Encoder, servo motor, and servo system

Abstract

To provide an encoder with improved durability, a servo motor, and a servo system.SOLUTION: An encoder 7 includes: an optical module 17 for detecting angle position information that represents an angle position within one rotation of a rotating disk 19; a magnetic detection part 21 for detecting multi-rotation information representing the number of rotations of the disk 19; an all-solid battery 29 having a solid electrolyte to supply power to the magnetic detection part 21 when external power is not supplied to the encoder 7; and connection parts 36L, 36R directly connecting connection terminals 34L, 34R provided integrally with the all-solid battery 29 to a substrate 13 with the optical module 17 and the magnetic detection part 21 mounted thereon via a solder in contact with the connection terminals. The all-solid battery 29 and the magnetic detection part 21, to which power is supplied by the all-solid battery 29, are mounted on the same substrate 13. The all-solid battery 29 supplies power to the magnetic detection part 21 through wires on the connection parts 36L, 36R and the substrate 13.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The disclosed embodiments relate to an encoder, a servo motor, and a servo system. [Background technology]

[0002] Patent Document 1 describes an encoder device that includes a position detection system including a detector that detects position information of a moving part, an electric signal generator that generates an electric signal in response to the movement of the moving part, and a battery that supplies at least a portion of the power consumed by the position detection system in response to the electric signal generated by the electric signal generator. The battery is housed in a battery case and is held on a circuit board via electrodes and wiring. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 126338 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, there is a possibility that malfunctions may occur when the encoder device is subjected to shock or vibration, and therefore higher durability is required.

[0005] The present invention has been made in view of the above problems, and has an object to provide an encoder, a servo motor, and a servo system that can improve durability. [Means for solving the problem]

[0006] In order to solve the above problem, according to one aspect of the present invention, an encoder is provided, comprising: an angular position information detection unit that detects angular position information that represents an angular position within one rotation of a rotating disk; a multi-rotation information detection unit that detects multi-rotation information that represents the number of rotations of the disk; an all-solid-state battery having a solid electrolyte that supplies power to the multi-rotation information detection unit when external power is not supplied to the encoder; and a connection unit that directly connects a connection terminal that is integral with the all-solid-state battery to a substrate on which the angular position information detection unit and the multi-rotation information detection unit are mounted, by solder that is in contact with the connection terminal, wherein the all-solid-state battery and the multi-rotation information detection unit to which power is supplied by the all-solid-state battery are mounted on the same substrate, and the all-solid-state battery supplies power to the multi-rotation information detection unit via the connection unit and wiring on the substrate.

[0007] According to another aspect of the present invention, there is provided a servo motor having a motor in which a rotor rotates relative to a stator, and the above-described encoder that detects at least one of the position, speed, and acceleration of the rotor.

[0008] According to another aspect of the present invention, a servo system is provided, which includes a motor in which a rotor rotates relative to a stator, an encoder that detects at least one of the position, speed, and acceleration of the rotor, and a control device that controls the motor based on the detection result of the encoder. [Effects of the Invention]

[0009] According to the encoder etc. of the present invention, durability can be improved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is an explanatory diagram illustrating an example of the overall configuration of a servo system. [Figure 2] 1 is a side view, partly in cross section, illustrating an example of an encoder device configuration; [Figure 3] FIG. 2 is a top view of an example of an encoder device configuration as viewed from the substrate side. [Figure 4] FIG. 2 is a cross-sectional view illustrating an example of the configuration of a connection portion that connects an all-solid-state battery and a substrate. [Figure 5] FIG. 2 is a block diagram illustrating an example of a functional configuration of a processing module. [Figure 6] FIG. 2 is a block diagram illustrating an example of a circuit configuration of a substrate. [Figure 7] 10 is a timing chart showing an example of a trigger signal, processes executed by a processing module, and timing of power-on of a magnetic detection unit. [Figure 8] 10 is a flowchart illustrating an example of a processing procedure executed by a processing module when external power is supplied to an encoder. [Figure 9] 3A to 3C are explanatory diagrams illustrating examples of waveforms of an angular position signal, an A-phase multi-rotation signal, and a B-phase multi-rotation signal. [Figure 10] 10 is a flowchart illustrating an example of a processing procedure executed by a processing module when external power is not supplied to an encoder. [Figure 11] 10 is a flowchart illustrating an example of a processing procedure executed by a processing module in a modified example in which abnormality detection is performed on the all-solid-state battery when external power is restored. [Figure 12] FIG. 10 is a block diagram showing an example of a circuit configuration of a board in a modified example in which power supply to a magnetic detection unit is switched by a switch. [Figure 13] FIG. 10 is a block diagram showing an example of a circuit configuration of a board in a modified example in which a processing module is turned off when the supply of external power is stopped. [Figure 14] FIG. 10 is a block diagram illustrating an example of a functional configuration of a processing module in a modified example in which a recording unit is provided outside the processing module. [Figure 15] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a processing module. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment will be described with reference to the drawings.

[0012] <1. Overall configuration of the servo system> An example of the overall configuration of a servo system according to an embodiment will be described with reference to Fig. 1. Fig. 1 is an explanatory diagram showing an example of the overall configuration of a servo system.

[0013] 1, the servo system 1 includes a servo motor 3 and a control device 5. The servo motor 3 includes an encoder 7 and a motor 9.

[0014] The motor 9 is, for example, a rotary motor in which a rotor (not shown) rotates relative to a stator (not shown). The motor 9 rotates a shaft 11 fixed to the rotor about a rotation axis Ax. The motor 9 alone may be referred to as a servo motor, but in this embodiment, a configuration including the motor 9 and the encoder 7 is referred to as a servo motor 3.

[0015] The encoder 7 is connected, for example, to the anti-load side (right side in FIG. 1) of the motor 9, which is opposite to the load side (side that outputs rotational force; left side in FIG. 1). However, the encoder 7 may also be connected to the load side of the motor 9. The encoder 7 detects at least one of angular position information that indicates the angular position within one rotation of the shaft 11 (rotor) of the motor 9 and multi-rotation information that indicates the number of rotations, and outputs position data based on this information. The encoder 7 may detect at least one of the rotational speed and rotational acceleration in addition to or instead of the angular position of the shaft 11.

[0016] The control device 5 controls the current or voltage applied to the motor 9 based on the position data output from the encoder 7, thereby controlling the rotation of the motor 9. The control device 5 controls the motor 9 so as to achieve the position, speed, torque, etc. indicated in the upper control signal output from the upper control device.

[0017] <2. Encoder device configuration> An example of the device configuration of the encoder 7 will be described with reference to Figures 2 and 3. Figure 2 is a side view showing a partial cross section of the example of the device configuration of the encoder 7. Figure 3 is a top view of the example of the device configuration of the encoder 7 seen from the board side.

[0018] 2, the servo motor 3 has an encoder 7 and a motor 9. As shown in FIGS. 2 and 3, the encoder 7 has a substrate 13, a substrate support member 15, an optical module 17, a disk 19, a magnetic detection unit 21, a magnet 23, a trigger signal generator 25, a plurality of magnets 27, a battery 29, and a processing module 31.

[0019] The substrate 13 is a printed circuit board in which printed wiring (not shown) and multiple circuit components are mounted on a plate made of an insulating material. The substrate 13 is substantially disk-shaped. The substrate 13 is disposed on the opposite side of the disk 19 from the motor 9 in the axial direction along the rotation axis Ax. The substrate 13 is supported by a substrate support member 15 so as to be substantially parallel to the disk 19. The substrate 13 is not limited to being a single substrate, and may be made up of multiple substrates.

[0020] The board support member 15 is, for example, a cylindrical member, and fixes the board 13 to the end 9a on the anti-load side of the housing of the motor 9. The board support member 15 may be, for example, a plurality of cylindrical members.

