Encoders, servo motors, servo systems

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 Art]

[0002] Patent Document 1 describes an encoder device including: a position detection system including a detection unit that detects position information of a moving unit; an electric signal generation unit that generates an electric signal by movement of the moving unit; and a battery that supplies at least a part of power consumed by the position detection system in accordance with the electric signal generated by the electric signal generation unit. The battery is housed in a battery case and held on a circuit board via electrodes and wiring. [Prior Art Document] [Patent Document]

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

[0004] In the above-mentioned conventional technique, there is a possibility that a problem may occur when impact or vibration is applied to the encoder device, and higher durability has been required.

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

[0006] To solve the above problems, according to one aspect of the present invention, an encoder is applied that includes: an angular position information detection unit for detecting angular position information representing the angular position of a rotating disk within one rotation; a multi-rotation information detection unit for detecting multi-rotation information representing the number of rotations of the disk; an all-solid-state battery having a solid electrolyte for supplying power to the multi-rotation information detection unit when external power is not supplied to the encoder; and a connection unit for directly connecting a connection terminal integrally provided on 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 in contact with the connection terminal, wherein the all-solid-state battery and the multi-rotation information detection unit for which the all-solid-state battery supplies power 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 the wiring on the substrate.

[0007] Furthermore, according to another aspect of the present invention, a servo motor is applied that includes a motor in which a rotor rotates relative to a stator, and an encoder that detects at least one of the position, velocity, and acceleration of the rotor.

[0008] Furthermore, according to another aspect of the present invention, a servo system is applied that includes a motor whose rotor rotates relative to a stator, an encoder that detects at least one of the position, velocity, 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 and the like of the present invention, durability can be improved. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram illustrating an example of the overall configuration of a servo system. [Figure 2] This is a side view showing a partial cross-section of an example of the encoder's device configuration. [Figure 3] This is a top view of an example of an encoder device configuration, seen from the circuit board side. [Figure 4] This is a cross-sectional view showing an example of the configuration of a connection part that connects an all-solid-state battery to a substrate. [Figure 5] This is a block diagram illustrating an example of the functional configuration of a processing module. [Figure 6] This is a block diagram showing an example of the circuit configuration of a circuit board. [Figure 7] This timing chart shows an example of the timing of the trigger signal, each process executed by the processing module, and the power-on of the magnetic detection unit. [Figure 8] This flowchart illustrates an example of the processing procedure executed by the processing module when external power is supplied to the encoder. [Figure 9] This is an explanatory diagram showing examples of waveforms for angular position signals, A-phase multi-rotation signals, and B-phase multi-rotation signals. [Figure 10] This flowchart illustrates an example of the processing procedure executed by the processing module when the encoder is not supplied with external power. [Figure 11] This flowchart shows an example of the processing procedure executed by the processing module in a modified example of detecting an anomaly in an all-solid-state battery when external power is restored. [Figure 12] This block diagram shows an example of the circuit configuration of the circuit board in a modified example where the power supply to the magnetic detection unit is switched using a switch. [Figure 13] This block diagram shows an example of the circuit configuration of the circuit board in a modified example where the processing module is turned off when the external power supply is interrupted. [Figure 14] This is a block diagram showing an example of the functional configuration of a processing module in a modified example in which the recording unit is located outside the processing module. [Figure 15] This is a block diagram showing an example of the hardware configuration of a processing module. [Modes for carrying out the invention]

[0011] The embodiments will be described below with reference to the drawings.

[0012] <1. Overall Configuration of 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 illustrating an example of the overall configuration of the servo system.

[0013] As shown in FIG. 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 around the rotation axis Ax. Although the motor 9 alone may be referred to as a servo motor, in the present embodiment, the configuration including the motor 9 and the encoder 7 is referred to as the servo motor 3.

[0015] The encoder 7 is coupled, for example, to a non-load side (right side in FIG. 1) opposite to the load side of the motor 9 (the side that outputs rotational force, left side in FIG. 1). However, the encoder 7 may be coupled to the load side of the motor 9. The encoder 7 detects at least one of angular position information representing an angular position within one rotation of the shaft 11 (rotor) of the motor 9 and multi-turn information representing the number of rotations, and outputs position data based on such information. The encoder 7 may detect at least one of rotational speed or 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 and the like indicated by an upper-level control signal output from an upper-level control device.

[0017] <2. Device Configuration of Encoder> An example of the device configuration of the encoder 7 will be described with reference to FIG. 2 and FIG. 3. FIG. 2 is a side view partially in cross section illustrating an example of the device configuration of the encoder 7. FIG. 3 is a top view, viewed from the substrate side, illustrating an example of the device configuration of the encoder 7.

[0018] As shown in Figure 2, the servo motor 3 has an encoder 7 and a motor 9. As shown in Figures 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 on which printed wiring (not shown) and multiple circuit components are mounted on a board made of an insulator. The substrate 13 is roughly disc-shaped. The substrate 13 is positioned on the opposite side of the motor 9 from the disk 19 in the axial direction along the rotation axis Ax. The substrate 13 is supported by a substrate support member 15, approximately parallel to the disk 19. The substrate 13 is not limited to a single substrate, but may be composed of multiple substrates.

