Method and device for detecting abnormality of encoder, and robot control system
AssigneePanasonic Intellectual Property Management Co., Ltd.
InventorsYasuhiro KINUGASA, Kei AIMI, Atsumi HASHIMOTO
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Abstract
An abnormality detection method of an encoder includes an output step, a control step, an information acquisition step, and an abnormality determination step. The abnormality determination step compares command position information with detection position information of a motor calculated based on an output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.
Claims19
An abnormality detection method of an encoder for detecting an abnormality of the encoder by using a robot control unit, the encoder detecting a rotational position of a motor that drives an output shaft of an operation device,
- the robot control unit including
- a controller,
- a driver connected to the encoder and the controller, and
- an abnormality detection device connected to the encoder and the controller,
- the method comprising:
- an output step of outputting a speed command and command position information, the speed command being a command for instructing the rotational position of the motor, and the command position information indicating the rotational position of the motor according to the speed command;
- a control step of receiving the speed command and an output signal output from the encoder, and controlling driving of the motor based on the speed command and the output signal;
- an information acquisition step of acquiring the command position information from the controller, and acquiring the output signal from the encoder;
- and
- an abnormality determination step of comparing the command position information with detection position information of the motor calculated based on the output signal, and determining that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.
An abnormality detection device of an encoder for detecting an abnormality of the encoder that detects a rotational position of a motor that drives an output shaft of an operation device, the abnormality detection device being connected to the encoder and a controller, the abnormality detection device comprising:
- a first receiver that receives an output signal from the encoder;
- a second receiver that receives command position information from the controller;
- and
- a determiner that compares the command position information with detection position information of the motor calculated based on the output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.
A robot control system comprising:
- an encoder that detects a rotational position of a motor;
- a controller that outputs a speed command and command position information, the speed command being a command for instructing the rotational position of the motor, and the command position information indicating the rotational position of the motor according to the speed command;
- a driver that receives the speed command output from the controller and an output signal output from the encoder and controls driving of the motor based on the speed command and the output signal;
- and
- an abnormality detection device connected to the encoder and the controller,
- wherein the abnormality detection device includes:
- a first receiver that receives the output signal from the encoder;
- a second receiver that receives the command position information from the controller;
- and
- a determiner that compares the command position information with detection position information of the motor calculated based on the output signal, and determines that the encoder is abnormal in a case where a difference between the command position information and the detection position information of the motor is equal to or more than a predetermined value.
Dependencies are inferred from the claim text.