[0021] The optical module 17 (an example of an angular position information detector) detects angular position information representing the angular position of the rotating disk 19 within one rotation. The optical module 17 is mounted on the surface of the substrate 13 facing the disk 19. When external power is supplied to the encoder 7, power is also supplied to the optical module 17, and when external power is not supplied to the encoder 7, power supply to the optical module 17 is also stopped. The configuration of the optical module 17 is not particularly limited as long as it can optically detect angular position information. For example, as shown in FIG. 5 (described later), the optical module 17 may have a light source 33 and light receiving arrays PA and PI on the surface facing the disk 19. The light receiving array PA receives light reflected by a slit array SA of the disk 19 and outputs an absolute signal (an example of angular position information). The light receiving array PI receives light reflected by a slit array SI of the disk 19 and outputs an incremental signal (an example of angular position information). The optical module 17 is a so-called reflective optical module in which the light source 33 and the light receiving arrays PA and PI are arranged on the same side of the disk 19.

[0022] The disk 19 is, for example, a disk-shaped member. The disk 19 is coupled to the shaft 11 of the motor 9 and rotates together with the shaft 11. The disk 19 has two slit rows SA and SI on the surface facing the optical module 17. Each of the slit rows SA and SI has a plurality of slits (not shown) arranged in a ring shape in the circumferential direction around the center of the disk on the rotation axis Ax. The slits are formed on the surface of the disk 19 and are areas that reflect or otherwise affect the light emitted from the light source 33. As long as the absolute position of the disk 19 can be detected, the number of slit rows formed on the disk 19 may be one or three or more.

[0023] The magnetic detection unit 21 (an example of a multi-rotation information detection unit) detects multi-rotation information that indicates the number of rotations of the disk 19. The magnetic detection unit 21 is mounted, for example, on the surface of the substrate 13 that faces the disk 19. The magnetic detection unit 21 is disposed, for example, at a position facing the magnet 23. When external power is supplied to the encoder 7, power is also supplied to the magnetic detection unit 21, and when external power is not supplied to the encoder 7, the power supply to the magnetic detection unit 21 is controlled by the processing module 31. The configuration of the magnetic detection unit 21 is not particularly limited as long as it can magnetically detect the multi-rotation information of the disk 19. For example, a magnetoresistive element such as an MR element, a GMR element, or a TMR element may be used as the magnetic detection unit 21.

[0024] The magnet 23 is disposed, for example, on the surface of the disk 19 facing the magnetic detection unit 21. The magnet 23 is located, for example, on the rotation axis Ax. The configuration of the magnet 23 is not particularly limited as long as the direction of the magnetic flux detected by the magnetic detection unit 21 reverses approximately every 180 degrees of rotation of the disk 19. For example, as shown in FIG. 3, the magnet 23 may be magnetized so that a north pole and a south pole are formed in the diameter direction of the disk 19. In FIG. 3, the north pole of the magnet 23 is illustrated as 23N and the south pole as 23S. The shape of the magnet 23 may be, for example, a disk shape or a ring shape. The magnetic detection unit 21 detects the direction of the magnetic flux of the magnet 23 and outputs a signal that changes once per rotation of the disk 19 as two A-phase signals and B-phase signals (an example of multi-rotation information) that are 90 degrees out of phase with each other.

[0025] The trigger signal generator 25 (an example of an electrical signal generating unit) generates a trigger signal (an example of an electrical signal) in response to the rotation of the disk 19. The trigger signal generator 25 is mounted, for example, on the surface of the substrate 13 opposite the disk 19. The configuration of the trigger signal generator 25 is not particularly limited as long as it is capable of periodically generating a trigger signal in response to the rotation of the disk 19. For example, the trigger signal generator 25 may be configured to include a magnetic element (not shown) that generates the large Barkhausen effect and a coil (not shown). In this case, the trigger signal generator 25 outputs a trigger signal, for example, a pulse signal, from the coil due to the large Barkhausen effect, in which the magnetization direction of the magnetic element is suddenly reversed by an external magnetic field. The trigger signal generator 25 is arranged so as to be located on the rotation locus of the magnet 27 when viewed axially from the rotation axis Ax.

[0026] The magnet 27 is disposed, for example, on the surface of the disk 19 opposite to the substrate 13. The configuration of the magnet 27 is not particularly limited as long as the magnetic field applied to the magnetic element of the trigger signal generator 25 is periodically reversed with the rotation of the disk 19. For example, as shown in FIG. 3, four magnets 27 may be disposed at approximately 90-degree intervals in the circumferential direction so that their magnetic poles on the substrate 13 side alternate. In FIG. 3, the magnets 27 whose magnetic poles on the substrate 13 side are N and S are illustrated as 27N and 27S, respectively. The trigger signal generator 25 generates four trigger signals per rotation of the disk 19 using the four magnets 27.

[0027] The battery 29 supplies power to the magnetic detection unit 21 when external power is not supplied to the encoder 7. The battery 29 does not supply power directly to the magnetic detection unit 21, but supplies power via the processing module 31. In other words, the battery 29 is a power supply source for supplying power to the magnetic detection unit 21 when external power is not supplied to the encoder 7. The battery 29 may be a secondary battery that can be used repeatedly by being charged. The battery 29 may be, for example, an all-solid-state battery having a solid electrolyte. In the embodiment, a case will be described in which the battery 29 is an all-solid-state battery. The all-solid-state battery 29 is mounted on, for example, the surface of the substrate 13 opposite to the disk 19. The all-solid-state battery 29 is electrically connected to and mechanically fixed to the substrate 13 by soldering.

[0028] When external power is supplied to the encoder 7, the processing module 31 generates position data of the disk 19 based on the angular position information and multi-rotation information. When external power is not supplied to the encoder 7, the processing module 31 controls switching between supplying and stopping power from the all-solid-state battery 29 to the magnetic detection unit 21. The processing module 31 is mounted, for example, on the surface of the substrate 13 opposite to the disk 19. The configuration of the processing module 31 is not particularly limited, and may be configured as a processor having a plurality of circuit elements such as a CPU and memory.

[0029] <3. Configuration of the connection between the all-solid-state battery and the substrate> An example of the configuration of a connection portion that connects the all-solid-state battery 29 and the substrate 13 will be described with reference to Fig. 4. Fig. 4 is a cross-sectional view showing an example of the configuration of a connection portion that connects the all-solid-state battery 29 and the substrate 13. In Fig. 4, the internal structure of the all-solid-state battery 29 is not shown.

[0030] As shown in FIG. 4 , the all-solid-state battery 29 has connection terminals 34L and 34R at both ends parallel to the substrate 13. Lands 35L and 35R corresponding to the connection terminals 34L and 34R, respectively, are formed on the surface of the substrate 13 on which the all-solid-state battery 29 is mounted. The lands 35L and 35R are terminals formed of, for example, copper foil. The connection portion 36L connects the connection terminal 34L of the all-solid-state battery 29 to the land 35L via solder in contact with the connection terminal 34L. The connection portion 36R connects the connection terminal 34R of the all-solid-state battery 29 to the land 35R via solder in contact with the connection terminal 34R. The phrase “via solder” includes a configuration in which the connection terminals 34L and 34R and the substrate 13 are connected via solder therebetween. Therefore, for example, this also includes a case in which the connection terminals 34L and 34R are fixed to a daughter board or the like by solder, and the daughter board or the like is connected to the substrate 13 by some means (for example, a connector, etc.). 4 illustrates, as an example, a configuration in which the connection portions 36L, 36R directly connect the connection terminals 34L, 34R of the all-solid-state battery 29 to the substrate 13 by solder. The connection portions 36L, 36R electrically connect the all-solid-state battery 29 to the wiring of the substrate 13 and also mechanically fix the all-solid-state battery 29 to the substrate 13.

