Multiplexed Encoder Frames for Faster Robot Feedback Control
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Solution Overview
Problem
In multiplexing communication systems for working robots, the increased number of electromagnetic motors and high-resolution encoder signals lead to delayed response times due to longer transmission cycles, affecting the control performance and feedback speed.
Innovation Solution
A multiplexing communication system that multiplexes and transmits encoder signals using a frame data structure with specific bit allocation and error correction, allowing for efficient transmission and demultiplexing, ensuring appropriate response speed and control performance even with high-resolution encoders and multiple motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If multiple encoder signals are multiplexed and transmitted in order via a common communication line, then the number of communication lines is reduced, but the transmission cycle lengthens and response speed decreases
Solution Approach 1:
The patent segments the multiplexed data stream into separate data strings, each corresponding to a specific encoder signal. By assigning unique identification information to each data string, the system can segment and process multiple encoder signals independently within a single multiplexed transmission cycle, thereby reducing the overall transmission cycle while maintaining the benefit of using a common communication line.
Solution Approach 2:
The patent transmits identification information and data in separate transmission cycles, rather than waiting for complete encoder signals before transmission. This partial action approach allows the system to begin processing and transmitting data earlier in the cycle, effectively reducing the response time without requiring additional communication lines.
2Measurement precision
If encoder resolution is enhanced to increase bit quantity, then measurement precision improves, but transmission cycle lengthens and control performance reduces
Solution Approach 1:
The patent divides high-resolution encoder data into multiple smaller data strings, each containing a portion of the encoder signal with identification information. This segmentation allows the system to process and transmit high-resolution data in manageable units, maintaining measurement precision while reducing the overall transmission cycle time and improving control performance.
3Manufacturing precision
If the number of electromagnetic motors is increased to improve positioning accuracy in multiple directions, then positioning capability improves, but the number of communication lines increases
Solution Approach 1:
The patent merges multiple communication channels into a single common communication line by multiplexing encoder signals from multiple electromagnetic motors. Each motor's encoder signal is assigned unique identification information, allowing the system to combine multiple communication streams into one physical line while maintaining the ability to address and control each motor individually, thus improving positioning accuracy without increasing the number of communication lines.
Data Source
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AI summary
Provided is a multiplexing communication system capable of maintaining an appropriate response speed of a control with respect to an electromagnetic motor based on an encoder signal during multiplexing and transmission of the encoder signal. A transmission data composition processing section of a multiplex communication device multiplexes encoder signals ENCD1 to ENCD8 output from a linear scale and a rotary encoder into frame data FRMD and transmits the data. The transmission data composition processing section sets the encoder signals ENCD1 to ENCD8 to bit positions of the frame data FRMD respectively corresponding to the linear scale and the rotary encoder. At the bit positions where the encoder signals ENCD1 to ENCD8 are set, the encoder signal ENCD and information showing the presence or absence of the data of the encoder signal ENCD are alternately set for each cycle of transmission of the frame data FRMD.