electronic machines

Abstract

To suppress an influence on control accuracy due to contamination of a rotary encoder.SOLUTION: In an electronic apparatus 1, a moving body 41 mounted with a machining portion 31 moves in conjunction with rotations of a motor 51. A rotary encoder 55 in conjunction with rotations of the motor includes a scale 551 and a sensor 553. A memory 13 stores information capable of identifying a rotation angle of the scale in which the sensor cannot normally read the scale. Controllers 11 and 20 detect a position of the moving body on the basis of an encoder signal, and control the motor and the machining portion. The controllers execute processing including at least one of first control for controlling the movement of the moving body by controlling the motor, and second control controlling machining operation by the machining portion in a constant-speed moving zone of the moving body. The controllers discriminate a detection error at a position generated in an acceleration zone, and correct at least one of the first control and the second control (S610 to S650).SELECTED DRAWING: Figure 10

Claims

1. Motor and, A mobile body is equipped with a processing unit for processing an object, and is configured to move in conjunction with the rotation of the motor due to the force acting from the motor, A rotary encoder comprising a scale and a sensor, configured to output an encoder signal of the scale read by the sensor, which is generated when the scale rotates relative to the sensor in conjunction with the rotation of the motor, A memory that stores information capable of identifying the rotation angle of the scale in which the sensor cannot read the scale correctly, A controller configured to control the motor and the machining unit based on the encoder signal input from the rotary encoder, Equipped with, The aforementioned controller, A detection process for detecting the position of the moving object based on the encoder signal, A control process based on the position of the moving body detected by the detection process, which includes a first control that controls the movement of the moving body by controlling the motor, and a second control that controls the machining operation on the object by the machining unit in the constant-speed movement section of the moving body. A determination process that determines the position detection error caused by the detection process in the acceleration section of the moving body that occurs in time prior to the constant-speed movement section, based on the information stored in the memory, A correction process is performed to correct at least one of the first control and the second control based on the detection error determined in the discrimination process, Electronic devices that perform this function.

2. The electronic device according to claim 1, wherein in the detection process, the rotation angle is detected based on the change in the encoder signal in the constant-speed movement section, and information that can identify the detected rotation angle is written to the memory.

3. The first control includes a process of controlling the motor so that the moving body moves to a target position corresponding to a turning point and stops at the target position, while alternately switching the direction of movement of the moving body between the forward and reverse directions, thereby causing the moving body to reciprocate. In the detection process, during the reciprocating motion of the moving body, the rotation angle is detected for each one-way movement to the target position, based on the change in the encoder signal during the constant-speed movement section corresponding to the one-way movement, and information that can identify the detected rotation angle is written to the memory. The electronic device according to claim 2, wherein, in the determination process, the detection error is determined based on information that can identify the rotation angle detected during the one-way movement immediately before it is stored in the memory, during the process in which the moving body moves back and forth.

4. The control process includes initial control to move the moving body at a constant speed without machining operations by the machining unit, before the machining unit performs machining operations on the object. The electronic device according to claim 2, wherein in the detection process, the rotation angle is detected based on the change in the encoder signal in the constant-speed movement section of the moving body when the initial control is executed, and information that can identify the detected rotation angle is written to the memory.

5. In the aforementioned determination process, the detection error occurring in the non-constant speed movement section of the moving body, including the acceleration section, is determined. The electronic device according to claim 1, wherein in the correction process, at least one of the first control and the second control is corrected based on the detection error in the non-constant speed movement section determined by the determination process.

6. The non-constant speed movement section includes an acceleration section in which the moving body accelerates and a deceleration section in which the moving body decelerates. The electronic device according to claim 5, wherein the determination process determines the position detection error occurring in the acceleration section and the position detection error occurring in the deceleration section.

7. The electronic device according to claim 5, wherein the detection process, based on the encoder signal, is performed to remove the detection error that may occur in the rotation angle in the constant-speed movement section, and thereby, in the constant-speed movement section, the position of the moving body is detected as the position from which the detection error has been removed.