[0031] <4. Functional configuration of processing module> An example of the functional configuration of the processing module 31 will be described with reference to Fig. 5. Fig. 5 is a block diagram showing an example of the functional configuration of the processing module 31.

[0032] The processing module 31 generates position data for the disk 19 based on both the angular position information and the multiple rotation information when external power is supplied to the encoder 7, and generates the amount of multiple rotations of the disk 19 based on the multiple rotation information detected by the magnetic detection unit 21 using power supplied from the all-solid-state battery 29 when external power is not supplied to the encoder 7. An example of a functional configuration for realizing such functions of the processing module 31 will be described below.

[0033] As shown in FIG. 5, the processing module 31 includes an angle position signal generator 37, an A-phase multi-rotation signal generator 39, a B-phase multi-rotation signal generator 41, a counter 43, a position data generator 45, and a recorder 47.

[0034] The angular position signal generator 37 determines the absolute position within one rotation of the disc 19 based on the output of the light receiving array PA. The method for determining the absolute position is not particularly limited. For example, the light receiving elements of the light receiving array PA may treat each light reception or non-reception as a bit based on whether or not a slit row SA having an absolute pattern is detected, and output a multi-bit absolute signal. In this case, the angular position signal generator 37 decodes the absolute position that has been encrypted (encoded) into a serial bit pattern based on the absolute signal, and determines the absolute position.

[0035] The angular position signal generator 37 identifies the relative position within one rotation of the disc 19 based on the output of the light receiving array PI. For example, multiple light receiving elements of the light receiving array PI may output incremental signals based on the detection results of a slit row SI having an incremental pattern. In this case, the angular position signal generator 37 identifies the position within one pitch of the incremental pattern based on the incremental signal.

[0036] The angular position signal generator 37 generates an angular position signal Ap (see FIG. 9 described later) that represents a highly accurate angular position within one rotation of the disk 19 by superimposing the position within one pitch determined based on the incremental signal on the absolute position determined based on the absolute signal.

[0037] The A-phase multi-rotation signal generator 39 converts the A-phase signal from the magnetic detector 21 into a rectangular wave signal to generate the A-phase multi-rotation signal Ma (see FIG. 9 described later). As described above, the direction of the magnetic flux of the magnet 23 reverses every rotation angle range of approximately 180 degrees, so the A-phase multi-rotation signal Ma has a duty ratio of 50% and is a signal with one pulse per rotation of the disk 19.

[0038] The B-phase multi-rotation signal generator 41 converts the B-phase signal from the magnetic detector 21 into a rectangular wave signal to generate a B-phase multi-rotation signal Mb (see FIG. 9 described later). The B-phase multi-rotation signal Mb, like the A-phase multi-rotation signal Ma, has a duty ratio of 50% and is a signal with one pulse per rotation of the disk 19. The B-phase multi-rotation signal Mb is 90 degrees out of phase with the A-phase multi-rotation signal Ma.

[0039] The counter 43 executes a count calculation process (an example of a predetermined calculation process) that counts the number of rotations of the disk 19 based on the A-phase multi-rotation signal Ma and the B-phase multi-rotation signal Mb, and generates a multi-rotation signal Rn. A specific counting method by the counter 43 will be described later (see FIGS. 8 and 9). The counter 43 outputs the multi-rotation signal Rn, which is the result of the count calculation process, to the position data generation unit 45.

[0040] The processing module 31 enters active mode when external power is supplied to the encoder 7. In the active mode using external power, the processing module 31 supplies power to the magnetic detection unit 21. The position data generation unit 45 generates position data (an example of first position data) by combining the angular position signal Ap and the multi-rotation signal Rn, and outputs the position data to the control device 5. When external power is not supplied to the encoder 7, the processing module 31 switches to sleep mode. In sleep mode, the processing module 31 stops supplying power to the magnetic detection unit 21. In sleep mode, the processing module 31 stops various arithmetic processes including generation of position data, but does not enter a completely stopped state, and an active state is maintained by power supplied from the all-solid-state battery 29.

[0041] As described above, the trigger signal generator 25 generates a trigger signal in response to the rotation of the disk 19. When the processing module 31 receives a trigger signal from the trigger signal generator 25 in sleep mode, it returns from sleep mode to active mode using power supplied from the solid-state battery 29. In active mode using the solid-state battery 29, the processing module 31 supplies power to the magnetic detection unit 21 and acquires an A-phase signal and a B-phase signal from the magnetic detection unit 21. The counter 43 receives the A-phase multi-rotation signal Ma from the A-phase multi-rotation signal generation unit 39 and the B-phase multi-rotation signal Mb from the B-phase multi-rotation signal generation unit 41, and performs count calculation processing. The counter 43 records the multi-rotation signal Rn (an example of second position data) that is the result of the count calculation processing in the recording unit 47. After acquiring the A-phase signal and the B-phase signal from the magnetic detection unit 21, the processing module 31 stops the supply of power from the solid-state battery 29 to the magnetic detection unit 21. For example, the supply of power to the magnetic detection unit 21 may be stopped before the start of the count calculation processing.

[0042] The recording unit 47 (an example of a nonvolatile memory) records the multiple rotation signal Rn from the counter 43. The recording unit 47 is not particularly limited as long as it is a nonvolatile memory that can read and write data and can retain the recorded contents even when power is not applied. For example, FRAM (registered trademark) (ferroelectric memory) or the like may be used as the recording unit 47. The recording unit 47 is built into the processing module 31. However, the recording unit 47 may also be installed outside the processing module 31 (see FIG. 14 described later).

[0043] When the state where the encoder 7 is supplied with external power returns from a state where no external power is supplied to the encoder 7, the position data generation unit 45 reads out the multi-rotation signal Rn recorded in the recording unit 47 and combines it with the angular position signal Ap output from the angular position signal generation unit 37 to generate an initial value of the position data. Thereafter, the processing module 31 executes the normal position data generation process when the encoder 7 is supplied with external power.

[0044] The processes in the angular position signal generator 37, the A-phase multi-rotation signal generator 39, the B-phase multi-rotation signal generator 41, the counter 43, the position data generator 45, the recorder 47, etc. described above are not limited to the examples of the division of processes. For example, the processes may be performed by a smaller number of processing units (for example, one processing unit), or by further subdivided processing units. In the processing module 31, only the part that supplies power to the magnetic detection unit 21 may be implemented by an actual device, and the other functions of each of the above processing units may be implemented by a program executed by a CPU 901 (see FIG. 15 ), which will be described later. Some or all of the functions of each processing unit may be implemented by an actual device such as an ASIC, an FPGA, or other electric circuit.

[0045] <5. Circuit configuration of the board> An example of the circuit configuration of the substrate 13 will be described with reference to Fig. 6. Fig. 6 is a block diagram showing an example of the circuit configuration of the substrate 13. In Fig. 6, solid arrows indicate power supply lines from external power or the all-solid-state battery 29, and dashed arrows indicate signal lines for trigger signals.

[0046] 6, the encoder 7 has, as a circuit configuration mounted on the substrate 13, a DC / DC converter 49, a charging module 51, an all-solid-state battery 29, a regulator 53, a trigger signal generator 25, a rectifier 55, a processing module 31, a magnetic detection unit 21, and a plurality of rectifying elements 57, 59, and 61. In FIG. 6, the circuit configuration of the optical detection system including the optical module 17 is not shown.

[0047] The DC / DC converter 49 converts the voltage of an external power source, such as a DC power source, into a predetermined voltage and outputs it to the charging module 51 and the regulator 53 .