[0020] The substrate support member 15 is, for example, a cylindrical member, and fixes the substrate 13 to the non-loaded end 9a of the motor 9 housing. The substrate support member 15 may also be, for example, multiple cylindrical members.

[0021] The optical module 17 (an example of an angular position information detection unit) 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, the power supply to the optical module 17 is also stopped. The configuration of the optical module 17 is not particularly limited as long as angular position information can be optically detected. For example, as shown in Figure 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 from the slit row SA of the disk 19 and outputs an absolute signal (an example of angular position information). The light receiving array PI receives light reflected from the slit row 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 with respect to the disk 19.

[0022] The disk 19 is, for example, a disc-shaped member. The disk 19 is connected to the shaft 11 of the motor 9 and rotates together with the shaft 11. The disk 19 has two rows of slits SA and SI on the surface facing the optical module 17. Each row of slits SA and SI has multiple 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 regions that have an effect such as reflection on light emitted from the light source 33. The number of rows of slits formed on the disk 19 may be one or three or more, as long as the absolute position of the disk 19 can be detected.

[0023] The magnetic detection unit 21 (an example of a multi-turn information detection unit) detects multi-turn information representing the rotation speed of the disk 19. The magnetic detection unit 21 is mounted, for example, on the surface of the substrate 13 facing the disk 19. The magnetic detection unit 21 is positioned, for example, facing the magnet 23. When external power is supplied to the encoder 7, power is also supplied to the magnetic detection unit 21. 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-turn information of the disk 19. For example, a magnetoresistive element such as an MR element, GMR element, or TMR element may be used as the magnetic detection unit 21.

[0024] The magnet 23 is positioned, 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 every approximately 180 degrees the disk 19 rotates. For example, as shown in Figure 3, the magnet 23 may be magnetized such that an N pole and an S pole are formed in the diametrical direction of the disk 19. In Figure 3, the N pole of the magnet 23 is shown as 23N and the S pole as 23S. The shape of the magnet 23 may be, for example, a disc or a ring. The magnetic detection unit 21 detects the direction of the magnetic flux of the magnet 23 and outputs a signal that changes by one period when the disk 19 rotates once, as two A-phase signals and B-phase signals (an example of multi-turn information) with a phase difference of 90 degrees from each other.

[0025] The trigger signal generator 25 (an example of an electrical signal generator) generates a trigger signal (an example of an electrical signal) by the rotation of the disk 19. The trigger signal generator 25 is mounted, for example, on the surface of the substrate 13 opposite to the disk 19. The configuration of the trigger signal generator 25 is not particularly limited as long as it is possible to periodically generate a trigger signal by the rotation of the disk 19. For example, the trigger signal generator 25 may have a configuration that produces a 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 rapidly reversed by an external magnetic field. The trigger signal generator 25 is positioned on the rotation trajectory of the magnet 27 when viewed from the axial direction of the rotation axis Ax.

[0026] The magnet 27 is positioned, for example, on the side 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 by the rotation of the disk 19. For example, as shown in Figure 3, four magnets 27 may be arranged at approximately 90-degree intervals in the circumferential direction such that the magnetic poles on the substrate 13 side alternately differ. In Figure 3, magnets 27 with N poles and S poles on the substrate 13 side are shown as 27N and 27S, respectively. The trigger signal generator 25 generates four trigger signals for each rotation of the disk 19 using the four magnets 27.

[0027] The battery 29 supplies power to the magnetic detection unit 21 when the encoder 7 is not supplied with external power. The battery 29 does not supply power to the magnetic detection unit 21 directly, but rather supplies power via the processing module 31. In other words, the battery 29 is a power source for supplying power to the magnetic detection unit 21 when the encoder 7 is not supplied with external power. The battery 29 may be a rechargeable battery that can be used repeatedly by recharging. The battery 29 may be, for example, an all-solid-state battery having a solid electrolyte. In this embodiment, the case where the battery 29 is an all-solid-state battery will be described. The all-solid-state battery 29 is mounted, for example, on the side 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 solder.

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

[0029] <3. Configuration of the connection between the all-solid-state battery and the substrate> Referring to Figure 4, an example of the configuration of the connection part that connects the all-solid-state battery 29 and the substrate 13 will be described. Figure 4 is a cross-sectional view showing an example of the configuration of the connection part that connects the all-solid-state battery 29 and the substrate 13. The internal structure of the all-solid-state battery 29 is not shown in Figure 4.

[0030] As shown in Figure 4, the solid-state battery 29 has connection terminals 34L and 34R at both ends in a direction parallel to the substrate 13. On the surface of the substrate 13 on which the solid-state battery 29 is mounted, lands 35L and 35R corresponding to the connection terminals 34L and 34R are formed. The lands 35L and 35R are terminals formed, for example, from copper foil. The connection portion 36L connects the connection terminal 34L of the solid-state battery 29 to the land 35L via solder that is in contact with the connection terminal 34L. The connection portion 36R connects the connection terminal 34R of the solid-state battery 29 to the land 35R via solder that is in contact with the connection terminal 34R. "Via solder" means that the connection terminals 34L and 34R and the substrate 13 are connected with solder interposed between them. Therefore, for example, this also includes cases where the connection terminals 34L and 34R are fixed to a sub-substrate with solder, and that sub-substrate is connected to the substrate 13 by some means (e.g., a connector). Figure 4 illustrates an example configuration in which the connection parts 36L and 36R directly connect the connection terminals 34L and 34R of the solid-state battery 29 to the substrate 13 by solder. The connection parts 36L and 36R electrically connect the solid-state battery 29 to the wiring of the substrate 13 and also mechanically fix it to the substrate 13.

