DE102010031506A1 - Rotation transducer for determining angle layer of two relative rotatable machine parts, has release sensor triggering voltage pulse at edges of trigger regions, where information is included at edges of trigger regions - Google Patents

Abstract

The transducer has multiple magnetic sensors (1.3, 1.4) displaceably arranged in a circumferential direction with respect to an axis (A). A release sensor (1.1) triggers a voltage pulse at edges of trigger regions. A component group i.e. rotor (2), comprises a coding (2.9), and a component group i.e. stator (1), includes a sensor (1.9) e.g. magneto-resistive sensor, for reading the coding. The coding and the sensor are arranged such that a signal is generated from the sensor. Information i.e. certain level of signal, is included at edges of the trigger regions. An independent claim is also included for a method for operating a rotation transducer.

Description

The invention relates to a rotary encoder according to claim 1, and a method for its operation according to claim 6.

Such encoders are often used to determine the angular position of two relatively rotatable machine parts. Frequently, such encoders are used as measuring devices for determining the absolute angular position over several revolutions (multiturn function) of corresponding drive shafts. The rotational movement is detected incrementally or absolutely. In conjunction with gear racks and gears or with threaded spindles, linear movements can also be measured with an angle measuring device.

Not infrequently, the exact determination of the angular position in normal operation by an optical scanning of a dividing disk, while for counting the revolutions of the drive shaft, a magnetic sensing principle is used. It is generally desirable that a count of the revolutions of corresponding drive shafts also occurs when the encoder is not connected to an external power source, e.g. B. when the power supply is interrupted. In order to achieve this functionality with regard to an emergency operation, rotary encoders are often equipped with so-called multi-turn gears. Such multi-turn gearbox reduce the rotational movement of the drive shaft. For example, by a magnetic measuring principle, the position of a gear in the multi-turn transmission can then be scanned. The rotational movement of the corresponding gear is of course also at interrupted power to the encoder when the drive shaft z. B. moved by gravitational forces.

From the patent application EP 2 023 093 A2 The applicant is a rotary encoder is known in which by means of a pulse wire and a plurality of magnets, a corresponding determination of an angular position of a rotor is made, in particular by using a special Auswertelogik.

The present invention is based on the object to provide a rotary encoder that meets the increased requirement for its reliability.

This object is achieved by the features of claim 1 and 6 respectively.

Accordingly, the rotary encoder according to the invention comprises a first component group, for. Example, a stator, and a second component group, such as a rotor, wherein the component groups are arranged rotatably relative to each other about an axis. The first group of components has a triggering sensor, such as a pulse wire with a reset magnet, and a plurality of magnetic sensors, which are arranged offset with respect to the axis in the circumferential direction. The second component group comprises at least one respective first magnet, a second magnet and a third magnet. The component groups are also configured so that upon relative rotation of the two components by at least one full rotation of the magnetic sensors, the respective magnetic field of the first magnet and the third magnet is detectable, wherein by the second magnet and the third magnet in each case a trigger signal from the trigger sensor is generated while a triggering of the trigger signal from the trigger sensor by the first magnet is omitted. In this case, a voltage pulse can be triggered by the trigger sensor at the edges of trigger areas. In addition, the second component group has a coding and the first component group has a further sensor for reading out this coding. The coding and the further sensor are configured in such a way that a signal that can be generated by the further sensor when the coding is read out contains the same information at the edges of two adjacent trigger areas.

By a full revolution is meant a relative change in the rotational position of the component groups of 360 °, that is to say that in one full rotation, for example, one point of the rotor faces a point of the stator both at the beginning of the rotational movement and at the end of the rotational movement. The second component group may have a shaft, in particular a hollow shaft with a central bore.

As the triggering sensor, a magnetosensitive unipolar element such as a pulse wire or a Hall element can be used. Advantageously, the coding is formed from at least one magnet with alternating polarity and the further sensor is designed as an MR or Hall element.

As information, for example, a certain level of the signal, which can be generated by the further sensor, is seen. By way of example, a high level may mean that the further sensor is opposite to a magnetic north pole of the coding, and a low level may then express that the further sensor is located opposite a south pole.

