Control device, encoder, and computer program

Abstract

This control device comprises an arithmetic unit that assesses matching between an encoder for detecting rotation, and a rotary body attached to the encoder and generating signals associated with the rotation. The arithmetic unit acquires detection values resulting from measuring the rotary body, determines whether the rotary body matches the encoder on the basis of, among the detection values, a combination of at least two signals of a first signal for detecting the rotation of the rotary body, a second signal corresponding to the number of poles detected for each rotation of the rotary body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotary body. The arithmetic unit then outputs the determination result to an output unit.

Description

Control device, encoder, and computer program

[0001] The present disclosure relates to a control device, an encoder, and a computer program.

[0002] The encoder is equipped with a rotating body that generates a signal as it rotates. The rotating body includes a signal generation unit that generates a signal associated with rotation. The signal generation unit is formed in various types according to the resolution of the encoder, the number of poles of the motor provided in the encoder, and the like. Therefore, there are various types of rotating bodies. In the assembly of the encoder, it is desirable that an appropriate rotating body be combined with the encoder according to its performance. Patent Document 1 describes a technique for reading a signal obtained from a rotating body provided in an encoder.

[0003] Japanese Unexamined Patent Application Publication No. 2019 - 158848

[0004] However, the conventional technology determines the abnormality of the encoder based on the signal detected from the rotating body, and does not determine whether an appropriate rotating body is combined with the encoder.

[0005] According to a first aspect of the present disclosure, there is provided a control device including a rotating body that is attached to an encoder for detecting rotation and generates a signal associated with rotation, and an arithmetic unit that determines the compatibility between the rotating body and the encoder. The arithmetic unit acquires a detection value obtained by measuring the rotating body, and based on a combination of at least two signals among a first signal that detects the rotation of the rotating body, a second signal corresponding to the number of poles detected per rotation of the rotating body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotating body among the detection values, determines whether the rotating body is compatible with the encoder, and causes the determination result to be output to an output unit.

[0006] This figure shows an example of the configuration of an encoder according to the embodiment. This is a cylinder showing the configuration of the control device. This figure shows an example of the configuration of a rotating body. This figure shows an example of a control signal generated based on a rotating body. This figure shows an example of the content of reference data. This figure shows an example of the types of rotating bodies that generate different control signals. This figure shows an example of a conformance determination method. This figure shows an example of a conformance determination method. This is a flowchart showing the processing flow of the conformance determination method executed in the control device.

[0007] As shown in Figures 1 and 2, the encoder 1 comprises a drive unit 4 that rotates and a control device 10 that controls the rotation of the drive unit 4. The drive unit 4 is, for example, an electric motor. A disc-shaped rotating body 3 is provided on the shaft 4A of the drive unit 4. The rotating body 3 is equipped with a signal generating unit 3B (see Figure 3), as will be described later. The signal generating unit 3B is formed to generate signals optically, for example. The signal generating unit 3B is a plurality of slits along the circumference, as will be described later. The signal generating unit 3B is read by a detection unit 2 provided in the encoder 1.

[0008] The detection unit 2 is configured, for example, based on an optical sensor. The detection unit 2 may also be configured on a magnetic sensor. The detection unit 2 may also be configured on sensors other than optical sensors and magnetic sensors, as long as they can detect the detected value from the signal generation unit 3B. The detection unit 2 includes, for example, a light-emitting unit 2A that generates light. The light-emitting unit 2A is configured, for example, on a light-emitting element. The light-emitting element is, for example, an LED (Light Emitting Diode). The light-emitting unit 2A irradiates the signal generation unit 3B with light.

[0009] Light emitted from the light-emitting unit 2A to the signal-generating unit 3B passes through the slit as the rotating body 3 rotates and is incident on the light-receiving unit 2C via the light-receiving slit 2B provided in the detection unit 2. The light-receiving unit 2C is composed of, for example, multiple light-receiving elements. The light-receiving elements are, for example, photodiodes. The light-receiving slit 2B has multiple light-receiving slits formed at positions corresponding to the multiple light-receiving elements. The light-receiving slit 2B is optional. The light-receiving unit 2C outputs the intensity of the incident light as a change in current. The current output from the light-receiving unit 2C is amplified by the amplifier 2D provided in the detection unit 2 and input to the control device 10.