[0031] <4. Functional Configuration of Processing Modules> Referring to Figure 5, an example of the functional configuration of the processing module 31 will be described. Figure 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 angular position information and multi-rotation information when external power is supplied to the encoder 7, and generates 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 to the encoder 7. An example of the functional configuration for realizing these functions of the processing module 31 will be described below.

[0033] As shown in Figure 5, the processing module 31 includes an angular position signal generation unit 37, an A-phase multi-rotation signal generation unit 39, a B-phase multi-rotation signal generation unit 41, a counter 43, a position data generation unit 45, and a recording unit 47.

[0034] The angular position signal generation unit 37 determines the absolute position of the disk 19 within one rotation based on the output of the light-receiving array PA. The method for determining the absolute position is not particularly limited. For example, multiple light-receiving elements in the light-receiving array PA may treat each received or not received light as a bit based on whether or not they detect a slit row SA having an absolute pattern, and output a multi-bit absolute signal. In this case, the angular position signal generation unit 37 decrypts the absolute position, which was encrypted (encoded) into a serial bit pattern based on the absolute signal, and determines the absolute position.

[0035] The angular position signal generation unit 37 determines the relative position of the disk 19 within one rotation based on the output of the light-receiving array PI. For example, multiple light-receiving elements in the light-receiving array PI may output an incremental signal based on the detection result of a slit row SI having an incremental pattern. In this case, the angular position signal generation unit 37 determines the position within one pitch of the incremental pattern based on the incremental signal.

[0036] The angular position signal generation unit 37 generates an angular position signal Ap (see Figure 9 below) that represents the highly accurate angular position of the disk 19 within one rotation by superimposing the position within one pitch, which is determined based on the incremental signal, onto the absolute position, which is determined based on the absolute signal.

[0037] The A-phase multi-rotation signal generation unit 39 converts the A-phase signal from the magnetic detection unit 21 into a rectangular wave signal to generate the A-phase multi-rotation signal Ma (see Figure 9, described later). As mentioned above, the direction of the magnetic flux of the magnet 23 reverses approximately every 180 degrees of rotation angle, so the A-phase multi-rotation signal Ma has a duty cycle of 50%, resulting in one pulse signal for each rotation of the disk 19.

[0038] The B-phase multi-turn signal generation unit 41 converts the B-phase signal from the magnetic detection unit 21 into a rectangular wave signal to generate the B-phase multi-turn signal Mb (see Figure 9, described later). The B-phase multi-turn signal Mb has a duty cycle of 50%, similar to the A-phase multi-turn signal Ma, and is a signal with one pulse for each rotation of the disk 19. The B-phase multi-turn signal Mb has a phase difference of 90 degrees from the A-phase multi-turn signal Ma.

[0039] The counter 43 performs 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. The specific counting method by the counter 43 will be described later (see Figures 8 and 9 below). 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 active mode powered by external power, the processing module 31 supplies power to the magnetic detection unit 21. The position data generation unit 45 synthesizes the angular position signal Ap and the multi-turn signal Rn to generate position data (an example of first position data) and outputs it 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 calculation processes, including the generation of position data, but does not completely stop, and maintains an active state with power supplied from the all-solid-state battery 29.

[0041] As described above, the trigger signal generator 25 generates a trigger signal by 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 recovers from sleep mode and enters active mode using power supplied from the solid-state battery 29. In active mode powered by the solid-state battery 29, the processing module 31 supplies power to the magnetic detection unit 21 and acquires A-phase and B-phase signals 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), which is the result of the count calculation processing, in the recording unit 47. After acquiring the A-phase and B-phase signals from the magnetic detection unit 21, the processing module 31 stops supplying power from the solid-state battery 29 to the magnetic detection unit 21. For example, the power supply 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 non-volatile memory) records the multi-turn signal Rn from the counter 43. The recording unit 47 is not particularly limited as long as it is a non-volatile memory that can read and write data and retain its contents even when power is not supplied. For example, FRAM (registered trademark) (ferroelectric memory) 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 be installed outside the processing module 31 (see Figure 14 below).

[0043] When the encoder 7 is restored from a state where external power is not supplied to a state where external power is supplied, the position data generation unit 45 reads the multi-turn 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 the initial value of the position data. The subsequent processing module 31 then performs the normal position data generation process that occurs when external power is supplied to the encoder 7.