The detection of the magnetic fields is always done whenever a magnet is in the vicinity of a magnetic sensor, or the effective width of a magnet is in the range of a magnetic sensor. The triggering of a trigger signal occurs when the respective trigger sensor due to the relative rotational movement of a suitable magnet approaches, or when the magnet and the trigger sensor within a trigger area are opposite to each other. The rotary encoder can be designed so that the further sensor is always a magnetic field with alternating polarity, in particular axially opposite.

The term effective width is to be understood below an arc length or an angle. If a magnet is within the range of the effective width with respect to a magnetic sensor, the further sensor or the triggering sensor, the magnet can trigger a reaction of the magnetic sensor or of the triggering sensor, that is to say a trigger signal. Outside the effective width of the magnet in question no reaction of the magnetic sensor or the trigger sensor can be triggered. Usually, a reaction of the magnetic sensors and in particular the other sensor, triggered at the edges of the relevant effective width.

According to an advantageous embodiment of the invention, the rotary encoder comprises two first, two second and two third magnets and a coding consisting of a pole pair. Correspondingly, in this embodiment, it is also possible to speak of a first, second and third group of magnets. Advantageously, the rotary encoder can also each have four first, four second and four third magnets and two pole pairs, which then form the coding.

Especially for the application of the invention in an emergency operation of the rotary encoder, it is advantageous if the energy content of the voltage pulse for generating a count pulse and the storage of a count is used in a non-volatile memory element. Advantageously, a memory element based on crystals with ferroelectric properties can be used in this context. Such memory elements require relatively little electrical energy and are often referred to as FeRAM or FRAM. Alternatively, a so-called MRAM can be used for this purpose. In any case, it is particularly advantageous if memory elements are used which can be written on as often as desired.

Alternatively or additionally, the voltage pulse of the pulse wire can be used to connect a supply voltage, such as a battery.

Advantageously, the rotary encoder is configured such that the signal which can be generated by the further sensor contains the same information over two adjacent trigger areas. This means that the same level of the signal, which can be generated by the further sensor, is always present across these trigger areas. Alternatively, it is also possible that the level contains the same information only at the edges of two adjacent trigger areas and, for example, that the level of the further signal is present changed in between.

In a further embodiment of the invention, the rotary encoder is configured so that the signal which can be generated by the further sensor over a effective width of one of the first magnets over a effective width of one of the second magnets and over a effective width of one of the third magnets of time the same information includes. In particular, therefore, the effective width of the coding, which is limited by two edges of the further signal, extend over an angle which is at least as great as the sum of the effective widths of one of the first, second and third magnets.

In addition, the rotary encoder can be configured such that the location at which the signal changes its information is arranged centrally between two trigger areas. Accordingly, an edge (for example a change in the level from high to low) of the further signal at the relevant location can thus be determined. Furthermore, the location at which the flanks occur in the further signal coincides with the rotational position at which the second magnet can generate both an edge in the signal of the first magnetic sensor and in the signal of the second magnetic sensor. In this case, the rotary encoder can be configured so that the edges in the signal of the first and second magnetic sensor are once falling and once rising.

In a further embodiment of the invention, the rotary encoder may comprise an electronic circuit and a non-volatile memory element. Among other things, a count in the memory element can be stored. In the event of a later occurrence of a trigger signal, the memory content can be read out of the memory element, so that the relative direction of rotation of the component groups relative to one another can be determined with the aid of the electronic circuit, and a counting pulse can be generated by the electronic circuit. Based on the direction of rotation and the occurrence of the count thus a change of the count in the memory element can be stored.

