# US 11,994,388 B2 · Encoder, servo motor, servo system, and encoder control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,994,388 B2 - Document ID: US11994388B2 - Status: Granted - Kind: B2 - Application number: 17/707,306 - Filed: 2022-03-29 - Published: 2022-10-13 - Granted: 2024-05-28 - Earliest claimed: 2021-04-09 - Applicants: Kabushiki Kaisha Yaskawa Denki - Inventors: Ryo Inoue; Ikuma Murokita; Kenichi Sadakane; Masanobu Harada; Yuji Arinaga; Yasuhiro Matsutani - Web page: https://patentgrep.com/patent/US11994388B2 ## CPC - G01B 7/30: for measuring angles or tapers; for testing the alignment of axes - G01D 5/34792: {with only digital scales or both digital and incremental scales} - G01D 5/16: by varying resistance - G05B 19/4155: characterised by program execution, i.e. part program or machine function execution, e.g. selection of a program - H01M 10/0585: of accumulators having only flat construction elements, i.e. flat positive electrodes, flat negative electrodes and flat separators - H01M 10/46: Accumulators structurally combined with charging apparatus (circuits for charging H02J7/00) - H02J 7/865: {Battery or charger load switching, e.g. concurrent charging and load supply (H02J7/50 takes precedence)} - G01D 2205/26: Details of encoders or position sensors specially adapted to detect rotation beyond a full turn of 360°, e.g. multi-rotation - G05B 2219/34013: Servocontroller - H02J 7/933: {the cycle being controlled or terminated in response to electric parameters} - H02J 9/005: {using a power saving mode (for copiers G03G15/5004)} - Y02E 60/10: Energy storage using batteries - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G01D: MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - H01M: PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY - Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION ## Abstract An encoder includes: an optical module that detects angular position information indicating an angular position of a rotating disk within one rotation thereof; a magnetic detecting unit that detects multi-rotation information indicating the number of rotations of the disk; a battery that supplies a power to the magnetic detecting unit when an external power is not supplied to the encoder; and a connector that connects connection terminals of the battery to a substrate to which at least one of the optical module and the magnetic detecting unit is connected, via solders in contact with the connection terminals. ## Claims ### Claim 1 An encoder comprising: an angular position information detector configured to detect angular position information indicating an angular position of a rotating disk within one rotation thereof; a multi-rotation information detector including an MR element and configured to detect multi-rotation information indicating a number of rotations of the disk; an all-solid state battery including a solid electrolyte and configured to supply a power to the multi-rotation information detector when an external power is not supplied to the encoder; a connector configured to connect a connection terminal of the all-solid state battery to a substrate to which at least one of the angular position information detector and the multi-rotation information detector is connected, via a solder in contact with the connection terminal; a first magnet serving as a multi-rotation magnet and of which magnetic flux being detected by the multi-rotation information detector; an electric signal generator configured to generate an electric signal that serves as a trigger for supplying the power of the all-solid-state battery to the multi-rotation information detector based on the rotation of the disk; and a second magnet different from the first magnet, serving as a trigger magnet, and of which magnetic flux is detected by the electric signal generator. ### Claim 2 (depends on 1) The encoder according to claim 1, further comprising: a charger configured to charge the all-solid-state battery when the external power is supplied, and to stop the charging of the all-solid-state battery when the external power is not supplied. ### Claim 3 (depends on 2) The encoder according to claim 2, further comprising: a rectifier electrically connected between the charger and the all-solid-state battery, and configured to regulate a current direction to a direction from the charger toward the all-solid-state battery. ### Claim 4 (depends on 2) The encoder according to claim 2, further comprising: a control processor configured to generate position data of the disk based on at least one of the angular position information and the multi-rotation information, when the external power is supplied, wherein the charger and the processor are connected to a power supply line of the external power, to be electrically parallel with each other. ### Claim 5 (depends on 4) The encoder according to claim 4, wherein when a supply of the external power is stopped, the control processor enters a sleep mode by the power from the battery. ### Claim 6 (depends on 5) The encoder according to claim 5, further comprising: an electric signal generator configured to generate an electric signal in response to a rotation of the disk, wherein the control processor receives the electric signal to be restored from the sleep mode and start the power supply to the multi-rotation information detector. ### Claim 7 (depends on 1) The encoder according to claim 1, further comprising: a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply, wherein