[0044] The processing in the angular position signal generation unit 37, A-phase multi-rotation signal generation unit 39, B-phase multi-rotation signal generation unit 41, counter 43, position data generation unit 45, recording unit 47, etc., as described above, is not limited to these examples of processing division. For example, processing may be carried out by even fewer processing units (e.g., one processing unit), or by even more subdivided processing units. The processing module 31 may be implemented by actual devices only in the part that supplies power to the magnetic detection unit 21, and the other functions of each of the above-mentioned processing units may be implemented by a program executed by the CPU 901 (see Figure 15), which will be described later. Some or all of the functions of each processing unit may be implemented by actual devices such as ASICs, FPGAs, or other electrical circuits.

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

[0046] As shown in Figure 6, the encoder 7, as a circuit configuration mounted on the substrate 13, includes 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 rectifier elements 57, 59, and 61. In Figure 6, the circuit configuration of the optical detection system, including the optical module 17, is omitted from the illustration.

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

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

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

[0050] The solid-state battery 29 outputs power to the regulator 53 via the power supply line EL4 when no external power is supplied to the encoder 7.

[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 maintain a constant level, and outputs it 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 supplying power to the magnetic detection unit 21. In this case, as described above, the processing module 31 switches to sleep mode using power supplied from the all-solid-state battery 29.

[0053] The trigger signal generator 25 generates a trigger signal by 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 below a predetermined value. 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 sleep mode, it supplies power to the magnetic detection unit 21 from the all-solid-state battery 29. After acquiring the A-phase signal and B-phase signal from the magnetic detection unit 21, the processing module 31 stops supplying power to the magnetic detection unit 21. The processing module 31 performs a count calculation process based on the A-phase signal and B-phase signal, and switches to sleep mode after the calculation process is completed. The processing module 31 repeats the same process each time it receives a trigger signal in sleep mode.

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

[0056] As shown in Figure 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 instead of entering sleep mode (see Figure 13 described later) because the startup process for the processing module 31 is not required. Almost simultaneously with switching to active mode, the processing module 31 starts supplying power to the magnetic detection unit 21 and turns on the power to the magnetic detection unit 21.

[0057] When the processing module 31 switches to active mode by a trigger signal, it executes several processes. For example, the processing module 31 executes a process to acquire a clock signal during time t1, and during time t2, it executes a process to check the port for communication with the magnetic detection unit 21, etc. 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 same as the combined time of time t1 and time t2. During time t3, after the signal has stabilized in the magnetic detection unit 21, the processing module 31 executes a process to acquire the A-phase signal and the B-phase signal from the magnetic detection unit 21. After time t3 has elapsed, that is, after the acquisition of the A-phase signal and the B-phase signal from the magnetic detection unit 21 is complete, the processing module 31 stops supplying power to the magnetic detection unit 21 and turns off the power to the magnetic detection unit 21.

[0058] The processing module 31 performs predetermined calculations after stopping the power supply to the magnetic detection unit 21. For example, during time t4, the processing module 31 performs a process to read the amount of multi-turns of the disk 19 recorded in the recording unit 47 (multi-turn signal Rn). During time t5, the processing module 31 performs a count calculation process to count the amount of multi-turns of the disk 19 based on the A-phase signal and B-phase signal acquired from the magnetic detection unit 21. During time t6, the processing module 31 performs a process to update the amount of multi-turns read from the recording unit 47 based on the result of the count calculation process. These processes are examples of predetermined calculations. After completing the predetermined calculations, the processing module 31 switches from active mode to sleep mode.

[0059] In the example shown in Figure 7, the processing module 31 stopped supplying power to the magnetic detection unit 21 between times t3 and t4, that is, after acquiring the A-phase and B-phase signals from the magnetic detection unit 21 and before starting the predetermined calculation process. However, the timing of stopping the power supply is not limited to the above. For example, the processing module 31 may stop supplying power to the magnetic detection unit 21 during the execution of the predetermined calculation process, 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 supplying power to the magnetic detection unit 21 almost simultaneously with switching from active mode to sleep mode.

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

[0061] When external power is supplied to the encoder 7, the processing module 31 executes the flowchart shown in Figure 8. As shown in Figure 8, in step S5, the processing module 31 generates position data using the position data generation unit 45 based on the angular position signal Ap output from the angular position signal generation unit 37 and the multi-turn signal Rn output from the counter 43. As shown in Figure 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-turn signal Rn is a signal representing the amount of multi-turns of the disk 19, which is counted based on the A-phase multi-turn signal Ma and the B-phase multi-turn signal Mb as described above.

[0062] In step S10, the processing module 31 charges the solid-state battery 29 using the charging module 51.

[0063] In step S15, the processing module 31 determines whether the edge of the A-phase multi-turn signal Ma has changed using the counter 43. As shown in Figure 9, for example, the A-phase multi-turn 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 it is in the range of 180 to 360 degrees (0 degrees). For example, the B-phase multi-turn 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 it is in the range of 270 to 90 degrees. The angular position at which the edge of the A-phase multi-turn signal Ma changes is either 0 degrees (360 degrees) or 180 degrees. If the edge of the A-phase multi-turn signal Ma has not changed (step S15: NO), the process returns to step S5. If the edge of the A-phase multi-turn signal Ma has changed (step S15: YES), the process proceeds to step S20.