Furthermore, the invention comprises a method for operating a rotary encoder, which comprises a first component group and a second component group, wherein the component groups are arranged rotatable relative to each other about an axis. In this case, the first component group has a triggering sensor, such as a pulse wire with a reset magnet, and a plurality of magnetic sensors, which are arranged offset with respect to the axis in the circumferential direction. The second component group comprises at least one respective first magnet, a second magnet and a third magnet. The component groups are also configured so that upon a relative rotation of the two components by at least one full rotation of the magnetic sensors, the magnetic field of the first magnet and the third magnet is detected. Furthermore, a trigger signal from the triggering sensor, such as a voltage pulse from the pulse wire, is generated by the second magnet and the third magnet, while generation of the trigger signal from the triggering sensor by the first magnet is omitted. The trigger sensor also triggers a voltage pulse at the edges of trigger areas. In this case, the second component group has a coding and the first component group has a further sensor, by which this coding is read out. The coding and the further sensor are configured such that a signal which the further sensor generates contains the same information at the edges of two adjacent trigger areas.

According to a further embodiment of the method according to the invention, the coding is formed from at least one magnet with alternating polarity, wherein the further signal is generated by MR or Hall element.

Further details and advantages of the rotary encoder according to the invention and the method will become apparent from the following description of an embodiment, with reference to the accompanying figures.

It show the

1 a side view of a part of a rotary encoder, according to the embodiment,

2 a cross-sectional view through a second component group of the encoder,

3 a cross-sectional view through a first component group and the second component group,

4 a top view of a further part plate with coding,

5 Waveforms of sensors and a pulse wire.

In the 1 is a part of a rotary encoder according to an embodiment shown. The rotary encoder has a first component group, which in the illustrated embodiment as a stator 1 serves. Around an axis A opposite the stator 1 is rotatable as a second component group, a rotor 2 arranged.

The stator 1 includes a trigger wire as a triggering wire 1.1 or Wiegand sensor. This consists of a special alloy with a hard magnetic metal as a cladding and a soft magnetic metal as the core. As soon as an external magnetic field exceeds a certain field strength, there will be a sudden re-magnetization of the core, whereby a voltage pulse in a coil of the pulse wire 1.1 is induced, or the pulse wire 1.1 triggers a voltage pulse.

Parallel to the longitudinal extent of the pulse wire 1.1 is a reset magnet 1.2 arranged. Here is the reset magnet 1.2 so strong that, as soon as an external magnetic field with corresponding polarity from the pulse wire 1.1 removed again, the presence of the reset magnet 1.2 a reset of the pulse wire 1.1 triggers.

Furthermore, the stator comprises 1 two magnetic sensors acting as MR elements 1.3 . 1.4 are designed. The MR elements 1.3 . 1.4 are omnipolar sensitive, which means that they react to magnetic fields, regardless of their polarity.

The respective states S1.3, S1.4 of the MR elements 1.3 . 1.4 be a circuit, here an ASIC device 1.5 , supplied and evaluated by this. The ASIC device 1.5 is on a circuit board 1.7 mounted, the rotation with the stator 1 connected is. Among other things, located on the circuit board 1.7 also a non-volatile memory element, which in the embodiment shown as a FeRAM memory element 1.6 is designed.

In addition, the stator includes 1 another sensor 1.9 , which is also configured in the illustrated embodiment as an MR sensor and thus responds to applied magnetic fields.

The rotary encoder according to the embodiment operates in normal operation according to an optical principle. That's why the stator is on 1 an optoelectronic sensor unit 1.8 arranged, which includes, inter alia, a light source and photodetectors.

Through the optoelectronic sensor unit 1.8 can in normal operation a divider 2.8 , which rotatably with a hollow shaft 2.7 of the rotor 2 is connected and thus relative to the stator 1 is rotatable, scanned in the incident light method, for determining the exact relative angular position between the stator 1 and rotor 2 , The hollow shaft 2.7 serves for the non-rotatable mounting of a motor shaft whose rotation is to be detected by the encoder.

Next to the dividing disc 2.8 points the rotor 2 several magnets, which can be divided into three groups according to their function. The first group put the two passive magnets 2.1 . 2.4 (see also the 2 and 3 ). The passive magnets 2.1 . 2.4 are parallel to the axis A shell side on the rotor 2 fastened, wherein the poles are arranged offset with respect to the axis A and the connecting lines of the poles are oriented parallel to the axis A. The North Pole is the passive magnet 2.1 . 2.4 in the 1 arranged above, as well as the reset magnet 1.2 the case is. The reset magnet 1.2 and the passive magnets 2.1 . 2.4 are therefore oriented so that their Polausrichtungen are parallel.