[0010] The control device 10 includes a calculation unit 11 that generates a control signal based on the current input from the amplifier 2D. The calculation unit 11 performs calculations necessary for control and operates the drive unit 4. The calculation unit 11 is composed of a processor such as a CPU (Central Processing Unit). The calculation unit 11 is configured to perform not only control and calculations but also predetermined control and calculations for detecting detected values ​​from the detection unit 2. The processing contents of the calculation unit 11 will be described later. The control device 10 includes a storage unit 12 that stores data and programs necessary for control. The storage unit 12 is composed of a non-temporary storage medium such as flash memory.

[0011] The calculation unit 11 is configured, for example, to determine the compatibility between the encoder 1 and the rotating body 3. The calculation unit 11 obtains a detection value measured from the detection unit 2 of the rotating body 3 and determines whether the rotating body 3 attached to the encoder 1 is compatible with the encoder 1. The calculation unit 11 outputs the calculation result to the display unit 20 connected to the encoder 1. The display unit 20 is an information display device such as a liquid crystal display that is externally connected to the encoder 1. The display unit 20 may be provided on the encoder 1. In this case, the display unit 20 may be an indicator that outputs a state based on light emission, or a display device that can display characters. The display unit 20 may be replaced with a speaker that outputs sound. The display unit 20 may be configured as an output unit that displays information and / or outputs sound information.

[0012] As shown in Figure 3, the rotating body 3 includes a main body 3A formed in the shape of a disc. The main body 3A is formed of, for example, a resin plate or a metal plate. The main body 3A may also be formed of a glass plate. A mounting hole 3H into which a shaft 4A is inserted is formed in the center of the main body 3A. A signal generating unit 3B for generating a signal in accordance with rotation is formed in the main body 3A. The signal generating unit 3B has a physical structure that generates a signal detectable by the detection unit 2. When the main body 3A is a resin plate or a metal plate, the signal generating unit 3B is formed, for example, in a slit that penetrates one side and the other side of the main body 3A. When the main body 3A is a glass plate, the signal generating unit 3B may be formed in a transparent slit by a painted surface applied to one side and / or the other side of the glass plate.

[0013] The signal generating unit 3B includes a first signal generating unit 3C for detecting the rotation of the main body 3A (rotating body 3). The first signal generating unit 3C is configured to generate a first signal (also called a Z-phase signal) for each rotation of the main body 3A. The first signal generating unit 3C is formed as a slit on a virtual first circumference C1 concentric with the mounting hole 3H. Light incident from the light emitting unit 2A and transmitted through the first signal generating unit 3C is input to a photodiode of the light receiving unit 2C, which is provided at a position corresponding to the position of the first signal generating unit 3C. Based on the light transmitted through the first signal generating unit 3C, a first signal is generated for each rotation of the rotating body 3.

[0014] The signal generating unit 3B includes a second signal generating unit 3D for detecting the number of poles provided in the drive unit 4. The second signal generating unit 3D is configured to generate a second signal corresponding to the number of poles detected for each rotation of the main body 3A (rotating body 3). The number of poles is the number of magnetic poles provided in the drive unit 4. In the illustrated example, the number of poles is 8. The second signal generating unit 3D is formed as a plurality of slits evenly arranged on a virtual second circumference C2 that is different from a virtual first circumference C1 that is concentric with the mounting hole 3H. The second signal generating unit 3D is also formed as a plurality of slits evenly arranged on a virtual third circumference C3 that is different from the first circumference C1 and second circumference C2 that are concentric with the mounting hole 3H. The plurality of slits on the third circumference C3 are arranged with an advanced angle in the circumferential direction relative to the plurality of slits on the second circumference C2.

[0015] Light incident from the light-emitting unit 2A and transmitted through the second signal generating unit 3D is input to a photodiode of the light-receiving unit 2C, which is located at a position corresponding to the position of the second signal generating unit 3D. A second signal is generated based on the light transmitted through multiple slits on the second circumference C2. The signal generated by transmitting through multiple slits on the third circumference C3 is generated as a second signal with a phase delay compared to the second signal generated by transmitting through multiple slits on the second circumference C2. The positions of the eight magnetic poles are recognized based on the second signal generated by transmitting through multiple slits on the second circumference C2 and the phase-delayed second signal generated by transmitting through multiple slits on the third circumference C3.