[0064] In step S20, the processing module 31 uses the counter 43 to determine whether the B-phase multi-turn signal Mb is low (Lo). As shown in Figure 9, the angular position where the edge of the A-phase multi-turn signal Ma changes and the B-phase multi-turn signal Mb is low (Lo) is 0 degrees (360 degrees). The angular position where the edge of the A-phase multi-turn signal Ma changes and the B-phase multi-turn signal Mb is high (Hi) is 180 degrees. If the B-phase multi-turn signal Mb is high (Hi) (step S20: NO), the process proceeds to step S40, which will be described later. If the B-phase multi-turn 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 angular position is 0 degrees (360 degrees), if the A-phase multi-rotation signal Ma has changed from low (Lo) to high (Hi), it means that 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 the multi-turn amount recorded in the recording unit 47 by the counter 43 and counts it up.

[0067] In step S25 above, 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 Figure 9, when the angular position is 0 degrees (360 degrees), if the A-phase multi-rotation signal Ma has changed from high (Hi) to low (Lo), the disk 19 has rotated in the reverse direction and completed one rotation.

[0068] In step S35, the processing module 31 reads the multi-turn amount recorded in the recording unit 47 by the counter 43 and counts down.

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

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

[0071] The processing procedure described above is merely an example, and at least some of the above procedure may be deleted or modified, 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, steps S5 and S10 do not have to be in the order described above; they may be in the reverse order or performed concurrently.

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

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

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

[0075] In step S120, the processing module 31 switches from sleep mode to 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 supplying power to the magnetic detection unit 21.

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

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

[0081] In step S150, the processing module 31 determines whether or not 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 step S115 and repeats the same procedure. If external power is supplied to the encoder 7, for example, due to a power outage being resolved (step S150: YES), the flowchart terminates.

[0082] The processing procedure described above is merely an example, and at least some of the above procedure may be deleted or modified, 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.

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

[0084] The solder used to electrically connect the battery 29 to the circuit board 13 not only provides an electrical connection but also firmly secures the battery 29 to the circuit board 13. In other words, the soldering of the connection terminals 34L and 34R serves to secure the battery 29 in addition to providing an electrical connection. This prevents poor connections with the wiring (lands 35L and 35R) on the circuit board 13 and prevents the battery 29 from falling off the circuit board 13, even if the encoder 7 is subjected to shock or vibration, thereby improving durability.

[0085] In this embodiment, the connection parts 36L and 36R may be directly connected to the connection terminals 34L and 34R of the battery 29 with solder. In this case, since the electrical connection and fixing are performed only through the connection terminals 34L and 34R of the battery 29, a case for housing the battery 29 and lead wires are unnecessary, allowing the encoder 7 to be miniaturized and the number of components to be reduced. Therefore, this is even more advantageous in terms of ease of manufacturing and cost reduction.

[0086] In this embodiment, the battery 29 may be a rechargeable battery that can be used repeatedly by recharging.

[0087] If a primary battery were to be used as the battery 29, power supply from the battery 29 would become impossible once its capacity is depleted. Furthermore, if the battery 29 is soldered to the circuit board 13, it would be impossible to replace the battery 29, potentially requiring the replacement or disposal of the encoder 7. In this embodiment, a secondary battery is used, allowing for repeated use after charging. Therefore, even if the battery 29 is soldered to the circuit board 13, the encoder 7 can be used for a long time without needing to be replaced or disposed of.

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

[0089] If a lithium-ion battery is used as a secondary battery, it may not only become unstable in high-temperature environments, but there is also a risk of overheating and ignition, so it is preferable to provide a protection circuit using a thermistor. In contrast, all-solid-state batteries can be used under high-temperature conditions, and because they use a solid electrolyte, they generate less heat and have a lower risk of ignition, as well as having low self-discharge, a long lifespan, and slow performance degradation. Therefore, by incorporating an all-solid-state battery, it is possible to realize an encoder 7 that can be used safely even in high-temperature environments, does not require a protection circuit, and has reduced power consumption and a longer lifespan.

[0090] In one embodiment, the encoder 7 may have a charging module 51 that charges the solid-state battery 29 when external power is supplied and stops charging the 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 power can be supplied from the all-solid-state battery 29 at any time, for example, in the event of a power outage or other situation where external power is not supplied.

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

[0093] In one 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. In this case, the charging module 51 and the processing module 31 may be electrically connected in parallel to the power supply line EL1 for external power.

[0094] In this case, for example, when external power is supplied due to restoration 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 this embodiment, the encoder 7 may have a processing module 31 that controls the switching of power supply 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 whether or not external power is supplied, 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 results of a predetermined calculation process performed by the processing module 31, for example, thereby reducing power consumption.

[0097] In this 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, if the external power supply is interrupted, power can be supplied from the all-solid-state battery 29 to the magnetic detection unit 21 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 by the processing module 31, for example, by supplying power to the magnetic detection unit 21 only during the acquisition of multi-turn information, thereby enabling further reduction of power consumption.

[0099] In this embodiment, the processing module 31 may sleep using power from the solid-state battery 29 if 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 in an activated state, allowing it to be immediately activated and perform predetermined processing as needed. This eliminates the time required to start the processing module 31, shortens the time until processing can begin, and reduces the power consumption required for startup. Furthermore, when predetermined processing (such as abnormality detection processing related to the all-solid-state battery 29) is to be performed when external power is restored, these processes can be executed quickly.