As a second group of magnets are so-called counting magnets 2.2 . 2.5 on the rotor 2 , Furthermore, as a third group of magnets auxiliary magnets 2.3 . 2.6 on the rotor 2 attached. The polar orientations of the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 are identical and magnetically antiparallel or opposite to the polar orientation of the passive magnets 2.1 . 2.4 , According to their polar alignment is through the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 a voltage pulse from the pulse wire 1.1 generated while triggering a voltage pulse from the pulse wire 1.1 through the passive magnets 2.1 . 2.4 is omitted because their Polausrichtung is not suitable for the reset magnet 1.2 reset pulse wire 1.1 to be so active that it would generate a voltage pulse.

On the other hand, the magnetic fields of the passive magnets 2.1 . 2.4 , the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 all of the omnipolar sensitive MR elements 1.3 . 1.4 detectable. In other words, these magnetic fields are capable of the states S1.3, S1.4 of the MR elements 1.3 . 1.4 to change.

Like in the 2 shown are the passive magnets 2.1 . 2.4 opposite the respective adjacent counting magnet 2.2 . 2.5 offset by an angle γ of 47.4 ° in the circumferential direction. In the determination of the angle γ is assumed in each case from the center line of the respective magnet, in which case the angle data are each rounded to one decimal place. The counting magnets 2.2 . 2.5 are opposite the respective adjacent auxiliary magnet 2.3 . 2.6 offset by an angle α of 66.3 ° in the circumferential direction. Furthermore, the auxiliary magnets are 2.3 . 2.6 opposite the respective adjacent passive magnet 2.1 . 2.4 arranged offset by an angle β of 66.3 °.

According to the 3 are the pulse wire 1.1 opposite one of the MR elements 1.3 also offset by the angle α of 66.3 ° offset in the circumferential direction. Between the relevant MR element 1.3 and the pulse wire 1.1 is the second MR element 1.4 , opposite to the other MR element 1.3 is arranged offset by an angle φ equal to 18.9 °.

The passive magnets 2.1 . 2.4 , the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 according to the 2 Effective widths δ2.1, δ2.4, δ2.2, δ2.5, δ2.3, δ2.6. The effective widths δ2.1, δ2.4, δ2.2, δ2.5 in the presented embodiment amount to 18.9 ° while the effective widths δ2.3, δ2.6 of the auxiliary magnets 2.3 . 2.6 37.9 °. In the assembled state is located between the rotor 2 and the stator 1 an air gap of size G.

In addition, the rotor has 2 an annular further part disc or coding 2.9 according to the 1 . 2 and 3 on, which by the further sensor 1.9 is palpable. The further sensor 1.9 is here in axial distance to the coding 2.9 arranged. The coding 2.9 has two magnetic poles, so that a half-ring of the dividing disk is formed as a north pole and the other half-ring of the dividing disk as a south pole ( 4 ). The corresponding effective width φ1, φ2 of the coding 2.9 is thus 180 °.

If now the encoder z. B. is taken due to a power failure from its normal operation, it is automatically placed in an emergency mode. In this emergency operation mode, it is only important that individual revolutions are counted and stored, so that when resuming normal operation immediately the exact rotational position of the hollow shaft 2.7 can be determined taking into account the turns made in emergency mode. In the illustrated embodiment are in emergency mode per revolution of the hollow shaft 2.7 generates two counts, so that here almost half revolutions are counted. Further, by the further sensor 1.9 generates a signal which has two signal states or two different levels (high, low) within one revolution.

Once by turning the rotor 2 the midline of the MR elements 1.3 . 1.4 with one of the effective widths δ2.1, δ2.4, δ2.2, δ2.5, δ2.3, δ2.6 radially aligned, speaks the relevant MR element 1.3 . 1.4 at. The same applies in principle to the other sensor 1.9 , which generates a corresponding edge in the further signal S1.9, as soon as a line of Polwechsel with the other sensor 1.9 axially aligned.