[0016] The signal generating unit 3B includes a third signal generating unit 3E for detecting a minute rotation angle of the main body 3A (rotating body 3 and shaft 4A). The third signal generating unit 3E is configured to generate a third signal indicating, for example, a minute rotation angle of the main body 3A (rotating body 3). The third signal generating unit 3E is formed as a plurality of slits evenly distributed on a virtual fourth circumference C4 that is different from the first circumference C1, second circumference C2, and third circumference C3 which are concentric with the mounting hole 3H. In the illustrated example, the third signal generating unit 3E has 256 slits on the fourth circumference C4. Light incident from the light emitting unit 2A and transmitted through the third signal generating unit 3E is input to a photodiode of the light receiving unit 2C, which is provided at a position corresponding to the position of the third signal generating unit 3E. Based on the light transmitted through the third signal generating unit 3E, a plurality of third signals are generated for each rotation of the rotating body 3. In the illustrated example, 256 third signals are generated for each rotation of the rotating body 3.

[0017] As shown in Figure 4, the calculation unit 11 generates a control signal based on the detected value that is incident on the signal generation unit 3B and detected by the detection unit 2. The calculation unit 11 generates a rectangular wave using the current value output based on the light transmitted through the first signal generation unit 3C, and generates a first signal S1 that is output for each rotation of the rotating body 3. The calculation unit 11 measures the rotation speed of the rotating body based on the wavenumber of the measured first signal. The calculation unit 11 generates a rectangular wave using the current value output based on the light transmitted through multiple slits on the second circumference C2 of the second signal generation unit 3D, and generates a second signal S2A that corresponds to the number of poles output for each rotation of the rotating body 3.

[0018] The calculation unit 11 generates a rectangular wave using the current value output by the second signal generation unit 3D based on the light transmitted through multiple slits on the third circumference C3, and generates a second signal S2B corresponding to the number of poles output for each rotation of the rotating body 3. The second signal S2B is phase-delayed with respect to the second signal S2A. The calculation unit 11 measures the number of poles of the rotating body 3 by summing the wavenumbers of the measured second signal S2A and the phase-delayed second signal S2B. The calculation unit 11 measures the number of poles for each rotation of the rotating body 3 based on the first signal and the sum of the wavenumbers of the second signal S2A and the phase-delayed second signal S2B.

[0019] The calculation unit 11 generates a rectangular wave using the current value output based on the light transmitted through multiple slits on the third signal generation unit 3E, and generates a third signal S3A indicating the minute rotation angle of the rotating body 3. In the illustrated example, the calculation unit 11 generates 256 third signals S3A for each rotation of the rotating body 3. Based on the third signal S3A, the calculation unit 11 generates a third signal S3B that is phase-delayed by 90 degrees compared to the third signal S3A. By measuring the third signal S3A and the phase-delayed third signal S3B, the measurement resolution of the minute rotation angle of the rotating body 3 can be improved. Based on the first signal, the third signal S3A, and the phase-delayed third signal S3B, the calculation unit 11 integrates the minute rotation angles of the rotating body 3 and measures the rotation angle of the rotating body 3.

[0020] As shown in Figure 5, the memory unit 12 stores reference data D1 of the signal obtained from the rotating body 3 to be combined with the encoder 1. The reference data D1 has a reference wavenumber for each rotation of the first signal S1. The reference wavenumber is the wavenumber of the signal obtained for each rotation of the rotating body 3. The reference data D1 has a reference wavenumber for each rotation of the second signal S2A. The reference data D1 has a reference wavenumber for each rotation of the delayed second signal S2B. The reference data D1 has reference wavenumbers for the third signal S3A and the delayed third signal S3B. The reference data D1 has the wavelength of the first signal S1, the wavelength of the second signal S2A, the wavelength of the second signal S2B, and the wavelength of the third signal S3.

[0021] As shown in Figure 6, the rotating body 3 has different signal generating units 3B depending on the application of the encoder 1. In the illustrated example, the rotating body 3P has a signal generating unit 3B with 8 poles and 256 waves for the third signal. The rotating body 3Q has a signal generating unit 3B with 10 poles and 256 waves for the third signal. In the built-in type encoder 1, the detection unit 2 and the control device 10 are provided as an encoder unit, and the rotating body 3 attached to the shaft 4A of the drive unit 4 is assembled by combining the encoder unit.

