7· 2。時為例·· (1)—相HB步進電機整步每週期運行4個脈衝，每個脈衝18 ，半步每週期運行8個脈衝，每個脈衝〇· 9。。 ^ ^ \ 一 ―相HB步進電機整步每週期運行6個脈衝，每個脈衝1.2 ，半步每週期運行12個脈衝，每個脈衝〇· 6。。 ^ Q \ 四相Ηβ步進電機整步每週期運行8個脈衝，每個脈衝0. 9 ，半步每週期運行16個脈衝，每個脈衝〇· 45。。 5 1250717 ()五相®步進電機整步每週期運行個脈衝 ，每個脈衝〇. 72 。’·半步每週期運行20個脈衝 ，每個脈衝0· 36°。 (5)依上述類推..................... 由上述整步之脈衝有1.8。、1.2。、0.9。、0.72。等等，半 步之脈衝有〇·9、〇·6。、0·45。、0·36。料，該等脈衝度數 都無法以1纟整除。因此以·。直接分割二相整步細等分、 衫棚等分及三相整步30〇等步、半步600等分及四相整步侧 等分、半步800 #分及五相整步5〇〇等分、半步麵等分等等等 之做法所翁之脈衝度數實為馬辆紐舰步之—大阻礙 【發明内容】 由於上述都造成偵測馬達轉動位置角度之不易及誤差，於是， 本發明人研發_丨。可整除之步距運行纽的電機，尤指直 接將目標步距設定為丨。可歸之目標步距，即可簡綠得所需相 數步進電機之轉子餘絲距度數，㈣準確細馬達轉轴定位 及角度之偵測。 【實施方式】 為此’本發縣要提供-種全新以1。可整除之步距運行定位 的電機’是以先定出目標步距之度數，亦即先定出脈衝之度數， 該度數以Γ為基礎可整除之度數為主，亦即1。之倍數度數，， 如以目標步距定紅為例，从編。除以欲採用之 機相數乘以2之數，再除以目標步距Γ即得所需轉子齒數，而由 1250717 360除以所得轉子齒數即為齒距度數。其公式如下： 360。+轉子齒數 ^ =1。標 :上述公式帶入各相數之HB步進電機結果如下： ⑴*每齒距度數為4。（90齒）採用二相耶步進電機時， (2) 整步每週期運行4個脈衝，每個脈衝Γ ;半步每週期運 行8個脈衝，每個脈衝〇.5。。 §每齒距度數為6。（60齒）採用三相册步進電機時， (3) 整步每週期運行6個脈衝，每個脈衝1。；半步每週期運 行12個脈衝，每個脈衝0. 5。。 §每齒距度數為8。（45齒）採用四相ΗΒ步進電機時， (4) 整步每週期運行8個脈衝，每個脈衝1。；半步每週期運 行16個脈衝，每個脈衝q. 5。。 當每齒距度數為10。（36齒）採用五相肪步進電機時， (5) 整步每週期運行10個脈衝，每個脈衝κ ;半步每週期運 行20個脈衝，每個脈衝〇. 5。。 依上述類推.................. 再以目標步距1。可整除之〇·5。帶人公式· 360。+轉子齒數 · ---=〇 5° 欲採 . 將上述公式帶入各相數之HB步進電機結果如下： ⑴當每齒距度數為2。⑽齒）採用二_步進電機時， 7 1250717 整步每週期運行4個脈衝，每個脈衝〇· 5。；半步每週期 運行8個脈衝，每個脈衝〇· 25。。 (2) 當每齒距度數為3。（120齒）採用三相HB步進電機時， 整步每週期運行6個脈衝，每個脈衝0· 5。；半步每週期 運行12個脈衝，每個脈衝〇· 25。。 (3) 當每齒距度數為4。（90齒）採用四相HB步進電機時， 整步每週期運行8個脈衝，每個脈衝〇· 5。；半步每週期 運行16個脈衝，每個脈衝〇· 25。。 ⑷當每齒距度數為5。（ 72嵩）採用五相HB步進電機時， 整步每週期運行1〇個脈衝，每個脈衝〇· 5。；半步每週期 運行20個脈衝，每個脈衝q. 25。。 (5) 依上述類推................. 由本發明公式所製造出之電機明顯可知不同相數之電機其各 相脈衝都不同’而相數越A者餘越少齒距越大，由此可知本發 月反而疋相數越大者越谷易製造’有別於傳統電機減越大越不 容易製造；再者姻本發明公式所製如之電機，能讓馬達轉軸 角又仔X#錢測’及精準之到定㈣不抖動，以提高馬達驅動 技術之進步。 【圖式簡單說明】 【主要元件符號說明】1250717 IX. Description of the invention: [Technical field to which the invention pertains] A motor that is positioned with a step that can be divisible by r, especially if the target step is directly set to the target surface where r can be divisible, so that she can be green. The number of teeth of the stepping motor and the number of distances are determined by the detection of the position and angle. [Prior Art] With the rapid development of the technology of motor drive technology, the company is widely used in related industrial products such as traditional machines and precision machines. In order to make the motor motor more advanced, how to measure the position of the motor shaft is still in the direction of continuous efforts. - However, the inventor's experience in motor motors for nearly three years has found that the current motor runs every __1. The degree to which it can be attributed, what kind of reason is used: >, it is difficult to detect the angle of rotation of the motor and the error. For example, the current stability pole #, the induction to the positioning and the vibration of the permanent magnet hybrid type of HB motor is 7.2. For example (1) - Phase HB stepping motor runs 4 pulses per cycle in a full step, each pulse 18, half-step running 8 pulses per cycle, each pulse 〇·9. . ^ ^ \ One phase of the HB stepper motor runs 6 pulses per cycle, 1.2 pulses per pulse, and 12 pulses per cycle, each pulse 〇·6. . ^ Q \ Four-phase Ηβ stepper motor runs 8 pulses per cycle, each pulse is 0.9, half-step runs 16 pulses per cycle, each pulse 〇·45. . 5 1250717 () Five-phase® stepper motor runs one pulse per cycle, each pulse 〇. 72 . '· Half-step operation 20 pulses per cycle, each pulse 0·36°. (5) According to the above analogy........................ The pulse of the above whole step has 1.8. 1.2. , 0.9. , 0.72. Wait, the pulse of the half step is 〇·9, 〇·6. 