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

[0102] In this case, if external power is not supplied, the power supply from the solid-state battery 29 to the magnetic detection unit 21 is stopped, and power is supplied to the magnetic detection unit 21 only when rotation occurs in the disk 19, thereby enabling the detection of multi-rotation information. This reduces the power consumption of the solid-state battery 29 and extends its battery life.

[0103] In this embodiment, the processing module 31 may perform predetermined calculation processing based on the multi-turn information detected by the magnetic detection unit 21.

[0104] In this case, the processing module 31 not only stores the multi-turn information from the magnetic detection unit 21, but can also perform calculations based on the multi-turn information. Therefore, the memory area of ​​the processing module 31 can be saved, and since calculations related to the amount of multi-turns (e.g., count calculations) can be performed at the time the multi-turn information is detected, reliability can be improved. In particular, if the battery 29 is a solid-state battery, it is also possible to perform processes such as checking the health of the solid-state battery, thereby improving the reliability of the encoder as a whole. In addition, when waking from a sleep state, these processes can be performed quickly, the power consumption of the solid-state battery 29 can be suppressed, and the battery life can be extended.

[0105] In this embodiment, the processing module 31 may stop supplying power from the solid-state battery 29 to the magnetic detection unit 21 after acquiring multi-turn information from the magnetic detection unit 21 and before starting a predetermined calculation process.

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

[0107] In one embodiment, the encoder 7 may have a recording unit 47 which is a non-volatile memory capable of reading and writing data and retaining recorded content even when power is not supplied. 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 external power supply is cut off, the results of the predetermined calculation processing based on the multi-turn information detected by the magnetic detection unit 21 can be retained even after the power supply to the magnetic detection unit 21 is cut off. Furthermore, if the processing module 31 has a recording unit 47 inside, high-speed data writing becomes possible, which further reduces the power consumption of the battery.

[0109] In this embodiment, the processing module 31 may be mounted on the substrate 13 and, when external power is supplied, perform the following: generate position data of the disk 19 based on at least one of angular position information and multi-rotation information; and, when external power is not supplied, 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.

[0110] In this case, the processing module 31 can be configured as a common mounted component on the circuit board 13. This makes it possible to quickly switch control when the external power is turned on or off. For example, even in the event of a momentary power outage, the control can be quickly switched back from processing when the external power is off to processing when the external power is on. Furthermore, if predetermined calculation processing is to be performed when the external power is restored, these processes can also be executed quickly.

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

[0112] By incorporating an all-solid-state battery 29 into the encoder 7, it is possible to realize an encoder that can safely operate even in high-temperature environments, retains multi-turn information using power supplied from the battery when the external power supply is interrupted, eliminates the need for a protection circuit, and achieves reduced power consumption and a longer lifespan.

[0113] <9. Variation> The embodiments of the disclosure are not limited to those described above, and various modifications are possible without departing from the spirit and technical concept. Such modifications are described below.

[0114] (9-1. When detecting abnormalities in the all-solid-state battery when external power is restored) When the encoder 7 returns to a state where it is supplied with external power after being deprived of it, a process to detect an abnormality related to the solid-state battery 29 may be executed. Referring to Figure 11, an example of a processing procedure executed by the processing module 31 in this modified example will be described.

[0115] In Figure 11, steps S105 to S140 are the same as in Figure 10 described above, so their explanation is omitted.

[0116] In step S143, the processing module 31 executes a process to detect an abnormality in the all-solid-state battery 29. The method for 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 outside the predetermined range, it may be determined to be abnormal. The processing module 31 records the result of the abnormality detection process in the recording unit 47. The processing module 31 may execute the process in step S143 together with a count calculation process, for example, during time t5 in the time chart shown in Figure 7 above.

[0117] Steps S145 and S150 are the same as in Figure 10 above. 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 a process to detect an abnormality in the solid-state battery 29. For example, similar to step S143 above, the voltage of the solid-state battery 29 may be detected, and if the voltage value is within a predetermined range, it may be determined to be normal; if the voltage value is outside the predetermined range, it may be determined to be abnormal. For example, when the supply of external power is stopped, the processing module 31 may refer to the information recorded in the recording unit 47 in step S143 above, and if there is no information indicating that an abnormality has been detected (e.g., an alarm code), it may be determined to be normal; if there is information indicating that an abnormality has been detected, it may be determined to be abnormal. The processing module 31 may output the result of the abnormality detection process to, for example, the control device 5. After that, this flowchart ends.

[0119] In step S155, if the voltage value of the solid-state battery 29 is used to determine whether it is normal or abnormal, the process in step S143 may be omitted. If the process in step S143 is performed, only the determination based on the information recorded in the recording unit 47 in step S155 may be made, and the process of determining the voltage value of the solid-state battery 29 may be omitted.

[0120] According to the modified configuration described above, when external power is supplied and then restored, any abnormalities in the all-solid-state battery 29 can be checked, and the health of the battery can be diagnosed and confirmed.