Regarding the pulse wire 1.1 as well as the counting magnets 2.2 . 2.5 and auxiliary magnets 2.3 . 2.6 trigger areas T2.2, T2.5, T2.3, T2.6 can be defined ( 5 ), within which a voltage pulse from the pulse wire 1.1 can be triggered. In particular, depending on the direction of rotation, voltage pulses are triggered at the edges of the trigger areas T2.2, T2.5, T2.3, T2.6.

In the 3 is shown a section through a rotary encoder whose rotor 2 moves in a clockwise direction, allowing the magnetic field of the counting magnet 2.2 in the position shown just a voltage pulse in the pulse wire 1.1 triggers. In this snapshot, the MR element points 1.3 just the state one, because this is within the effective width δ2.3. In contrast, the MR element is located 1.4 in state zero. In the 5 is the rotational position of the rotor 2 depending on the states of the MR elements 1.3 . 1.4 and the trigger state T based on the voltage pulse. Thus, the rotational position according to the 3 the angular value 71.1 ° in the 5 be assigned.

Due to the special arrangement of the passive magnets 2.1 . 2.4 , the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 as well as the MR elements 1.3 . 1.4 and the pulse wire 1.1 the edge of the voltage pulse lies exactly at a distance of ± 4.7 ° between the edges of the signals S1.3 and S1.4. Thus, a very high degree of safety is provided with respect to the direction of rotation detection, because the rotary encoder tolerates deviations of up to ± 4.7 °. The same consideration applies to the other areas where a rotation angle detection is performed.

Regarding the functioning of the rotary encoder in the emergency mode with regard to the interaction of the counting magnets 2.2 . 2.5 and the auxiliary magnets 2.3 . 2.6 with the pulse wire 1.1 and the magnetic sensors 1.3 . 1.4 , as well as with regard to the evaluation of the corresponding signals is also on the disclosure of the published patent application EP 2023093 A2 directed.

To increase the safety of the revolution counting is by the other sensor 1.9 additionally the further coding 2.9 sampled. The sensor 1.9 supplies in each case over a range φ1, φ2 of 180 ° each same signals S1.9. Correspondingly, therefore, the signals S1.9 each contain within one of the ranges φ1, φ2 of 180 ° the same information, so that, for example within the effective width φ1, the signal S1.9 a high, while the signal S1.9 within the effective width φ2 has a low level.

In the ASIC block 1.5 Now, the edges of the signals S1.3 and S1.4 together with the signals S1.9 of the other sensor 1.9 evaluated and in particular checked for plausibility.

According to Tables I and II, it is first checked whether a detected voltage pulse of the pulse wire 1.1 can actually occur in the relevant rotational position. For this purpose, the values of EZn and EHn are determined by the following evaluation logic:
EZ _n = ((S1.3 _n-1 , Λ invS1.4 _n-1 ) V (S1.3 _n-1 Λ S1.4 _n-1 )) Λ ((S1.3 _n Λ invS1.9 _{n- 1} Λ S1.9 _n ) V (invS1.4 _n Λ invS1.9 _n-1 Λ S1.9 _n ) V (S1.3 _n Λ S1.9 _n-1 Λ invS1.9 _n ) V (invS1.4 _n Λ S1.9 _n-1 Λ invS1.9 _n ) V (invS1.3 _n Λ S1.4 _n Λ invS1.9 _n-1 Λ invS1.9 _n ) V (invS1.3 _n Λ S1.4 _n Λ S1.9 _n-1 Λ S1.9 _n ))
EH _n = ((invS1.3 _n -1 Λ invS1.4 _n-1 ) V (invS1.3 _n-1 Λ S1.4 _n-1 )) Λ ((invS1.3 _n Λ invS1.9 _n-1 Λ S1.9 _n ) V (S1.4 _n Λ invS1.9 _n-1 Λ S1.9 _n ) V (invS1.3 _n Λ S1.9 _n-1 Λ invS1.9 _n ) V (S1.4 _n Λ S1.9 _n-1 Λ invS1.9 _n ) V (S1.3 _n Λ invS1.4 _n Λ S1.9 _n-1 Λ S1.9 _n ) V (S1.3 _n Λ invS1.4 _n Λ invS1 .9 _n-1 Λ invS1.9 _n ))

Where n is a running index, which increases by one each time a voltage pulse occurs. Accordingly, a signal which is indexed with n-1 can be regarded as a temporal predecessor signal.

