Fanuc Corporation

Mitsuyuki Taniguchi

Hirofumi Kikuchi

Keisuke Imai

Masato Aochi

Yoshitaka Takekoshi

Hiroshi Ishida

Katsuo Kobari

Keiji Sakamoto

Tokuhisa Matsukane

Hiroya Terashima

Tadashi Inoue

Ichirou Nagatomo

Hiromichi Horiuchi

Hiroshi Yamaguchi

Tadayoshi Matsuo

Yukio Toyozawa

Shinichi Horikoshi

Shunsuke Matsubara

Michi Masuya

Nobuyuki Ootake

Shunichi Odaka

Takashi Harada

Shigeyuki Ushiyama

Shinichi Kinoshita

Yoshinobu Maeda

Miaomiao Wang

Yoshihito Tanabe

Hirofumi Kikouchi

Hajime Miyamoto

Kanamasa Okuda

Hirofumi Kukuchi

Masao Aochi

Michi Room14-301 Masuya

Shinichi Fanuc Dai3virakaramatsu Kinoshita

Yoshinobu Room9-301 Maeda

Ichirou Fanuc Manshonharimomi Nagatomo

An optical encoder includes a light emitting part for emitting light, a stationary slit part and a rotational slit part which allow part of the light emitted from the light emitting part to pass therethrough, a light receiving part for detecting the light passing through the stationary slit part and the rotational slit part, and a support for supporting the stationary slit part. The stationary slit part includes a patterned portion in which a plurality of slits for allowing light to pass therethrough are formed, a fixed portion fixed to the support, and an elastic structure which is elastically deformable and provided between the patterned portion and the fixed portion.

Optical encoder including stationary slit part having elastic structure

When a communication abnormality occurs between an encoder and communication circuit apparatus in a work apparatus feeding back data output from encoders for control by a control apparatus, an encoder communication circuit is used in place of the encoder to identify the location of occurrence of the abnormality. The encoder communication circuit outputs encoder data comprised position or speed data and alarm data to said control apparatus when connected to the control apparatus through a communication cable.

Encoder communication circuit

An encoder having a function for detecting noise which may affect an internal signal of the encoder, without using a noise detecting circuit within the encoder, whereby the cost and size thereof may be reduced. The encoder has a detecting part adapted to detect the movement of an electric motor or a driven object; a signal processing circuit adapted to process a detection signal from the detecting part and obtain positional data of the motor or the object; and a transmitting part adapted to transmit the positional data from the signal processing circuit at regular time intervals and a fluctuation component calculated on the basis of the positional data, to external equipment. The signal processing circuit has a fluctuation component detecting circuit adapted to detect a fluctuation comment included in the calculated positional data, and the detected fluctuation component is transmitted to the external controller as an amount of noise.

Encoder having function for detecting amount of noise

A reliable encoder capable of reducing vibration of a printed board when the encoder is subjected to vibration or shock, by means of a simple structure. The encoder has a housing, a rotating code plate arranged in the housing and configured to rotate in synchronization with an object to be measured, a printed board attached to the housing and positioned above the rotating code plate, wherein the encoder has a reinforcing member configured to contact a portion of the printed board where the displacement of the printed board is large while the printed board is resonated due to vibration or shock applied to the encoder.

Encoder having durability against vibration or shock

An amplitude calculation apparatus or an amplitude calculation program of an output signal of an encoder dividing a resurge waveform into a predetermined number of angle areas, presetting and storing coefficient &#x3b1; of the A-phase and the coefficient &#x3b2; of the B-phase corresponding to the divided angle areas, the coefficients being set so that &#x3b1;A+&#x3b2;B approximates the radius of the theoretical resurge waveform, calculating the radius of the resurge waveform as &#x3b1;A+&#x3b2;B, and making the calculated radius the amplitude of the output signal of the encoder or converting a phase angle &#x3b8; of a quadrant n to a phase angle &#x3b8;' of the quadrant 1, and calculating the radius of the resurge waveform as &#x3b1;|A|+&#x3b2;|B|, whereby the circuit size of the apparatus for calculating the resurge radius from the output of the encoder is reduced and the processing time by software for calculating the resurge radius is shortened.

Amplitude calculation apparatus of output signal of encoder and amplitude calculation program of output signal of encoder

A fan having a function for detecting a fault such as a breakage or a loss of a rotating part of the fan as well as reduction in the rotational speed of the fan, the function being not affected by an operating condition of the fan. The fan includes a stationary part, a rotating part rotatably attached to the stationary part, a first electric circuit arranged on the rotating part, a second electric circuit arranged on the stationary part, the second electric circuit being electromagnetically connected to the first circuit, and a fault detecting circuit electrically connected to the second electric circuit, for detecting a fault of the rotating part.

Fan having function for detecting fault in the fan

In an encoder which is equipped with two detectors arranged on both sides of a rotating shaft in order to eliminate an eccentricity error, the mounting of the detectors is facilitated by making provisions so as to not cause a problem in the calculating of an average even if the detectors happen to be so mounted that the difference between the angular values calculated from the outputs of the respective detectors becomes equal to 180&#xb0;. In an initialization process after power on, the difference &#x394;&#x3b8; between the angular values &#x3b8;and &#x3b8;calculated from the signals output from the respective detectors is stored as an initial value. Position data &#x3b8; is output by taking an average between &#x3b8;and &#x3b8;, where &#x3b8;is a value obtained by correcting &#x3b8;by the initial difference &#x394;&#x3b8;.