[0022] Since there are several types of rotating bodies 3 to match the number of poles and required resolution of the drive unit 4, there are several combination patterns of detection unit 2 and rotating body 3. The calculation unit 11 is configured to determine the compatibility between the rotating body 3 and the encoder 1. For example, the calculation unit 11 executes a determination mode to test run the encoder 1 and determines the compatibility between the rotating body 3 and the encoder 1. In the determination mode, the calculation unit 11 acquires detection values ​​measured from the rotating body 3 rotating at a predetermined rotational speed. From the detection values, the calculation unit 11 acquires a first signal that detects the rotation of the rotating body 3, a second signal corresponding to the number of poles detected for each rotation of the rotating body, and a third signal corresponding to multiple minute rotation angles detected from the rotating body 3.

[0023] The calculation unit 11 compares a combination of at least two signals from the first signal, the second signal, and the third signal with the reference data D1 to determine whether the rotating body 3 is compatible with the encoder 1. The calculation unit 11 generates the result of the compatibility determination between the rotating body 3 and the encoder 1 as information based on characters, images, light emission patterns, sounds, etc., and outputs it to the display unit 20 (output unit). If the rotating body 3 and the encoder 1 are not compatible, the calculation unit 11 determines an error and outputs the error information to the display unit 20 (output unit). If the rotating body 3 and the encoder 1 are compatible, the calculation unit 11 determines compatibility and outputs the compatibility information to the display unit 20 (output unit).

[0024] The calculation unit 11 determines the compatibility between the rotating body 3 and the encoder 1 based on, for example, the number of poles of the rotating body 3. The calculation unit 11 calculates one rotation of the rotating body 3 based on, for example, the first signal, and calculates the wavenumber included in the second signal for each rotation of the rotating body 3. The calculation unit 11 refers to the reference data D1 and compares the first reference wavenumber per rotation that is compatible with the encoder with the first wavenumber included in the second signal for each rotation of the rotating body 3, and determines whether the rotating body 3 is compatible with the encoder 1. If the first reference wavenumber per rotation that is compatible with the encoder matches the first wavenumber included in the second signal for each rotation of the rotating body 3, the calculation unit 11 determines that the rotating body 3 is compatible with the encoder 1 and outputs the determination result to the display unit 20 (output unit). The calculation unit 11 determines that the rotating body 3 is not compatible with the encoder 1 if the reference wavenumber per rotation that is compatible with the encoder does not match the wavenumber included in the second signal per rotation of the rotating body 3, and outputs the determination result to the display unit 20 (output unit). The calculation unit 11 may also output information about the pattern of the rotating body 3 having a second signal generating unit 3D that is correctly compatible to the display unit 20 (output unit). The calculation unit 11 may use the sum of the second signal S2A and the delayed second signal S2B for the determination, or it may use either the second signal S2A or the delayed second signal S2B for the determination.

[0025] The calculation unit 11 may, for example, determine the compatibility between the rotating body 3 and the encoder 1 based on the wavenumber of the third signal of the rotating body 3. The third signal generation unit 3E may have, for example, 256 slits or 512 slits. The calculation unit 11 calculates one rotation of the rotating body 3 based on the first signal and calculates the second wavenumber included in the third signal for each rotation of the rotating body 3. The calculation unit 11 refers to the reference data D1 and compares the second reference wavenumber per rotation that is compatible with the encoder with the second wavenumber included in the third signal for each rotation of the rotating body 3 to determine whether the rotating body 3 is compatible with the encoder 1. If the second reference wavenumber per rotation that is compatible with the encoder matches the second wavenumber included in the third signal for each rotation of the rotating body 3, the calculation unit 11 determines that the rotating body 3 is compatible with the encoder 1 and outputs the determination result to the display unit 20 (output unit). The calculation unit 11 determines that the rotating body 3 does not match the encoder 1 if the second reference wavenumber per rotation that matches the encoder does not match the second wavenumber included in the third signal per rotation of the rotating body 3, and outputs the determination result to the display unit 20 (output unit). The calculation unit 11 may also output information about the pattern of the rotating body 3 having a correctly matching third signal generation unit 3E to the display unit 20 (output unit). The calculation unit 11 may use either or both of the third signal S3A and the delayed third signal S3B for the determination.

