JPS61120968A - Generation circuit for direction of rotation pulse - Google Patents

Abstract

PURPOSE:To generate a highly reliable direction of rotation pulse, by combining frequency dividing and multiplying circuits to receive A and B phases of pulse trains as pulse train for detecting the direction and amount of rotation and the direction and amount of movement from a rotary encoder. CONSTITUTION:The output pulse of a rotary encoder is converted into a square wave with a waveform shaping/inputting circuit 1. A and B phases of pulse trains inputted subsequently are led to generate a pulse synchronized with a main pulse with a synchronous pulse generation circuit 5. Moreover, the A and B phases of pulse trains synchronized are fed to synchronous type direction discrimination 1/4-frequency dividing circuits 6 and 6' use a circuit 67 for forward rotation and a circuit 6' for reverse rotation and can judge the code accurately both for duplication and rapid inversion depending on the synchronous pulses 10 and 10' shifted by one cycle generated from the main pulse to output a plus with the frequency divided in four. The pulse thus obtained is outputted as a direction of rotation pulse 3 corresponding to the amount of rotation and movement from a pulse selection circuit 8 during the forward rotation and as direction of rotation pulse 4 from a pulse selection circuit 8' during the reverse rotation through a multiplying circuit 7 according to a pulse selection command 9.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an industrial robot, a processing machine, a machine tool, etc., and a rotation direction pulse generation circuit for calculating the amount of rotation or movement of the machine tool.

Configuration of the conventional example and its problems The conventional rotation and movement direction pulse generation circuit generates the waveform of the A-phase and B-phase pulse trains from the rotary encoder in FIG. 1, as shown in the block diagram of FIG. 2. The shaping input circuit 1 shapes the pulses, and the direction discrimination pulse generation circuit 2 generates a pulse train corresponding to rotation or movement.
At the time of reversal, the rotation that generated 4, the direction of movement, and the amount of each were calculated.

However, with the above configuration, there are problems such as the need to select a rotary encoder with a pulse train corresponding to each machine in order to respond to machine-specific changes in motor gear ratio, lead, pitch, etc. There were also problems with reliability.

Purpose of the Invention In view of the above-mentioned problems, the present invention provides a combination of frequency dividing and multiplier circuits, so that even a rotary encoder with a small number of pulse outputs per rotation can respond to changes from machine to machine, and improve reliability. It is for money purpose.

Structure of the Invention The present invention provides an input rotary encoder with phase A and phase B.
means for waveform shaping and synchronization of phase pulse trains; a 4-frequency divider circuit for further determining the synchronization direction of the synchronized pulses; and a 4-frequency divider circuit for dividing the frequency by 4; It is multiplied through a multiplier circuit. Finally, it consists of a selection circuit that selects either a 4-frequency divided pulse or a multiplied pulse, and by outputting it as a rotation and movement pulse, the rotary can be used to respond to machine-specific changes in the motor's gear ratio, lead, pitch, etc. It has the unique effect that it can be handled without replacing the encoder and that reliability is not impaired even under adverse environments.

DESCRIPTION OF EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 3 shows a main part of an embodiment of the present invention. In FIG. 3, 1 is a waveform shaping input circuit, 5 is a synchronous pulse generation circuit, 6 and 6' are synchronous direction discrimination four-frequency divider circuits,
7 is a multiplier circuit, 8 and 8' are generation pulse selection circuits,
9 is a pulse selection command, 10 and 10' are synchronizing pulses created from the main pulse, and 3 and 4 are pulses created by this circuit for normal rotation 3 and reverse rotation 4.

The operation of the rotational direction pulse generation circuit configured as above will be described below.

First, output pulses from a rotary encoder as shown in FIG. 1 are sent to a waveform shaping input circuit 1, where rounding of the edges of the waveform and the like are shaped into a correct rectangular wave. Since the A-phase and B-phase pulse trains that are input next are asynchronously input regardless of commands, etc., the synchronous pulse generation circuit 6 generates pulses that are synchronized with the main pulses. Furthermore, this synchronized human phase and B phase pulse train is passed through a synchronous direction discrimination 4-frequency divider circuit 6.6', and the main pulse is generated at 6 for forward rotation and 6' for reverse rotation. Even when the synchronizing pulses 10 and 10', which are shifted by one period, overlap or suddenly reverse, the sign is determined correctly and a pulse 11 whose frequency is divided by four as shown in FIG. 4 is output. The frequency-divided pulse by 4 is used in the multiplier circuit 7 to generate a pulse having a set value such as 2 times 12.4 times 13.8 times 14. Finally, in response to a pulse selection command 9, the generated pulse selection circuit generates pulse 3 corresponding to the rotation and movement amount from 8 during normal rotation, and generates pulse 4 from 8' during reverse rotation.

As described above, in this embodiment, by using a synchronous direction discrimination 4 frequency divider circuit, etc., the A-phase and B-phase pulses from the rotary encoder, which are input asynchronously to the command pulses, can be input even when there is a sudden reversal. Correctly determines the sign and generates a pulse.

The effects of the invention are as described above, with the combination of the 1 frequency divider circuit and the multiplier circuit,
Being able to generate a variety of pulses helps standardize rotary encoders, making it possible to diversify the rotation angle and travel amount per step with a low-rank, low-cost rotary encoder. , IJ-do, pitch, and other changes on a unit-by-unit basis.

[Brief explanation of drawings]

Figure 1 is an explanatory diagram of the output pulses of the rotary encoder.
FIG. 2 is a conventional circuit diagram, FIG. 3 is a block diagram of a generating circuit in an embodiment of the present invention, and FIG. 4 is an explanatory diagram of output pulses. 1... Waveform shaping input circuit, 3... Output pulse during normal rotation, 4-... Output pulse during inversion, 6...
... Synchronous pulse generation circuit, 6.6' ... Synchronous direction discrimination 4 frequency divider circuit, 7 ... Multiplier circuit, 8
．． 8'...Pulse selection circuit, 9...Pulse selection command, 10.10'...Synchronization pulse.

Claims (1)

[Claims] A rotary encoder for position detection connected to the motor shaft and output end, and phase A and B pulse trains output from this rotary encoder for detecting rotation direction and amount, movement direction and amount with a phase difference of 90 degrees. A means for shaping the waveform when a phase pulse train is input, a means for synchronizing with a synchronizing pulse, and a 4-frequency divider circuit that divides the frequency of the pulse obtained by the synchronizing means into four by passing it through a synchronization direction discrimination circuit using the synchronizing pulse, A rotational direction pulse generation circuit that inputs this pulse to a multiplier circuit such as a quadrupling circuit set externally as necessary, and finally a selection circuit that selects either a frequency-divided pulse or a multiplier pulse.