[0048] The charging module 51 controls charging of the all-solid-state battery 29, which is a secondary battery. The charging module 51 charges the all-solid-state battery 29 when external power is supplied to the encoder 7, and stops charging the all-solid-state battery 29 when external power is not supplied to the encoder 7. The method of charging the all-solid-state battery 29 is not particularly limited. The charging module 51 is connected to a power supply line EL1 of external power so as to be electrically parallel to the processing module 31.

[0049] A rectifying element 57 is electrically connected to a power supply line EL2 between the charging module 51 and the all-solid-state battery 29. The rectifying element 57 regulates the direction of current to a direction from the charging module 51 to the all-solid-state battery 29. A rectifying element 59 is electrically connected to a power supply line EL3 between the DC / DC converter 49 and the regulator 53. The rectifying element 59 regulates the direction of current to a direction from the DC / DC converter 49 to the regulator 53. A rectifying element 61 is electrically connected to a power supply line EL4 between the all-solid-state battery 29 and the regulator 53. The rectifying element 61 regulates the direction of current to a direction from the all-solid-state battery 29 to the regulator 53. The rectifying elements 57, 59, and 61 are not particularly limited as long as they can regulate the direction of current. For example, transistors, diodes, etc. may be used as the rectifying elements 57, 59, and 61.

[0050] When external power is not supplied to the encoder 7, the all-solid-state battery 29 outputs power to the regulator 53 via the power supply line EL4.

[0051] The regulator 53 controls the voltage and current of the power output from the DC / DC converter 49 or the all-solid-state battery 29 to keep them constant, and outputs the power to the processing module 31.

[0052] The processing module 31 controls the power supply to the magnetic detection unit 21. When external power is supplied to the encoder 7, the processing module 31 supplies power to the magnetic detection unit 21. When external power is not supplied to the encoder 7, the processing module 31 stops the power supply to the magnetic detection unit 21. In this case, as described above, the processing module 31 switches to a sleep mode using power supplied from the all-solid-state battery 29.

[0053] The trigger signal generator 25 generates a trigger signal in response to the rotation of the disk 19. The rectifier 55 rectifies the current of the trigger signal and limits the current and voltage of the trigger signal to be equal to or lower than predetermined values. The rectifier 55 outputs the rectified and limited trigger signal to the processing module 31.

[0054] As described above, when the processing module 31 receives a trigger signal in the sleep mode, it supplies power to the magnetic detection unit 21 using the all-solid-state battery 29 as a power source. After acquiring the A-phase signal and the B-phase signal from the magnetic detection unit 21, the processing module 31 stops the supply of power to the magnetic detection unit 21. The processing module 31 executes count calculation processing based on the A-phase signal and the B-phase signal, and switches to the sleep mode after the calculation processing is completed. The processing module 31 repeats the same processing every time it receives a trigger signal in the sleep mode.

[0055] <6. Timing of trigger signal, processing module processing, and power-on of magnetic detection unit> An example of the timing of the trigger signal, each process executed by the processing module, and power-on of the magnetic detection unit will be described with reference to Fig. 7. Fig. 7 is a timing chart showing an example of the timing of the trigger signal, each process executed by the processing module, and power-on of the magnetic detection unit.

[0056] 7, when the trigger signal generator 25 generates a trigger signal, the processing module 31 switches from sleep mode to active mode. The time Td required from the generation of the trigger signal to switching to active mode is shorter than when the processing module 31 is stopped rather than placed in sleep mode (see FIG. 13 described later), because there is no need to start up the processing module 31. Almost simultaneously with switching to active mode, the processing module 31 starts supplying power to the magnetic detection unit 21, turning on the power supply to the magnetic detection unit 21.

[0057] When the processing module 31 switches to active mode in response to a trigger signal, it executes multiple processes. For example, the processing module 31 executes a process of acquiring a clock signal during time t1, and executes a process of checking a port for communication with the magnetic detection unit 21 and the like during time t2. The magnetic detection unit 21 stabilizes the output of the A-phase signal and the B-phase signal during time ts, which is approximately the sum of times t1 and t2. The processing module 31 executes a process of acquiring the A-phase signal and the B-phase signal from the magnetic detection unit 21 during time t3, after the signals have stabilized in the magnetic detection unit 21. After time t3 has elapsed, i.e., after completing acquisition of the A-phase signal and the B-phase signal from the magnetic detection unit 21, the processing module 31 stops supplying power to the magnetic detection unit 21 and turns off the power supply to the magnetic detection unit 21.

[0058] The processing module 31 executes a predetermined calculation process after stopping the power supply to the magnetic detection unit 21. For example, the processing module 31 executes a process of reading the number of multiple rotations of the disk 19 (multiple rotation signal Rn) recorded in the recording unit 47 during time t4. The processing module 31 executes a count calculation process of counting the number of multiple rotations of the disk 19 based on the A-phase signal and B-phase signal acquired from the magnetic detection unit 21 during time t5. The processing module 31 executes a process of updating the number of multiple rotations read from the recording unit 47 based on the result of the count calculation process during time t6. These processes are examples of predetermined calculation processes. When the predetermined calculation process is completed, the processing module 31 switches from active mode to sleep mode.

[0059] 7, the processing module 31 stops the power supply to the magnetic detection unit 21 between times t3 and t4, i.e., after acquiring the A-phase signal and the B-phase signal from the magnetic detection unit 21 and before the start of the predetermined calculation process, but the timing for stopping the power supply is not limited to the above. For example, the processing module 31 may stop the power supply to the magnetic detection unit 21 while the predetermined calculation process is being executed, such as between times t4 and t5, between times t5 and t6, or during any of times t4, t5, or t6. For example, the processing module 31 may stop the power supply to the magnetic detection unit 21 approximately simultaneously with switching from the active mode to the sleep mode.

[0060] <7. Processing procedure by processing module> An example of the processing procedure executed by the processing module 31 will be described with reference to Figs. 8 to 10. Fig. 8 is a flowchart showing an example of the processing procedure executed by the processing module 31 when external power is supplied to the encoder 7. Fig. 9 is an explanatory diagram showing an example of the waveforms of the angular position signal Ap, the A-phase multi-rotation signal Ma, and the B-phase multi-rotation signal Mb. Fig. 10 is a flowchart showing an example of the processing procedure executed by the processing module 31 when external power is not supplied to the encoder 7.

[0061] The processing module 31 executes the flowchart shown in FIG. 8 when external power is supplied to the encoder 7. As shown in FIG. 8, in step S5, the processing module 31 generates position data using the position data generator 45 based on the angular position signal Ap output from the angular position signal generator 37 and the multi-rotation signal Rn output from the counter 43. As shown in FIG. 9, when the disk 19 rotates in the forward direction, the angular position signal Ap increases proportionally from the minimum value Min as the rotation angle approaches 360 degrees from 0 degrees, and is reset from the maximum value Max to the minimum value Min when it reaches 360 degrees (0 degrees). When the disk 19 rotates in the reverse direction, the angular position signal Ap decreases proportionally from the maximum value Max as the rotation angle approaches 0 degrees from 360 degrees, and is reset from the minimum value Min to the maximum value Max when it reaches 0 degrees (360 degrees). The multi-rotation signal Rn is a signal that represents the number of multiple rotations of the disk 19 counted based on the A-phase multi-rotation signal Ma and the B-phase multi-rotation signal Mb, as described above.

[0062] In step S10, the processing module 31 causes the charging module 51 to charge the all-solid-state battery 29.