the control processor executes a predetermined arithmetic process based on the multi-rotation information detected by the multi-rotation information detector. ### Claim 8 (depends on 7) The encoder according to claim 7, wherein the control processor stops the power supply from the battery to the multi-rotation information detector, after acquiring the multi-rotation information from the multi-rotation information detector and before starting the predetermined arithmetic process. ### Claim 9 (depends on 7) The encoder according to claim 7, further comprising: a nonvolatile memory capable of recording and reading data and maintaining recorded contents even when a power is OFF, wherein the control processor records a result of the predetermined arithmetic process in the nonvolatile memory. ### Claim 10 (depends on 1) The encoder according to claim 1, further comprising: a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply, wherein a state in which the external power is not supplied is restored to a state in which the external power is supplied, the control processor executes a process of detecting an abnormality of the battery. ### Claim 11 (depends on 1) The encoder according to claim 1, further comprising: a control processor configured to control a switching operation between a power supply from the battery to the multi-rotation information detector and a stop of the power supply, wherein the control processor is provided on the substrate, and generates first position data of the disk based on at least one of the angular position information and the multi-rotation information when the external power is supplied, and generates second position data of the disk based on the multi-rotation information detected by the multi-rotation information detector using the power supplied from the battery, when the external power is not supplied. ### Claim 12 (depends on 1) A servo motor comprising: a motor in which a rotor rotates around a stator; and the encoder of claim 1 configured to detect at least one of a position, speed, and acceleration of the rotor. ### Claim 13 (depends on 1) The encoder according to claim 1, wherein the first magnet is disposed on a rotational axis of the disk. ### Claim 14 (depends on 13) The encoder according to claim 13, wherein the second magnet is disposed at an outer peripheral side of the first magnet in a radial direction around the rotational axis of the disk. ### Claim 15 (depends on 1) The encoder according to claim 1, wherein the disk includes a slit array including a plurality of slits that is detected by the angular position information detector, and the slit array is disposed between the magnet and the electric signal generator in a direction of a rotational axis of the disk. ### Claim 16 (depends on 1) The encoder according to claim 1, wherein: the angular position information detector includes an optical module and is disposed on a surface of the substrate that faces the disk, and the electric signal generator is disposed on a surface the substrate that is opposite to the disk. ### Claim 17 (depends on 1) The encoder according to claim 1, wherein the connector connects the connection terminal that is integrally provided on the all-solid-state battery to the substrate via the solder. ### Claim 18 (depends on 1) The encoder according to claim 1, wherein the all-solid state battery includes a pair of connection terminals provided at both ends thereof in a direction parallel to the substrate. ### Claim 19 A method of controlling an encoder, comprising: providing the encoder including: an angular position information detector configured to detect angular position information indicating an angular position of a rotating disk within one rotation thereof; a multi-rotation information detector including an MR element and configured to detect multi-rotation information indicating a number of rotations of a disk; an all-solid state battery including a solid electrolyte and configured to supply a power to the multi-rotation information detector when an external power is not supplied to the encoder; a connector configured to connect a connection terminal of the all-solid state battery to a substrate to which at least one of the angular position information detector and the multi-rotation information detector is connected, via a solder in contact with the connection terminal; a first magnet serving as a multi-rotation magnet and of which magnetic flux being detected by the multi-rotation information detector; an electric signal generator configured to generate an electric signal that serves as a trigger for supplying the power of the all-solid-state battery to the multi-rotation information detector based on the rotation of the disk; and a second magnet different from the first magnet, serving as a trigger magnet, and of which magnetic flux is detected by the electric signal generator, causing a control processor to enter a sleep mode by the power from the all-solid state battery when a supply of the external power is stopped; stopping the supply of the power of the all-solid state battery to the multi-rotation information detector when the control processor enters the sleep mode; receiving an electric signal generated in response to a rotation of the disk, thereby causing the control processor to be restored from the sleep mode; and starting the supply of the power to the multi-rotation information detector when the control processor is restored from the sleep mode.