Signal processing circuit for encoder

A magnetic type angle sensor includes a rotary body having a first sensed part provided on a circumferential surface thereof with projecting parts and recessed parts at equal intervals in a circumferential direction thereof and a second sensed part provided on a circumferential surface thereof with a projecting parts at just one location, and a magnetic sensing device for sensing a change in a magnetic field along with rotation of the rotary body. The rotary body is formed with a plurality of projecting parts and recessed parts in a gear shape by gear cutting on the circumferential surface, then is cut with a groove at the center thereof in the axial direction thereof and has all projecting parts in a half section in the axial direction thereof cut off except for one.

Magnetic type angle sensor

An encoder that can detect the presence of noise occurring within the encoder. The encoder is constructed by incorporating within the same apparatus: a movement detecting unit for detecting the movement of a moving body; a signal processing circuit for processing a movement detection signal supplied from the movement detecting unit, and thereby producing an encoder signal representing the position and/or the amount of displacement of the moving body; and a noise detecting unit for detecting noise superimposed on the movement detection signal. According to this encoder, a noise voltage generated within the encoder via a stray capacitance is detected within the encoder and is output as noise data, so that the noise level can be detected without requiring the use of an external measuring device. Further, by outputting encoder data and noise data occurring at the same instant in time, the reliability of the encoder data can be judged based on the condition of the noise level.

Encoder for detecting position or displacement of moving body

A self-diagnosing system for an encoder. The system includes an encoder circuit for outputting information detected by an encoder; a data preparing section provided in the encoder circuit and preparing data representing a state of an abnormal-state judgment factor in connection with at least one of the encoder and an electric motor combined with the encoder; a signal generating section provided in the encoder circuit and generating an abnormal-state signal when the data prepared in the data preparing section represents an abnormal state of the abnormal-state judgment factor; and a storage section provided in the encoder circuit and storing the data representing a state of the abnormal-state judgment factor when the signal generating section generates the abnormal-state signal. The storage section may store the data prepared in the data preparing section at a desired timing not later than the instant the signal generating section generates the abnormal-state signal.

Self-diagnosing system for encoder

The invention aims to suppress or prevent the vibration that can occur due to the intervention of a low-rigidity part between detector and rotating body. An angular acceleration sensor for detecting the rotational angular acceleration of a rotating body is provided, and an angle/angular speed command value is compensated in accordance with the value of the angular acceleration.

Rotary shaft control apparatus

The invention aims to reduce an error occurring due to the mounting condition of an acceleration sensor. In the case of a two-axis sensor, an angle &#x3b8; is calculated from outputs (x', y&#x2032;) that the acceleration sensor produces when known accelerations (x, y) are applied, and the angle &#x3b8; is stored in a storage device contained in a casing in which the acceleration sensor is housed. In the case of a one-axis sensor, the ratio of the magnitudes of accelerations is stored. The acceleration detected by the acceleration sensor is compensated by using the value stored in the storage device.

Machine tool control apparatus

In a control apparatus, a 'characteristic value calculation' block calculates a characteristic value (such as amplitude value, offset value, or waveform distortion for each phase of two-phase sinusoidal signals optically input from an encoder, or phase difference between the two phase signals) for each of the two-phase sinusoidal signals, and an 'alarm detection' block checks the presence or absence of an excursion outside a predetermined allowable range and, if such an excursion is detected, produces an alarm indication or the like. Each time the &#x201c;present characteristic value&#x201d; is input, a &#x201c;characteristic value comparison&#x201d; block compares it with &#x201c;previous characteristic values&#x201d;, and analyzes the result of the comparison. That is, the difference between the present value and each previous data is calculated, and the largest amount of variation (with plus or minus sign) is obtained; if this amount is larger than a predetermined value, a signal indicating an &#x201c;imminent failure&#x201d; is output. In an alternative method, the present value is compared with a characteristic value calculated from an encoder reference signal. Further, the characteristic value monitoring and comparison may be performed within the encoder. In this way, data useful for the prediction of encoder failure, etc. is provided.

Encoder and control apparatus for motor

An assembly of electric motor with encoder, including an electric motor having a motor housing, and an encoder for detecting the rotation angle of the output shaft of the electric motor. The encoder includes a frame member attached to the motor housing in a conductive manner, a circuit board supported on the frame member and a detection circuit provided in the circuit board. The assembly of electric motor with encoder further includes an output signal cable connected to the circuit board of the encoder and including a signal wire and a shield member, and a grounding mechanism electrically connecting the shield member of the output signal cable to the motor housing for grounding purposes. The grounding mechanism includes a conductor patterned on the circuit board, a first connecting structure mutually connecting the conductor to the shield member, and a second connecting structure mutually connecting the conductor to the frame member. The second connecting structure includes a through-hole plating provided in the circuit board to be connected to the conductor, and a fastening element inserted into a through hole having the through-hole plating and securing the circuit board onto the frame member. When the fastening member is fastened, the through-hole plating comes into conductive contact with the frame member.

Grounding mechanism for electric motor with encoder

After cyclic original signals generated from a sensing element of an encoder are converted into digital signals, positions P(0) to P(n) in one period are obtained for each given period by means of a digital interpolator. If position data obtained immediately after a zero cross point is detected are P(0) and P(n) and if speed is fixed, an object should move on a straight line from a position P(0) to a position P(n). An actual detected position data P(m) is deviated from this straight line by D(m). This detection error D(m) and the detected position data P(m) are combined and stored in advance as reference data, and correction is carried out using the reference data every time position data is detected by the digital interpolator.

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Gotenba, Japan

Mitsuyuki Taniguchi