[0063] In step S15, the processing module 31 determines whether the edge of the A-phase multi-rotation signal Ma has changed using the counter 43. As shown in FIG. 9, for example, the A-phase multi-rotation signal Ma is high (Hi) when the rotation angle of the disk 19 is in the range of 0 to 180 degrees, and low (Lo) when the rotation angle is in the range of 180 to 360 degrees (0 degrees). For example, the B-phase multi-rotation signal Mb is high (Hi) when the rotation angle of the disk 19 is in the range of 90 to 270 degrees, and low (Lo) when the rotation angle is in the range of 270 to 90 degrees. The angle position at which the edge of the A-phase multi-rotation signal Ma changes is either 0 degrees (360 degrees) or 180 degrees. If the edge of the A-phase multi-rotation signal Ma has not changed (step S15: NO), the processing returns to step S5. If the edge of the A-phase multi-rotation signal Ma has changed (step S15: YES), the processing proceeds to step S20.

[0064] In step S20, the processing module 31 determines whether the B-phase multi-rotation signal Mb is low (Lo) using the counter 43. As shown in FIG. 9, the angular position at which the edge of the A-phase multi-rotation signal Ma changes and the B-phase multi-rotation signal Mb is low (Lo) is 0 degrees (360 degrees). The angular position at which the edge of the A-phase multi-rotation signal Ma changes and the B-phase multi-rotation signal Mb is high (Hi) is 180 degrees. If the B-phase multi-rotation signal Mb is high (Hi) (step S20: NO), the process proceeds to step S40, which will be described later. If the B-phase multi-rotation signal Mb is low (Lo) (step S20: YES), the process proceeds to step S25.

[0065] In step S25, the processing module 31 refers to the A-phase multi-rotation signal Ma recorded in the recording unit 47 by the counter 43, and determines whether the A-phase multi-rotation signal Ma has changed from low (Lo) to high (Hi). As shown in Figure 9, when the A-phase multi-rotation signal Ma changes from low (Lo) to high (Hi) at an angular position of 0 degrees (360 degrees), the disk 19 has rotated in the forward direction and completed one rotation. If the A-phase multi-rotation signal Ma has changed from low (Lo) to high (Hi) (step S25: YES), the process proceeds to step S30.

[0066] In step S30, the processing module 31 reads out the number of rotations recorded in the recording unit 47 by the counter 43 and counts up the number of rotations.

[0067] In step S25, if the A-phase multi-rotation signal Ma has not changed from low (Lo) to high (Hi), that is, if the A-phase multi-rotation signal Ma has changed from high (Hi) to low (Lo) (step S25: NO), the process proceeds to step S35. As shown in Fig. 9, when the A-phase multi-rotation signal Ma changes from high (Hi) to low (Lo) at an angular position of 0 degrees (360 degrees), the disk 19 has rotated in the reverse direction and completed one revolution.

[0068] In step S35, the processing module 31 reads out the number of rotations recorded in the recording unit 47 by the counter 43 and counts down.

[0069] In step S40, the processing module 31 outputs the multi-rotation amount (multi-rotation signal Rn) counted up or down in step S30 or step S35 by the counter 43 to the position data generation unit 45. The counter 43 records in the recording unit 47 whether the A-phase multi-rotation signal Ma is low (Lo) or high (Hi) when counting. The counter 43 may record the multi-rotation signal Rn in the recording unit 47.

[0070] In step S45, the processing module 31 determines whether or not external power is no longer being supplied to the encoder 7. If external power is being supplied to the encoder 7 (step S45: NO), the processing module 31 returns to the previous step S5 and repeats the same procedure. If external power is no longer being supplied to the encoder 7 due to, for example, a power outage or the like (step S45: YES), this flowchart ends.

[0071] The above-described processing procedure is an example, and at least some of the above procedures may be deleted or changed, or other procedures may be added. The order of at least some of the above procedures may be changed, or multiple procedures may be combined into a single procedure. For example, step S5 and step S10 do not have to be in the above order, and may be in the reverse order or performed simultaneously in parallel.

[0072] The processing module 31 executes the flowchart shown in Fig. 10 when external power is no longer supplied to the encoder 7 due to, for example, a power outage. As shown in Fig. 10, in step S101, power supply is switched to power from the all-solid-state battery 29. In step S105, the processing module 31 switches from an active mode using external power to a sleep mode.

[0073] In step S110, the processing module 31 stops the power supply to the magnetic detection unit 21.

[0074] In step S115, the processing module 31 determines whether or not a trigger signal generated by the trigger signal generator 25 due to the rotation of the disk 19 has been received via the rectifier 55. If a trigger signal has not been received (step S115: NO), the processing module 31 proceeds to step S150, which will be described later. If a trigger signal has been received (step S115: YES), the processing module 31 proceeds to step S120.

[0075] In step S120, the processing module 31 switches from the sleep mode to the active mode.

[0076] In step S125, the processing module 31 starts supplying power to the magnetic detection unit 21.

[0077] In step S130, the processing module 31 acquires the A-phase signal and the B-phase signal from the magnetic detection unit 21 using the A-phase multi-rotation signal generation unit 39 and the B-phase multi-rotation signal generation unit 41.

[0078] In step S135, the processing module 31 stops the power supply to the magnetic detection unit 21.

[0079] In step S140, the processing module 31 generates an A-phase multi-rotation signal Ma and a B-phase multi-rotation signal Mb using the A-phase multi-rotation signal generator 39 and the B-phase multi-rotation signal generator 41 based on the A-phase signal and the B-phase signal acquired from the magnetic detection unit 21 in step S130. The processing module 31 executes count calculation processing using the counter 43 based on the A-phase multi-rotation signal Ma and the B-phase multi-rotation signal Mb, and records the calculation result, a multi-rotation signal Rn, in the recording unit 47.

[0080] In step S145, the processing module 31 switches from the active mode to the sleep mode.

[0081] In step S150, the processing module 31 determines whether external power is now being supplied to the encoder 7. If external power is not being supplied to the encoder 7 (step S150: NO), the process returns to the previous step S115 and repeats the same procedure. For example, if external power is now being supplied to the encoder 7 after recovery from a power outage (step S150: YES), this flowchart ends.

[0082] The above-described processing procedures are merely examples, and at least some of the procedures may be deleted or changed, or other procedures may be added. The order of at least some of the procedures may be changed, or multiple procedures may be combined into a single procedure.

[0083] 8. Effects of the embodiment As described above, the encoder 7 of the embodiment includes the optical module 17 that detects angular position information representing the angular position within one rotation of the rotating disk 19, the magnetic detection unit 21 that detects multi-rotation information representing the rotation speed of the disk 19, the battery 29 that supplies power to the magnetic detection unit 21 when external power is not supplied to the encoder 7, and connection units 36L, 36R that connect the connection terminals 34L, 34R of the battery 29 to the substrate 13 to which at least one of the optical module 17 and the magnetic detection unit 21 is connected via solder in contact with the connection terminals 34L, 34R.

[0084] The solder that electrically connects the battery 29 to the substrate 13 not only establishes an electrical connection but also firmly secures the battery 29 to the substrate 13. In other words, the connection of the connection terminals 34L, 34R by solder not only establishes an electrical connection but also secures the battery 29. This makes it possible to prevent poor connection with the wiring (lands 35L, 35R) of the substrate 13 and the battery 29 from falling off the substrate 13, for example, even if the encoder 7 is subjected to shock or vibration, thereby improving durability.

[0085] In the embodiment, the connecting portions 36L, 36R may directly connect the connection terminals 34L, 34R of the battery 29 to the substrate 13 by soldering. In this case, electrical connection and fixation are achieved only via the connection terminals 34L, 34R of the battery 29, eliminating the need for a case or lead wires to house the battery 29, allowing the encoder 7 to be made smaller and the number of parts to be reduced. This is therefore further advantageous in terms of ease of manufacture and cost reduction.

[0086] In the embodiment, the battery 29 may be a secondary battery that can be used repeatedly by being charged.