[0121] (9-2. When switching the power supply to the magnetic detection unit with a switch) In this 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 also be switched using a switch. Referring to Figure 12, an example of the circuit configuration of the substrate 13 in this modified example will be described. In Figure 12, components similar to those in Figure 6 described above are denoted by the same reference numerals and their descriptions are omitted.

[0122] As shown in Figure 12, the encoder 7, as a circuit configuration mounted on the circuit board 13, has a switch 63 in addition to the configuration shown in Figure 6. The switch 63 can be any device that has the function of switching circuits, such as a load switch or a transistor. The switch 63 is electrically connected to the 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 from the DC / DC converter 49 or the all-solid-state battery 29 to the processing module 31 and the switch 63.

[0123] The processing module 31 turns on switch 63 when external power is supplied to the encoder 7. This supplies power output from regulator 53 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 switch 63. This stops the supply of power from the solid-state battery 29 to the magnetic detection unit 21.

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

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

[0126] (9-3. When the processing module is turned off when the external power supply is interrupted) In this embodiment, the processing module 31 is put into sleep mode when the external power supply is stopped, but the power to the processing module 31 may also be turned off. An example of the circuit configuration of the board 13 in this modified example will be described with reference to Figure 13. In Figure 13, components similar to those in Figure 6 are denoted by the same reference numerals and their descriptions are omitted.

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

[0128] Switch 65 turns on when external power is supplied to the encoder 7. This supplies power output from the regulator 53 to the processing module 31. Switch 65 turns off when external power is not supplied to the encoder 7. This stops the power supply from the solid-state battery 29 to the processing module 31, and the processing module 31 shuts down.

[0129] Switch 65 turns on when a trigger signal is received from the trigger signal generator 25 via the rectifier 55 while the external power supply is cut off. This allows power to be supplied from the solid-state battery 29 to the processing module 31, and the processing module 31 starts up. Switch 65 turns off after a predetermined time has elapsed since the reception of the trigger signal. This stops the power supply from the solid-state battery 29 to the processing module 31. The predetermined time is set to be greater than or equal to the sum of the time Td required from the generation of the trigger signal until the processing module 31 starts up, and the time t1 to t6 during which the processing module 31 executes each process. In this modified example, the time Td is longer than the time Td in the previously described embodiment (see Figure 7) because of the additional time required to start up the processing module 31.

[0130] The content of each process, such as the count calculation process, executed by the processing module 31 is the same as in the embodiment described above. According to this modification, it becomes 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. Others) In the embodiment described, the case in which the processing module 31 has a recording unit 47 inside is explained, but it is also possible to have a processing module that does not have a recording unit 47. As shown in Figure 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 use a processing module that does not have non-volatile memory, and the versatility of the processing module can be improved.

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

[0133] In this 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 becomes possible to generate an even higher-resolution angular position signal based on multiple incremental signals with different resolutions.

[0134] The problems that the embodiments aim to solve and the effects of the embodiments are not limited to those described above. In other words, the embodiments may solve problems not described above, achieve effects not described above, solve only some of the problems described, or achieve only some of the effects described.

[0135] <10. Example Hardware Configuration of Processing Modules> Referring to Figure 15, an example of the hardware configuration of the processing module 31 will be described. In Figure 15, the configuration related to the function of supplying power to the magnetic detection unit 21 is not shown.

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

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

[0138] The connection port 921 is used for transmitting and receiving signals with external connected equipment 927, and for inputting and outputting power. For example, receiving a trigger signal from the rectifier 55, inputting power from the regulator 53, and outputting power to the magnetic detection unit 21 may be done via the connection port 921.

[0139] The CPU 901 executes various processes according to the program, or the processing by the angle position signal generation unit 37, A-phase multi-turn signal generation unit 39, B-phase multi-turn signal generation unit 41, counter 43, position data generation unit 45, etc. is realized by a dedicated integrated circuit 907 or the like. In this case, the CPU 901 may, for example, directly read and execute the program from the recording device 917, or it may load it into the RAM 905 first and then execute it.

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

[0141] In the above explanation, if terms such as "perpendicular," "parallel," and "plane" are used, these terms do not have a strict meaning. Rather, "perpendicular," "parallel," and "plane" refer to a design or manufacturing tolerance or error that is acceptable, meaning that they are "effectively perpendicular," "effectively parallel," and "effectively plane."

[0142] Furthermore, in the above explanation, if there are descriptions such as "identical," "same," "equal," or "different" regarding external dimensions, size, shape, position, etc., these descriptions do not have a strict meaning. In other words, these "identical," "same," "equal," and "different" terms mean that tolerances and errors in design and manufacturing are allowed, and that they are "substantially identical," "substantially the same," "substantially equal," or "substantially different."

[0143] However, if there are specified values ​​that serve as judgment criteria or boundary values, such as threshold values ​​(see flowcharts in Figures 8 and 10), then "identical," "equal," and "different" in relation to these values ​​have a stricter meaning than those described above.