[0026] As shown in Figure 7, the calculation unit 11 may determine whether the rotating body 3 is compatible with the encoder 1 based on the occurrence pattern of the first occurrence wavenumber of the third signal S3A or S3B contained between the first signal S1 and the adjacent first signal S1. The calculation unit 11 monitors the occurrence wavenumber of the third signal S3A or S3B contained between the first signal S1 and the adjacent first signal S1. The calculation unit 11 determines whether the rotating body 3 is compatible with the encoder 1 based on the comparison result between the first specified wavenumber of the first occurrence wavenumber compatible with the encoder 1 and the first occurrence wavenumber. The calculation unit 11 measures, for example, the first occurrence wavenumber of the third signal S3A and / or the delayed third signal S3B at the timing when the first signal S1 is acquired. The calculation unit 11 determines that the rotating body 3 is not compatible with the encoder 1 if, for example, the first occurrence wavenumber is less or more than the first specified wavenumber before the adjacent first signal S1 is acquired. The calculation unit 11 determines, for example, that the rotating body 3 is compatible with the encoder 1 if the first occurrence frequency matches the first specified frequency while acquiring the adjacent first signal S1.

[0027] The calculation unit 11 may, at the timing of acquiring the first signal S1, start measuring the first occurrence wavenumber of the third signal S3A and / or the delayed third signal S3B, and if the first occurrence wavenumber reaches a first specified wavenumber and the adjacent first signal S1 cannot be acquired, determine that the rotating body 3 is not compatible with the encoder 1. The calculation unit 11 may, at the timing of acquiring the first signal S1, start measuring the first occurrence wavenumber of the third signal S3A and / or the delayed third signal S3B, and if the first occurrence wavenumber does not reach a first specified wavenumber and the adjacent first signal S1 is acquired, determine that the rotating body 3 is not compatible with the encoder 1.

[0028] As shown in Figure 8, the calculation unit 11 may determine whether the rotating body 3 is compatible with the encoder 1 based on the appearance pattern of the second occurrence wavenumber of the third signal S3A or S3B contained between the second signal and adjacent second signals. The calculation unit 11 monitors, for example, the second occurrence wavenumber of the third signal contained between the second signal S2A and adjacent second signals S2A. The calculation unit 11 measures the second occurrence wavenumber based on the third signal S3A and / or the delayed third signal S3B. The calculation unit 11 determines whether the rotating body 3 is compatible with the encoder 1 based on the comparison result between the second specified wavenumber of the second occurrence wavenumber compatible with the encoder 1 and the second occurrence wavenumber. The calculation unit 11 may measure the second occurrence wavenumber of the third signal S3A and / or the delayed third signal S3B between the second signal S2B and adjacent second signals S2B.

[0029] The calculation unit 11 determines that the rotating body 3 is not compatible with the encoder 1 if the second occurrence frequency is less than or more than the second specified frequency. The calculation unit 11 determines that the rotating body 3 is compatible with the encoder 1 if the second occurrence frequency and the second specified frequency match.

[0030] In each of the conformance judgments described above, if an error judgment is output, the signal mismatch that causes the error occurs periodically in accordance with the rotation of the rotating body 3. In contrast, if an abnormality occurs in signal generation due to an accidental cause such as dust adhering to the light receiving unit 2C, the signal mismatch that causes the error does not occur periodically in accordance with the rotation of the rotating body 3. In each conformance judgment, if the calculation unit 11 outputs multiple error judgments according to multiple rotation speeds of the rotating body 3, it may determine that the rotating body 3 is not compatible with the encoder 1. According to the above process, the accuracy of the error judgment can be improved compared to a single error judgment. Furthermore, in each conformance judgment, the calculation unit 11 may also consider whether the signal mismatch occurs periodically when making a determination. For example, the calculation unit 11 may refer to the reference data D1 and calculate the reference frequency of the second signal S2A and / or the second signal S2B generated in the rotating body 3 that rotates at a predetermined rotation speed in the judgment mode. The calculation unit 11 may perform a conformance determination based on the comparison result between the frequencies of the second signal S2A and / or the second signal S2B detected from the rotating body 3 rotating at a predetermined rotational speed and a reference frequency. The calculation unit 11 may refer to the reference data D1 and calculate the reference frequencies of the third signal S3A and / or the third signal S3B generated in the rotating body 3 rotating at a predetermined rotational speed in the determination mode. The calculation unit 11 may perform a conformance determination based on the comparison result between the frequencies of the third signal S3A and / or the third signal S3B detected from the rotating body 3 rotating at a predetermined rotational speed and a reference frequency. The calculation unit 11 may perform an error determination based on the mismatch of one or more periodic signals generated in the rotating body 3 rotating at a predetermined rotational speed in the determination mode.