[0087] If a primary battery is used as the battery 29, it will become impossible to supply power from the battery 29 once the battery capacity is used up. Furthermore, if the battery 29 is fixed to the substrate 13 by soldering, the battery 29 cannot be replaced, and there is a possibility that the encoder 7 will need to be replaced or discarded. In this embodiment, a secondary battery is installed, which allows the encoder 7 to be charged and used repeatedly. Therefore, even if the battery 29 is fixed to the substrate 13 by soldering, the encoder 7 can be used for a long time without having to be replaced or discarded.

[0088] In an embodiment, the battery 29 may be an all-solid-state battery having a solid electrolyte.

[0089] If a lithium-ion battery were used as the secondary battery, it would likely operate unstably in high-temperature environments, and there is also the risk of heat generation and fire, so it is preferable to provide a protection circuit that also uses a thermistor. In contrast, all-solid-state batteries can be used under high-temperature conditions, and because they are solid electrolytes, they generate less heat, making them less susceptible to fire, and they have properties such as low self-discharge, a long life, and slow performance degradation. Therefore, by incorporating an all-solid-state battery, an encoder 7 can be realized that can be used safely in high-temperature environments, does not require a protection circuit, and has reduced power consumption and a long life.

[0090] In the embodiment, the encoder 7 may include a charging module 51 that charges the all-solid-state battery 29 when external power is supplied, and stops charging the all-solid-state battery 29 when external power is not supplied.

[0091] In this case, the all-solid-state battery 29 can be charged when external power is supplied, so that it can be prepared to supply power from the all-solid-state battery 29 at any time when external power is not supplied due to, for example, a power outage or the like.

[0092] In the embodiment, the encoder 7 may include a rectifying element 57 that is electrically connected between the charging module 51 and the all-solid-state battery 29 and regulates the direction of current to the direction from the charging module 51 to the all-solid-state battery 29. In this case, when the all-solid-state battery 29 supplies power to the magnetic detection unit 21 via the processing module 31, a reverse current flow to the charging module 51 can be prevented.

[0093] In an embodiment, the encoder 7 may have a processing module 31 that generates position data for the disk 19 based on at least one of angular position information and multi-rotation information when external power is supplied, and in this case, the charging module 51 and the processing module 31 may be electrically connected in parallel to the power supply line EL1 of the external power.

[0094] In this case, when external power is supplied, for example, due to recovery from a power outage, power can be supplied quickly to both the charging module 51 and the processing module 31, allowing them to start up or perform processing immediately, compared to when the charging module 51 and the processing module 31 are connected in series to the power supply line EL1.

[0095] In the embodiment, the encoder 7 may include a processing module 31 that controls switching between supplying and stopping power from the all-solid-state battery 29 to the magnetic detection unit 21.

[0096] In this case, instead of simply supplying or stopping power from the all-solid-state battery 29 to the magnetic detection unit 21 depending on the presence or absence of an external power supply, the processing module 31 can control the power supply from the all-solid-state battery 29 to the magnetic detection unit 21. This makes it possible to control the power supply based on the result of a predetermined calculation process by the processing module 31, for example, and makes it possible to suppress power consumption, etc.

[0097] In the embodiment, the all-solid-state battery 29 may supply power to the magnetic detection unit 21 via the processing module 31 when the supply of external power to the encoder 7 is stopped.

[0098] In this case, when the supply of external power is stopped, power can be supplied to the magnetic detection unit 21 from the all-solid-state battery 29 via the processing module 31, rather than directly from the all-solid-state battery 29 to the magnetic detection unit 21. This makes it possible to control the power supply using the processing module 31, for example, by supplying power to the magnetic detection unit 21 only while multi-rotation information is being acquired, thereby enabling further reduction in power consumption, etc.

[0099] In an embodiment, the processing module 31 may go to sleep using power from the all-solid-state battery 29 when the supply of external power to the encoder 7 is stopped.

[0100] In this case, even if external power is not supplied to the encoder 7, the processing module 31 remains activated, and can be immediately activated to execute predetermined processing as needed. This eliminates the time required to start the processing module 31, shortens the time required to start processing, and reduces the power consumption required for startup. Furthermore, if predetermined processing (such as abnormality detection processing related to the all-solid-state battery 29) is to be executed when external power is restored, the processing can be executed quickly.

[0101] In an embodiment, the encoder 7 may have a trigger signal generator 25 that generates a trigger signal in response to the rotation of the disk 19, in which case the processing module 31 may wake up from sleep upon receiving the trigger signal and start supplying power to the magnetic detection unit 21.

[0102] In this case, when no external power is supplied, the power supply from the all-solid-state battery 29 to the magnetic detection unit 21 is stopped, and only when rotation of the disk 19 occurs is power supplied to the magnetic detection unit 21 to detect multi-rotation information. This makes it possible to reduce the power consumption of the all-solid-state battery 29 and extend the battery life.

[0103] In the embodiment, the processing module 31 may execute predetermined arithmetic processing based on the multiple rotation information detected by the magnetic detection unit 21.

[0104] In this case, the processing module 31 can not only store the multi-rotation information from the magnetic detection unit 21, but also perform arithmetic processing based on the multi-rotation information. This can save storage space in the processing module 31, and can also perform calculations related to the amount of multi-rotation (e.g., count calculation processing) at the time of detecting the multi-rotation information, improving reliability. In particular, if the battery 29 is an all-solid-state battery, it is also possible to perform processing such as a health check of the all-solid-state battery, improving the reliability of the encoder as a whole. In addition, when activating the encoder from a sleep state, these processes can be performed quickly, reducing power consumption of the all-solid-state battery 29 and extending battery life.

[0105] In the embodiment, the processing module 31 may stop the supply of power from the all-solid-state battery 29 to the magnetic detection unit 21 after acquiring the multiple rotation information from the magnetic detection unit 21 and before starting the predetermined calculation process.

[0106] In this case, when the supply of external power is stopped, power is supplied to the magnetic detection unit 21 only when rotation of the disk 19 occurs to acquire multi-rotation information, and then the power supply to the magnetic detection unit 21 can be stopped before starting the necessary arithmetic processing based on the acquired multi-rotation information. In this way, by the processing module 31 separately controlling the arithmetic processing and the stop of the power supply, even if the arithmetic processing requires time, it is possible to stop the power supply before that, thereby further reducing the power consumption of the all-solid-state battery 29.

[0107] In an embodiment, the encoder 7 may have a recording unit 47, which is a non-volatile memory that can read and write data and retain the recorded contents even when power is not applied, and in this case, the processing module 31 may record the results of a predetermined calculation process in the recording unit 47.

[0108] In this case, when the supply of external power is stopped, the results of predetermined arithmetic processing based on the multi-rotation information detected by the magnetic detection unit 21 can be retained even after the power supply to the magnetic detection unit 21 is stopped. Furthermore, if the processing module 31 has a recording unit 47 inside, high-speed data writing becomes possible, which makes it possible to further reduce battery power consumption.

[0109] In an embodiment, the processing module 31 may be mounted on the substrate 13 and may generate position data for the disk 19 based on at least one of angular position information and multi-rotation information when external power is supplied, and may generate a multi-rotation signal Rn representing the amount of multi-rotation of the disk 19 based on multi-rotation information detected by the magnetic detection unit 21 using power supplied from the all-solid-state battery 29 when external power is not supplied.

[0110] In this case, the processing module 31 can be configured as a common component mounted on the substrate 13. This allows for rapid control switching when the external power is turned on and off. For example, even in the event of a momentary power outage, control can be quickly switched to return from processing when the external power was off to processing when the external power was on. Furthermore, if predetermined arithmetic processing is to be performed when the external power is restored, that processing can also be quickly performed.