8. The information that can identify the rotation angle includes information that can identify the magnitude of the detection error occurring at the rotation angle in the constant-speed movement section as a reference error. The electronic device according to claim 1, wherein the determination process includes determining the detection error in the acceleration section by applying a predetermined correction to the reference error identified from the information stored in the memory.

9. The information that can identify the rotation angle includes information that can identify the magnitude of the detection error occurring at the rotation angle in the constant-speed movement section as a reference error. The electronic device according to claim 6, wherein in the discrimination process, the detection error in the acceleration section is determined by applying a first correction to the reference error identified from the information stored in the memory, and the detection error in the deceleration section is determined by applying a second correction different from the first correction to the reference error.

10. In the first control described above, the motor is controlled so that the moving body moves to the target position and stops at the target position. The electronic device according to any one of claims 1 to 9, wherein the correction process corrects the first control by correcting the target position based on the detection error determined in the determination process.

11. In the second control described above, the machining operation of the machining unit is controlled so that the workpiece is machined from the machining start position within the constant speed movement section. The electronic device according to any one of claims 1 to 9, wherein the correction process corrects the second control by correcting the processing start position based on the detection error determined in the determination process.

12. In the first control described above, the motor is controlled so that the moving body accelerates to a predetermined speed in the acceleration section, moves at a constant speed at the predetermined speed in the constant speed movement section following the acceleration section, decelerates in the deceleration section following the constant speed movement section, and stops at the target position. In the second control described above, the machining operation of the machining unit is controlled so that the workpiece is machined from the machining start position within the constant speed movement section. The aforementioned correction process is performed by The first control is corrected by correcting the target position based on the detection errors in the acceleration section and the deceleration section determined in the aforementioned determination process. The second control is corrected by correcting the machining start position based on the detection error in the acceleration section determined in the discrimination process, The electronic device according to claim 9, including the following:

13. Motor and, A mobile body is equipped with a processing unit for processing an object, and is configured to move in conjunction with the rotation of the motor due to the force acting from the motor, A rotary encoder comprising a scale and a sensor, configured to output an encoder signal of the scale read by the sensor, which is generated when the scale rotates relative to the sensor in conjunction with the rotation of the motor, A memory that stores information capable of identifying the rotation angle of the scale in which the sensor cannot read the scale correctly, A controller configured to control the motor and the machining unit based on the encoder signal input from the rotary encoder, Equipped with, The aforementioned controller, A detection process for detecting the position of the moving object based on the encoder signal, A control process based on the position of the moving body detected by the detection process, which includes movement control that controls the movement of the moving body by controlling the motor, A determination process that determines the position detection error caused by the detection process in the acceleration section of the moving body that occurs in time prior to the constant-speed movement section of the moving body, based on the information stored in the memory, Based on the detection error determined in the aforementioned determination process, a correction process is performed to correct the movement control. Electronic devices that perform this function.

14. Motor and, A mobile body is equipped with a processing unit for processing an object, and is configured to move in conjunction with the rotation of the motor due to the force acting from the motor, A rotary encoder comprising a scale and a sensor, configured to output an encoder signal of the scale read by the sensor, which is generated when the scale rotates relative to the sensor in conjunction with the rotation of the motor, A memory that stores information capable of identifying the rotation angle of the scale in which the sensor cannot read the scale correctly, A controller configured to control the motor and the machining unit based on the encoder signal input from the rotary encoder, Equipped with, The aforementioned controller, A detection process for detecting the position of the moving object based on the encoder signal, A control process based on the position of the moving body detected by the detection process, which includes machining control that controls the machining operation performed by the machining unit on the object during the constant-speed movement section of the moving body, A determination process that determines the position detection error caused by the detection process in the acceleration section of the moving body that occurs in time prior to the constant-speed movement section, based on the information stored in the memory, Based on the detection error determined in the discrimination process, a correction process is performed to correct the machining control. Electronic devices that perform this function.

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