For the much more common case of EZn and EHn taking the value "0", the count becomes within the ASIC device 1.5 forwarded to a counting circuit. Thereafter, the current counter reading from the ASIC block 1.5 to the FeRAM memory element 1.6 passed and stored there. Incidentally, according to the determined direction of rotation, the counter reading is increased or reduced by one increment. However, as soon as the value "1" for EZn or EHn is determined (see Tables 1 and 2), a corresponding error message is generated and / or a shutdown is performed. Error condition: En = EZn V EHn. Needless to say, other factors can also be included in the error condition.

With the help of the signals S1.9 of the further sensor 1.9 can also continue to look up entries in the FeRAM memory element 1.6 be checked and the occurrence of implausible combinations corresponding error messages can be generated and / or a shutdown can be made.

Due to the special geometric design of the further coding 2.9 and the other sensor 1.9 , in particular by the arrangement of the further sensor 1.9 relative to the MR elements 1.3 . 1.4 and the pulse wire 1.1 the safety of the position signals output by the encoder is additionally increased. This is also achieved by the location where the signal S1.9 of the further sensor 1.9 its state and thus its information content changes centrally between trigger areas T2.3, T2.5 and T2.2, T2.6 comes to rest. The trigger areas T2.3, T2.5 and T2.2, T2.6 have an angular distance κ of 94.7 °, so that the location at which the signal S1.9 changes its state or information content from the trigger areas T2.3, T2.5 and T2.2, T2.6 is about 47 ° apart. This Incidentally, the location coincides with the edges of the signals S1.3, S1.4, which arise at the edges of the effective ranges δ2.2 and δ2.5. In particular, the angular location at which the signal S1.9 of the further sensor 1.9 its state changes the location at which the signal S1.3 generates a rising signal edge when scanning the effective range δ2.2 or the effective range δ2.5 and at the same time the signal S1.4 when scanning the effective range δ2.2 or the effective range δ2.5 generates a falling signal edge. In the 5 is in the presented embodiment, the relevant location or the relevant rotational position at the angular positions 23.7 ° and 203.7 ° to lie.

Furthermore, with 180 °, the effective width φ1, φ2 of the coding 2.9 greater than the sum of the effective widths δ2.1, δ2.2, δ2.6 or δ2.3, δ2.4, δ2.5 of one passive magnet each 2.1 . 2.4 , Counting magnets 2.2 . 2.5 and auxiliary magnets 2.3 . 2.6 : φ1 = φ2> Σ (δ2.1, δ2.2, δ2.6) = Σ (δ2.3, δ2.4, δ2.5), With
φ1 = φ2 = 180 °, and Σ (δ2.1, δ2.2, δ2.6) = Σ (δ2.3, δ2.4, δ2.5) = 18.9 ° + 18.9 ° + 37.9 ° = 75.7 °

Thus, the rotary encoder is configured such that the signal which can be generated by the further sensor, over the effective widths δ2.1, δ2.2, δ2.6 or δ2.3, δ2.4, δ2.5 of one each passive magnet 2.1 . 2.4 , Counting magnets 2.2 . 2.5 and auxiliary magnets 2.3 . 2.6 the same information. In the presented embodiment is thus according to the 5 always the same level (high or low) over the angle range defined above.

In any case, the signal S1.9, which from the other sensor 1.9 is generated according to the 5 at the edges (at about 71 °, 89.9 °, 128 °, 165.9 °) of two adjacent trigger areas T2.2, T2.3 has a high level and consequently includes at the edges of the adjacent trigger areas T2.2, T2.3 the same information. The same applies to the edges (at about 251 °, 269.9 °, 308 °, 345.9 °) of the other adjacent trigger areas T2.5, T2.6, where the signal S1.9 has a low level and there therefore also contains the same information.