[0111] The encoder 7 of the embodiment includes an optical module 17 that detects angular position information that represents the angular position within one rotation of the rotating disk 19, a magnetic detection unit 21 that detects multi-rotation information that represents the number of rotations of the disk 19, and an all-solid-state battery 29 with a solid electrolyte that supplies power to the magnetic detection unit 21 when external power is not supplied to the encoder 7.

[0112] By providing the encoder 7 with the all-solid-state battery 29, an encoder that retains multi-rotation information using power supplied from the battery when the supply of external power is stopped can be realized that can be used safely even in high-temperature environments, does not require a protection circuit, and allows for reduced power consumption and a longer life.

[0113] <9. Variations> The disclosed embodiment is not limited to the above, and various modifications are possible within the scope of the spirit and technical concept thereof. Such modifications will be described below.

[0114] (9-1. Detecting anomalies in solid-state batteries when external power is restored) When the state where external power is supplied to the encoder 7 returns from a state where no power is supplied thereto, a process for detecting an abnormality related to the all-solid-state battery 29 may be executed. An example of a process procedure executed by the processing module 31 in this modification will be described with reference to FIG.

[0115] In FIG. 11, steps S105 to S140 are the same as those in FIG. 10, and therefore the explanation will be omitted.

[0116] In step S143, the processing module 31 executes processing to detect an abnormality related to the all-solid-state battery 29. The method of detecting an abnormality in the all-solid-state battery 29 is not particularly limited. For example, the voltage of the all-solid-state battery 29 may be detected, and if the voltage value is within a predetermined range, it may be determined to be normal, and if the voltage value is not within the predetermined range, it may be determined to be abnormal. The processing module 31 records the result of the abnormality detection processing in the recording unit 47. The processing module 31 may execute the processing of step S143 together with the count calculation processing, for example, during time t5 in the time chart shown in FIG. 7 described above.

[0117] Steps S145 and S150 are the same as those in Fig. 10. However, if external power is supplied to the encoder 7 in step S150 (step S150: YES), the process proceeds to step S155.

[0118] In step S155, the processing module 31 executes processing to detect an abnormality related to the all-solid-state battery 29. For example, similar to step S143 above, the processing module 31 may detect the voltage of the all-solid-state battery 29, and determine that the battery is normal if the voltage value is within a predetermined range, and determine that the battery is abnormal if the voltage value is outside the predetermined range. For example, the processing module 31 may refer to the information recorded in the recording unit 47 in step S143 above when the supply of external power is stopped, and determine that the battery is normal if there is no information indicating that an abnormality has been detected (for example, an alarm code, etc.), and determine that the battery is abnormal if there is information indicating that an abnormality has been detected. The processing module 31 may output the result of the abnormality detection processing to, for example, the control device 5, etc. Thereafter, this flowchart ends.

[0119] In the above step S155, when determining whether the battery is normal or abnormal based on the voltage value of the all-solid-state battery 29, the process of step S143 may be omitted. When the process of step S143 is executed, only the determination based on the information recorded in the recording unit 47 in the above step S155 may be performed, and the process of determining the voltage value of the all-solid-state battery 29 may be omitted.

[0120] According to the modification described above, when the supply of external power is restored after being stopped, it is possible to check for abnormalities related to the all-solid-state battery 29, and to diagnose and confirm the health of the battery.

[0121] (9-2. When switching the power supply to the magnetic detection unit with a switch) In the embodiment, the processing module 31 itself is configured to supply or stop power to the magnetic detection unit 21, but the power supply to the magnetic detection unit 21 may be switched on and off by a switch. An example of the circuit configuration of the substrate 13 in this modified example will be described with reference to Fig. 12. In Fig. 12, the same components as those in Fig. 6 described above are designated by the same reference numerals, and description thereof will be omitted.

[0122] 12, the encoder 7 has a switch 63 as a circuit configuration mounted on the substrate 13 in addition to the configuration shown in FIG. 6 described above. The switch 63 may be any device that has a function of switching circuits, such as a load switch or a transistor. The switch 63 is electrically connected to a power supply line EL5 between the regulator 53 and the magnetic detection unit 21. The switching of the switch 63 is controlled by the processing module 31. The regulator 53 outputs power output from the DC / DC converter 49 or the all-solid-state battery 29 to the processing module 31 and the switch 63.

[0123] When external power is supplied to the encoder 7, the processing module 31 turns on the switch 63. As a result, the power output from the regulator 53 is supplied to the magnetic detection unit 21. When external power is not supplied to the encoder 7, the processing module 31 enters sleep mode and turns off the switch 63. As a result, the supply of power from the all-solid-state battery 29 to the magnetic detection unit 21 is stopped.

[0124] When the processing module 31 receives a trigger signal from the trigger signal generator 25 via the rectifier 55 in the sleep mode, it enters the active mode and turns on the switch 63. This causes power to be supplied from the all-solid-state battery 29 to the magnetic detection unit 21. After acquiring the A-phase signal and the B-phase signal from the magnetic detection unit 21, the processing module 31 turns off the switch 63. This stops the supply of power from the all-solid-state battery 29 to the magnetic detection unit 21.

[0125] The contents of each process, such as the count calculation process, executed by the processing module 31 are the same as those in the above-described embodiment. According to this modification, it is possible to apply a processing module that does not have a function of supplying voltage to the magnetic detection unit 21, thereby improving the versatility of the processing module.

[0126] (9-3. Turning off the processing module when the external power supply is stopped) In the embodiment, the processing module 31 is put to sleep when the supply of external power is stopped, but the power supply to the processing module 31 may be turned off. An example of the circuit configuration of the substrate 13 in this modified example will be described with reference to Fig. 13. In Fig. 13, the same components as those in Fig. 6 described above are designated by the same reference numerals, and description thereof will be omitted.

[0127] 13, the encoder 7 has a switch 65 as a circuit configuration mounted on the substrate 13 in addition to the configuration shown in FIG. 6 described above. The switch 65 may be any device that has a function of switching circuits, such as a load switch or a transistor. The switch 65 is electrically connected to a power supply line EL6 between the regulator 53 and the processing module 31. The switch 65 is switched by a trigger signal input from the trigger signal generator 25 via a rectifier 55. The regulator 53 outputs power output from the DC / DC converter 49 or the all-solid-state battery 29 to the switch 65.

[0128] The switch 65 is turned on when external power is supplied to the encoder 7. As a result, the power output from the regulator 53 is supplied to the processing module 31. The switch 65 is turned off when external power is not supplied to the encoder 7. As a result, the supply of power from the all-solid-state battery 29 to the processing module 31 is stopped, and the processing module 31 is brought into a stopped state.

[0129] The switch 65 is turned on when a trigger signal is received from the trigger signal generator 25 via the rectifier 55 while the supply of external power is stopped. As a result, power is supplied from the all-solid-state battery 29 to the processing module 31, and the processing module 31 is started up. The switch 65 is turned off when a predetermined time has passed after the reception of the trigger signal. As a result, the supply of power from the all-solid-state battery 29 to the processing module 31 is stopped. The predetermined time is set to be, for example, equal to or greater than the sum of the time Td required from the generation of the trigger signal until the processing module 31 is started up and the times t1 to t6 for the processing module 31 to execute each process. The time Td in this modified example is longer than the time Td in the above-described embodiment (see FIG. 7) by the amount of time required to start up the processing module 31.

[0130] The contents of each process, such as the count calculation process, executed by the processing module 31 are the same as those in the above-described embodiment. According to this modification, it is possible to apply a processing module that does not have a sleep mode function, thereby improving the versatility of the processing module.