0.45. , 0·36. It is expected that these pulse degrees cannot be divisible by 1纟. So by. Directly split the two-phase full-step fine division, the shirt shed and the three-phase full-step 30〇 equal steps, the half-step 600 equal division and the four-phase full-step side equal division, the half-step 800 #分 and the five-phase full step 5〇 〇 〇 、 , 半 半 半 半 半 半 半 半 半 半 半 半 半 实 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲 脉冲The inventor developed _丨. A motor that can be circumvented by a step, especially if the target step is set directly to 丨. It can be returned to the target step distance, which can be used to calculate the number of phases of the rotor, and the number of phases of the rotor of the stepper motor. (4) Accurate fine motor shaft positioning and angle detection. [Embodiment] For this, 'Benfa County wants to provide - a brand new to 1. The motor that can be divided by the step-by-step operation is determined by the degree of the target step, that is, the degree of the pulse is determined first, and the degree is divided by the degree based on Γ, that is, 1. The multiple degrees, for example, take the target step distance red as an example, from the compilation. Divide by the number of phases to be used and multiply by 2, and divide by the target step to obtain the required number of rotor teeth. The number of teeth obtained by dividing 1250717 360 is the pitch. Its formula is as follows: 360. + rotor tooth number ^ =1. Standard: The results of the HB stepping motor with the above equations are as follows: (1) * The number of pitches per tooth is 4. (90 teeth) When using a two-phase stepping motor, (2) 4 pulses per cycle for each cycle, each pulse Γ; half pulse runs 8 pulses per cycle, each pulse 〇.5. . § Each pitch is 6. (60 teeth) When using three album stepper motors, (3) 6 pulses per cycle, 1 for each pulse. 5。 Each step of the operation of 12 pulses per cycle, each pulse 0.5. . § The number of pitches per bit is 8. (45 teeth) When using a four-phase stepping motor, (4) Run 8 pulses per cycle for the entire step, 1 for each pulse. ; half-step operation of 16 pulses per cycle, q. 5 per pulse. . When the pitch is 10. (36 teeth) When using a five-phase fat stepping motor, (5) 10 pulses per cycle for each cycle, κ for each pulse; 20 pulses per cycle for half-step, each pulse 〇. . According to the above analogy.................. Then the target step is 1. Can be divisible 〇·5. Take the formula · 360. +Number of rotor teeth · ---=〇 5° Wanted. The results of the HB stepping motor that brings the above formula into each phase are as follows: (1) When the pitch is 2. (10) Tooth) When using a two-stepping motor, 7 1250717 runs 4 pulses per cycle, each pulse 〇·5. ; Half-steps Run 8 pulses per cycle, each pulse 〇·25. . (2) When the pitch is 3. (120 teeth) When using a three-phase HB stepping motor, the whole step runs 6 pulses per cycle, each pulse is 0.5. Half-step runs 12 pulses per cycle, each pulse 〇·25. . (3) When the pitch is 4. (90 teeth) When using a four-phase HB stepper motor, the whole step runs 8 pulses per cycle, each pulse 〇·5. ; Half-step operation 16 pulses per cycle, each pulse 〇 · 25. . (4) When the pitch is 5. (72嵩) When using a five-phase HB stepper motor, the whole step runs 1 pulse per cycle, each pulse 〇·5. The half-step runs 20 pulses per cycle, each pulse q. 25. . (5) According to the above analogy.................... The motor manufactured by the formula of the present invention clearly shows that the motors of different phases have different pulses in each phase, and the number of phases is higher. The more the tooth is, the larger the pitch is, the more it is known that the larger the number of phases in the month is, the more it is made. The difference is that it is not easy to manufacture when it is different from the traditional motor. Can make the motor shaft angle and X# money measurement 'and accurate to the fourth (four) no jitter, to improve the progress of motor drive technology. [Simple diagram description] [Main component symbol description]