[0031] Figure 9 shows the processing flow of the conformity determination method executed in the control device 10. The conformity determination method is executed based on a computer program installed in the computer mounted on the control device 10. The computer program causes the arithmetic unit 11 of the control device 10 to perform the following processing. The arithmetic unit 11 obtains the detected value measured from the rotating body 3 from the detection unit 2 (S100). The arithmetic unit 11 generates a first signal to detect the rotation of the rotating body 3 (S102). The arithmetic unit 11 generates a second signal corresponding to the number of poles detected for each rotation of the rotating body 3 (S104). The arithmetic unit 11 generates a third signal corresponding to a plurality of minute rotation angles detected from the rotating body (S106). The arithmetic unit 11 determines whether the rotating body conforms to the encoder based on a combination of at least two signals from the first signal, the second signal, and the third signal (S108). If the determination result is a conformity determination (S108: Yes), the arithmetic unit 11 outputs the conformity determination result to the output unit (S110). If the calculation unit 11 determines that the judgment result is an error (S108: No), it causes the error judgment result to be output to the output unit (S112).

[0032] As described above, the control device 10 can determine with high accuracy whether or not the appropriate rotating body 3 is combined with the encoder 1. The control device 10 can improve the accuracy of the determination by using at least two of the first signal, second signal, and third signal to determine the compatibility between the encoder 1 and the rotating body 3. The control device 10 can prevent malfunctions in the device into which the encoder 1 is incorporated by determining the compatibility of the rotating body 3 before the encoder 1 is operated.

[0033] The computer program for executing the processing of each part of the control device 10 described above may be provided in the form of a computer-readable non-temporary recording medium, such as a semiconductor memory, magnetic recording medium, or optical recording medium. The computer program may also be provided as a computer product. The control device 10 may be externally connected to the encoder 1 and provided as a diagnostic device for determining the compatibility between the encoder 1 and the rotating body 3. The control device 10 may be composed of an information processing terminal device such as a personal computer equipped with a display unit 20.

[0034] While embodiments of this disclosure have been described in detail, this disclosure is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, or partially deleted in various ways, without departing from the spirit of the invention or the idea and intent of the invention derived from the claims and their equivalents. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above. Furthermore, combining some of the embodiments described above as appropriate is within the scope of this disclosure.

[0035] With respect to the above embodiment, the following additional information is disclosed. (Addendum 1) A control device comprising a rotating body attached to an encoder that detects rotation and generates a signal associated with rotation, and a calculation unit that determines compatibility with the encoder, wherein the calculation unit acquires a detected value measured from the rotating body, and determines whether the rotating body is compatible with the encoder based on a combination of at least two signals from the detected value, which include a first signal for detecting the rotation of the rotating body, a second signal corresponding to the number of poles detected for each rotation of the rotating body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotating body, and outputs the determination result to an output unit.

[0036] (Note 2) The control device according to Note 1, wherein the calculation unit calculates one rotation of the rotating body based on the first signal, calculates a first wavenumber included in the second signal for each rotation of the rotating body, and determines whether the rotating body is compatible with the encoder based on the comparison result between the first reference wavenumber for each rotation that is compatible with the encoder and the first wavenumber.

[0037] (Note 3) The control device according to Note 1, wherein the calculation unit calculates one rotation of the rotating body based on the first signal, calculates a second wavenumber included in the third signal for each rotation of the rotating body, and determines whether the rotating body is compatible with the encoder based on the comparison result between the second reference wavenumber for each rotation that is compatible with the encoder and the second wavenumber.

[0038] (Note 4) The control device according to Note 1, wherein the calculation unit monitors the first occurrence frequency of the wavenumber of the third signal contained between the first signal and adjacent first signals, and determines whether the rotating body is compatible with the encoder based on the occurrence pattern of the first occurrence frequency that is compatible with the encoder.

[0039] (Note 5) The control device according to Note 1, wherein the calculation unit monitors the second occurrence frequency of the wavenumber of the third signal contained between the second signal and adjacent second signals, and determines whether the rotating body is compatible with the encoder based on the occurrence pattern of the second occurrence frequency that is compatible with the encoder.