[0131] (9-4. Other) In the embodiment, the case where the processing module 31 has the recording unit 47 inside has been described, but it is also possible to configure a processing module without the recording unit 47. As shown in Fig. 14, the recording unit 47 may be installed outside the processing module 31. For example, the recording unit 47 may be mounted on the substrate 13. In this case, it becomes possible to apply a processing module without a non-volatile memory, thereby improving the versatility of the processing module.

[0132] In the embodiment, the optical module 17 is a reflective optical module, but the optical module 17 may be a transmissive optical module. In this case, for example, the light source 33 and the light receiving arrays PA and PI may be disposed on opposite sides of the disk 19, and each slit in the slit rows SA and SI may be formed as a transmissive slit (for example, a hole) in the disk 19.

[0133] In the embodiment, a case where one type of incremental pattern is provided on the disk 19 has been described, but multiple types of incremental patterns with different pitches may be provided on the disk 19. In this case, it is possible to generate an angular position signal with even higher resolution based on multiple incremental signals with different resolutions.

[0134] The problems to be solved by the embodiments and the effects of the embodiments are not limited to those described above. That is, some embodiments may solve problems or achieve effects that are not described above, or may solve only some of the problems or achieve only some of the effects that are described.

[0135] <10. Example of hardware configuration of processing module> An example of the hardware configuration of the processing module 31 will be described with reference to Fig. 15. In Fig. 15, the configuration related to the function of supplying power to the magnetic detection unit 21 is omitted from the illustration.

[0136] 15, the processing module 31 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or FPGA, a recording device 917, and a connection port 921. These components are connected via a bus 909 and an input / output interface 911 so as to be able to transmit signals to each other.

[0137] The program can be recorded in, for example, the ROM 903, the RAM 905, or the recording device 917 including the recording unit 47 described above.

[0138] The connection port 921 is used for transmitting and receiving signals to and from an externally connected device 927, and for inputting and outputting power. For example, reception of a trigger signal from the rectifier 55, input of power from the regulator 53, and output of power to the magnetic detection unit 21 may be performed via the connection port 921.

[0139] The CPU 901 executes various processes in accordance with a program, or the processes performed by the angle position signal generator 37, A-phase multi-rotation signal generator 39, B-phase multi-rotation signal generator 41, counter 43, position data generator 45, etc. are realized by a dedicated integrated circuit 907, etc. In this case, the CPU 901 may, for example, directly read out and execute the program from the recording device 917, or may execute the program after first loading it into the RAM 905.

[0140] The CPU 901 may then transmit the results of the above processing to the externally connected device 927 via the connection port 921, for example, or may record the results in the recording device 917 or the like.

[0141] In the above description, when terms such as "vertical," "parallel," and "plane" are used, they are not used in their strict sense. In other words, "vertical," "parallel," and "plane" mean "substantially vertical," "substantially parallel," and "substantially plane," allowing for tolerances and errors in design and manufacturing.

[0142] Furthermore, in the above description, when the external dimensions, size, shape, position, etc. are described as "same," "equal," "different," etc., these descriptions do not have the strict meaning. In other words, "same," "equal," and "different" mean "substantially the same," "substantially the same," "substantially equal," and "substantially different," allowing for design and manufacturing tolerances and errors.

[0143] However, if there is a description of a value that serves as a predetermined criterion or a dividing line, such as a threshold value (see the flowcharts in Figures 8 and 10) or a reference value, the terms "same," "equal," "different," etc., used in relation to such a value will have a strict meaning, different from the above.

[0144] Furthermore, in addition to what has already been described above, the methods according to the above-described embodiments and modifications may be used in appropriate combinations. Although not specifically illustrated, the above-described embodiments and modifications may be implemented with various modifications within the scope of their spirit. [Explanation of symbols]

[0145] 1 Servo System 3 Servo motors 5. Control device 7 Encoders 9 Motor 13 PCB 17 Optical module (angle position information detection section) 19 discs 21 Magnetic detection unit (multi-rotation information detection unit) 25 Trigger signal generator (electrical signal generator) 29 All-solid-state battery (battery, secondary battery) 31 Processing Module 34L, 34R connection terminal 36L, 36R connection 47 Recording unit (non-volatile memory) 51 Charging Module 57 Rectifying element EL1 External power supply line

Claims

1. an angular position information detection unit that detects angular position information representing an angular position within one rotation of a rotating disk; a multi-rotation information detection unit that detects multi-rotation information indicating the number of rotations of the disk; an all-solid-state battery having a solid electrolyte that supplies power to the multi-rotation information detection unit when external power is not supplied to the encoder; a connection unit that directly connects a connection terminal that is integrally provided with the all-solid-state battery to a substrate on which the angular position information detection unit and the multi-rotation information detection unit are mounted, by solder that is in contact with the connection terminal; and the all-solid-state battery and the multi-rotation information detection unit to which power is supplied by the all-solid-state battery are mounted on the same substrate, the all-solid-state battery supplies power to the multi-rotation information detection unit via the connection unit and wiring of the substrate. Encoder.

2. a processing module that controls switching between supplying and stopping power from the all-solid-state battery to the multi-rotation information detection unit, and executes predetermined arithmetic processing based on the multi-rotation information detected by the multi-rotation information detection unit; The processing module includes: the all-solid-state battery and the multi-rotation information detection unit to which power is supplied from the all-solid-state battery are mounted on the substrate on which the all-solid-state battery is mounted; The encoder of claim 1 .

3. The all-solid-state battery comprises: It is a secondary battery that can be used repeatedly by charging, The processing module includes: When the external power supply state is restored from the non-supply state to the supply state, an abnormality detection process for the all-solid-state battery is executed based on the voltage of the all-solid-state battery when the supply of the external power was stopped, and information recorded is referenced to execute the process for detecting an abnormality for the all-solid-state battery. The encoder of claim 2 .

4. a first magnet whose magnetism is detected by the multiple rotation information detection unit; an electric signal generating unit that generates an electric signal that serves as a trigger to supply power from the all-solid-state battery to the multi-rotation information detecting unit based on rotation of the disk; a second magnet different from the first magnet, the magnetism of which is detected by the electric signal generating unit; and The first magnet is Located on the rotation axis of the disk, The second magnet is a magnet located on the outer periphery of the first magnet in a radial direction centered on a rotation axis of the disk, the magnet generating magnetic field in a circumferential direction around the rotation axis; The electrical signal generating unit Detecting the magnetic field generated by the second magnet. The encoder of claim 1 .

5. an electric signal generating unit that generates an electric signal that serves as a trigger to supply power from the all-solid-state battery to the multi-rotation information detecting unit based on rotation of the disk; a magnet whose magnetism is detected by the electric signal generating unit, The disk is a slit row having a plurality of slits detected by the angular position information detection unit, The slit row is a magnetic head disposed between the magnet and the electric signal generating unit in the direction of the rotation axis of the disk; the electric signal generating unit, the slit row, and the rotation locus of the magnet are arranged at positions in the radial direction of the disk where they overlap when viewed from the direction of the rotation axis. The encoder of claim 1 .

6. The all-solid-state battery, the processing module, and the multi-rotation information detection unit are the all-solid-state battery is disposed on the substrate such that, as viewed from the direction of the rotation axis of the disk, the distance between the all-solid-state battery and the processing module is greater than the distance between the processing module and the multi-rotation information detection unit. The encoder of claim 2 .

7. a motor in which a rotor rotates relative to a stator; The encoder according to any one of claims 1 to 6, which detects at least one of the position, speed, and acceleration of the rotor; A servo motor having a

8. a motor in which a rotor rotates relative to a stator; The encoder according to any one of claims 1 to 6, which detects at least one of the position, speed, and acceleration of the rotor; a control device that controls the motor based on the detection result of the encoder; A servo system having:

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