[0144] Furthermore, in addition to what has already been described above, the methods of the above embodiments and their respective modifications may be used in appropriate combinations. While not explicitly exemplified here, the above embodiments and their respective modifications may be implemented with various modifications, without departing from their intended purpose. [Explanation of symbols]

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

Claims

1. An angular position information detection unit that detects angular position information representing the angular position of a rotating disk within one rotation, A multi-rotation information detection unit detects multi-rotation information representing the rotation speed of the disk, A solid-state battery having a solid electrolyte supplies power to the multi-turn information detection unit when external power is not supplied to the encoder, A connection part is provided to the substrate on which the angular position information detection unit and the multi-turn information detection unit are mounted, by directly connecting the connection terminals integrally provided on the all-solid-state battery to the connection terminals with solder in contact with the connection terminals. It has, The all-solid-state battery and the multi-turn information detection unit powered by the all-solid-state battery are mounted on the same substrate. The all-solid-state battery supplies power to the multi-turn information detection unit via the connection part and the wiring of the substrate. The multi-turn information detection unit is It is mounted on the surface of the substrate facing the disk, The aforementioned all-solid-state battery is It is mounted on the side of the substrate opposite to the disk, and is positioned on the outer circumference side of the multi-rotation information detection unit in the radial direction with respect to the rotation axis of the disk, Encoder.

2. The multi-turn information detection unit further includes a processing module that controls the switching of power supply from the all-solid-state battery to the multi-turn information detection unit and performs predetermined calculation processing based on the multi-turn information detected by the multi-turn information detection unit. The aforementioned processing module is The all-solid-state battery and the multi-turn information detection unit, which is powered by the all-solid-state battery, are mounted on the substrate on which the all-solid-state battery is mounted. The encoder according to claim 1.

3. The aforementioned all-solid-state battery is It is a rechargeable battery that can be used repeatedly by recharging. The aforementioned processing module is When the state in which external power is not supplied is restored to a state in which external power is supplied, the system performs a process to detect an abnormality in the all-solid-state battery by referring to the information recorded when the abnormality detection process for the all-solid-state battery was performed based on the voltage of the all-solid-state battery at the time the supply of external power was stopped. The encoder according to claim 2.

4. An angular position information detection unit that detects angular position information representing the angular position of a rotating disk within one rotation, A multi-rotation information detection unit detects multi-rotation information representing the rotation speed of the disk, A solid-state battery having a solid electrolyte supplies power to the multi-turn information detection unit when external power is not supplied to the encoder, A connection part is provided to the substrate on which the angular position information detection unit and the multi-turn information detection unit are mounted, by directly connecting the connection terminals integrally provided on the all-solid-state battery to the connection terminals with solder in contact with the connection terminals. It has, The all-solid-state battery and the multi-turn information detection unit powered by the all-solid-state battery are mounted on the same substrate. The all-solid-state battery supplies power to the multi-turn information detection unit via the connection part and the wiring of the substrate. The first magnet, whose magnetism is detected by the multi-turn information detection unit, An electrical signal generating unit generates an electrical signal that triggers the supply of power from the all-solid-state battery to the multi-rotation information detection unit based on the rotation of the disk, A second magnet, different from the first magnet, whose magnetism is detected by the electrical signal generating unit, It further possesses, The first magnet is Located on the rotation axis of the aforementioned disk, The second magnet is Located on the outer circumference of the first magnet in the radial direction centered on the rotation axis of the disk, and generating the magnetism along the circumferential direction around the rotation axis, The aforementioned electrical signal generating unit is The magnetic field generated by the second magnet is detected. Encoder.

5. An angular position information detection unit that detects angular position information representing the angular position of a rotating disk within one rotation, A multi-rotation information detection unit detects multi-rotation information representing the rotation speed of the disk, A solid-state battery having a solid electrolyte supplies power to the multi-turn information detection unit when external power is not supplied to the encoder, A connection part is provided to the substrate on which the angular position information detection unit and the multi-turn information detection unit are mounted, by directly connecting the connection terminals integrally provided on the all-solid-state battery to the connection terminals with solder in contact with the connection terminals. It has, The all-solid-state battery and the multi-turn information detection unit powered by the all-solid-state battery are mounted on the same substrate. The all-solid-state battery supplies power to the multi-turn information detection unit via the connection part and the wiring of the substrate. An electrical signal generating unit generates an electrical signal that triggers the supply of power from the all-solid-state battery to the multi-rotation information detection unit based on the rotation of the disk, The system includes a magnet whose magnetism is detected by the aforementioned electrical signal generating unit, The aforementioned disk is It has a row of slits, each having multiple slits detected by the angular position information detection unit, The aforementioned row of slits is Displaced between the magnet and the electrical signal generating unit in the direction of the rotation axis of the disk, The electrical signal generating unit, the slit row, and the rotation trajectory of the magnet are positioned at overlapping locations in the radial direction of the disk when viewed from the direction of the rotation axis. Encoder.

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

7. A motor in which the rotor rotates relative to the stator, An encoder according to any one of claims 1 to 6, for detecting at least one of the position, velocity, and acceleration of the rotor, A servo motor having the following features.

8. A motor in which the rotor rotates relative to the stator, An encoder according to any one of claims 1 to 6, for detecting at least one of the position, velocity, and acceleration of the rotor, A control device that controls the motor based on the detection result of the encoder, A servo system having the following features.

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