In the embodiments, encoders for easy explanation of the invention with two passive, counting and auxiliary magnets 2.1 . 2.4 ; 2.2 . 2.5 ; 2.3 . 2.6 presented. The invention also includes rotary encoders with more than two passive, counting and auxiliary magnets 2.1 . 2.4 ; 2.2 . 2.5 ; 2.3 . 2.6 , In particular, it has proved to be advantageous if in each case four passive, counting and auxiliary magnets 2.1 . 2.4 ; 2.2 . 2.5 ; 2.3 . 2.6 are arranged, wherein in this embodiment, a part of a disc with a coding 2.9 that has four magnetic poles could be provided.

The inventive method for operating the rotary encoder a unique count of revolutions can be made, even if the direction of rotation changes or in the hollow shaft 2.7 oscillating movements are initiated. Table 1 Pulse-error detection; Counter magnet flanks 1 and 2 S1.9 _n-1 S1.9 _n S1.3 _n S1.4 _n EZn 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0 0 0 1 1 0 0 1 0 0 1 0 1 0 1 0 0 1 1 0 1 0 1 1 1 1 1 0 0 0 1 1 0 0 1 0 1 0 1 0 1 1 0 1 1 1 1 1 0 0 0 1 1 0 1 1 1 1 1 0 0 1 1 1 1 0 Table II Pulse-error detection; Auxiliary magnet flanks 1 and 2 S1.9 _n-1 S1.9 _n S1.3 _n S1.4 _n EHn 0 0 0 0 0 0 0 0 1 0 0 0 1 0 1 0 0 1 1 0 0 1 0 0 1 0 1 0 1 1 0 1 1 0 0 0 1 1 1 1 1 0 0 0 1 1 0 0 1 1 1 0 1 0 0 1 0 1 1 1 1 1 0 0 0 1 1 0 1 0 1 1 1 0 1 1 1 1 1 0 n Number of voltage pulses triggered by the pulse wire
S1.3 Condition of the magnetic sensor 1.3 at the nth voltage pulse
S1.4 Condition of the magnetic sensor 1.4 at the nth voltage pulse
F1 _n-1 first value of the auxiliary magnetic edge state at the (n-1) th voltage pulse
F2 _n-1 second value of the auxiliary magnetic edge state at the (n-1) th voltage pulse
F1 _n first value of the auxiliary magnetic edge state at the nth voltage pulse
F2 _n second value of the auxiliary magnetic edge state at the nth voltage pulse

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• EP 2023093 A2 [0004, 0049]

Claims (10)