[0040] (Note 6) The control device according to any one of Notes 1 to 4, wherein the calculation unit outputs the same number of error judgments according to two or more rotational speeds of the rotating body, and determines that the rotating body is not compatible with the encoder.

[0041] (Note 7) An encoder comprising the control device described in any one of Notes 1 to 4, and a detection unit that detects the rotating body using an optical sensor.

[0042] (Note 8) A computer program installed in a computer that determines the compatibility between a rotating body attached to an encoder that detects rotation and generates a signal associated with rotation and the encoder, the computer program to perform the following processing: acquire detection values ​​measured from the rotating body; determine whether the rotating body is compatible with the encoder based on a combination of at least two signals from the detection values, which include a first signal for detecting the rotation of the rotating body, a second signal corresponding to the number of poles detected for each rotation of the rotating body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotating body; and output the determination result to an output unit.

[0043] 1 Encoder, 2 Detection unit, 2A Light-emitting unit, 2B Light-receiving slit, 2C Light-receiving unit, 2D Amplifier, 3 Rotating body, 3 Signal generation unit, 3A Main body, 3B Signal generation unit, 3C First signal generation unit, 3C Second signal generation unit, 3E Third signal generation unit, 3H Mounting hole, 3P Rotating body, 3Q Rotating body, 4 Drive unit, 4A Shaft, 10 Control device, 11 Calculation unit, 12 Storage unit, 20 Display unit, B Signal generation unit, C1 First circumference, C2 Second circumference, C3 Third circumference, C4 Fourth circumference, D1 Reference data, S1 First signal, S2A, S2B Second signal, S3, S3A, S3B Third signal

Claims

1. A control device comprising a rotating body attached to an encoder that detects rotation and generates a signal associated with rotation, and a calculation unit that determines compatibility with the encoder, wherein the calculation unit acquires a detected value measured from the rotating body, and determines whether the rotating body is compatible with the encoder based on a combination of at least two signals from the detected value, which include a first signal for detecting the rotation of the rotating body, a second signal corresponding to the number of poles detected for each rotation of the rotating body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotating body, and outputs the determination result to an output unit.

2. The control device according to claim 1, wherein the calculation unit calculates one rotation of the rotating body based on the first signal, calculates a first wavenumber included in the second signal for each rotation of the rotating body, and determines whether the rotating body is compatible with the encoder based on the comparison result between the first reference wavenumber for each rotation that is compatible with the encoder and the first wavenumber.

3. The control device according to claim 1, wherein the calculation unit calculates one rotation of the rotating body based on the first signal, calculates a second wavenumber included in the third signal for each rotation of the rotating body, and determines whether the rotating body is compatible with the encoder based on the comparison result between the second reference wavenumber for each rotation that is compatible with the encoder and the second wavenumber.

4. The control device according to claim 1, wherein the calculation unit monitors the first occurrence wavenumber of the wavenumber of the third signal contained between the first signal and adjacent first signals, and determines whether the rotating body is compatible with the encoder based on the occurrence pattern of the first occurrence wavenumber that is compatible with the encoder.

5. The control device according to claim 1, wherein the calculation unit monitors the second occurrence frequency of the wavenumber of the third signal contained between the second signal and adjacent second signals, and determines whether the rotating body is compatible with the encoder based on the occurrence pattern of the second occurrence frequency that is compatible with the encoder.

6. The control device according to any one of claims 1 to 4, wherein the calculation unit determines that the rotating body is not compatible with the encoder when it outputs the same number of error determinations according to two or more rotational speeds of the rotating body.

7. An encoder comprising the control device according to any one of claims 1 to 4, and a detection unit for detecting the rotating body using an optical sensor.

8. A computer program installed in a computer that determines the compatibility between a rotating body attached to an encoder that detects rotation and generates a signal associated with rotation and the encoder, the computer program to perform the following processing: acquire detection values ​​measured from the rotating body; determine whether the rotating body is compatible with the encoder based on a combination of at least two signals from the detection values, which include a first signal for detecting the rotation of the rotating body, a second signal corresponding to the number of poles detected for each rotation of the rotating body, and a third signal corresponding to a plurality of minute rotation angles detected from the rotating body; and output the determination result to an output unit.

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