Rotary encoder comprising a first component group ( 1 ) and a second component group ( 2 ), where the component groups ( 1 . 2 ) are arranged rotatably relative to each other about an axis (A) and - the first group of components ( 1 ) • a trigger sensor ( 1.1 ) as well as • several magnetic sensors ( 1.3 . 1.4 ), which are arranged offset with respect to the axis (A) in the circumferential direction, - the second component group ( 2 ) • a first magnet ( 2.1 . 2.4 ) • a second magnet ( 2.2 . 2.5 ) and • a third magnet ( 2.3 . 2.6 ), and the component groups ( 1 . 2 ) are also configured so that upon relative rotation of the two components ( 1 . 2 ) by at least one complete revolution of the magnetic sensors ( 1.3 . 1.4 ) the magnetic field of the first magnet ( 2.1 . 2.4 ) and the third magnet ( 2.3 . 2.6 ) is detectable, wherein by the second magnet ( 2.2 . 2.5 ) and the third magnet ( 2.3 . 2.6 ) a trigger signal from the trigger sensor ( 1.1 ) is generated while a generation of the trigger signal from the trigger sensor ( 1.1 ) through the first magnet ( 2.1 . 2.4 ) is omitted, whereby the trigger sensor ( 1.1 ) at the edges of trigger areas (T2.2, T2.5, T2.3, T2.6) in each case a voltage pulse can be triggered, characterized in that the second group of components ( 2 ) an encoding ( 2.9 ) and the first component group ( 1 ) another sensor ( 1.9 ) for reading this coding ( 2.9 ), the coding ( 2.9 ) and the further sensor ( 1.9 ) are configured such that a signal (S1.9), which from the further sensor (S1.9) 1.9 ) can be generated at the edges of two adjacent trigger areas (T2.2, T2.5, T2.3, T2.6) contains the same information. Encoder according to claim 1, characterized in that the coding ( 2.9 ) is formed from at least one magnet with alternating polarity and the further sensor ( 1.9 ) is designed as an MR or Hall element. Rotary encoder according to one of the preceding claims, characterized in that the rotary encoder is configured so that the signal (S1.9), which by the further sensor ( 1.9 ) can be generated, via two adjacent trigger areas (T2.2, T2.5, T2.3, T2.6) across the same information includes. Rotary encoder according to claim 3, characterized in that the rotary encoder is configured so that the signal (S1.9), which by the further sensor ( 1.9 ) can be generated, over an effective width (δ2.1 δ2.4) of one of the first magnets ( 2.1 . 2.4 ) and • over an effective width (δ2.2 δ2.5) of one of the second magnets ( 2.2 . 2.5 ) and • over an effective width (δ2.3 δ2.6) of one of the third magnets ( 2.3 . 2.6 ) contains the same information. Rotary encoder according to one of the preceding. Claims, characterized in that the rotary encoder is configured such that the location at which the signal (S1.9) changes its information, centered between two trigger areas (T2.2, T2.5; T2.3, T2.6) is arranged. Method for operating a rotary encoder which has a first component group ( 1 ) and a second component group ( 2 ), wherein the component groups ( 1 . 2 ) are arranged rotatable relative to each other about an axis (A), and - the first group of components ( 1 ) • a trigger sensor ( 1.1 ) as well as • several magnetic sensors ( 1.3 . 1.4 ), which are arranged offset with respect to the axis (A) in the circumferential direction, - the second component group ( 2 ) • a first magnet ( 2.1 . 2.4 ) • a second magnet ( 2.2 . 2.5 ) and • a third magnet ( 2.3 . 2.6 ), wherein upon relative rotation of the two components ( 1 . 2 ) by at least one complete revolution of the magnetic sensors ( 1.3 . 1.4 ) the magnetic field of the first magnet ( 2.1 . 2.4 ) and the third magnet ( 2.3 . 2.6 ) is detected, wherein by the second magnet ( 2.2 . 2.5 ) and the third magnet ( 2.3 . 2.6 ) a trigger signal from the trigger sensor ( 1.1 ) is generated while generating the trigger signal from the trigger sensor ( 1.1 ) through the first magnet ( 2.1 . 2.4 ) is omitted, whereby the trigger sensor ( 1.1 ) at the edges of trigger areas (T2.2, T2.5, T2.3, T2.6) in each case a voltage pulse is triggered, characterized in that the second group of components ( 2 ) an encoding ( 2.9 ) and the first component group ( 1 ) another sensor ( 1.9 ), by which this coding ( 2.9 ), the coding ( 2.9 ) and the further sensor ( 1.9 ) are configured such that a signal (S1.9), which the further sensor (S1.9) 1.9 ) generates the same information at the edges of two adjacent trigger areas (T2.2, T2.5, T2.3, T2.6). Method for operating a rotary encoder according to claim 6, characterized in that the coding ( 2.9 ) is formed of at least one magnet of alternating polarity and the further signal (S1.9) is generated by MR or Hall element. A method of operating a rotary encoder according to one of claims 6 or 7, characterized characterized in that the signal (S1.9), which the further sensor ( 1.9 ), which contains the same information over two adjacent trigger areas (T2.2, T2.5, T2.3, T2.6). Method for operating a rotary encoder according to claim 8, characterized in that the signal (S1.9) which the further sensor (S1.9) 1.9 ) over an effective width (δ2.1 δ2.4) of one of the first magnets ( 2.1 . 2.4 ) and • over an effective width (δ2.2 δ2.5) of one of the second magnets ( 2.2 . 2.5 ) and • over an effective width (δ2.3 δ2.6) of one of the third magnets ( 2.3 . 2.6 ) contains the same information. Method for operating a rotary encoder according to one of the preceding claims, characterized in that the signal (S1.9) changes its information centrally between two trigger regions (T2.2, T2.5; T2.3, T2.6).

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