Cable system
A cable system has a cable connecting a base device and a travelling body, functions of the cable at least including transmission of signals, a reel device disposed on the travelling body, the reel device having a reel onto which the cable is to be wound, a motor that drives the reel and a rotation sensor that detects a rotation of the reel, a motor controller that controls the motor of the reel device; and an acceleration sensor that is disposed in the traveling body and detects an acceleration in a vertical direction, the motor controller basically opening a motor drive circuit for driving the motor or bringing a supply current to the motor to zero when it is determined that the reel is rotated in an unreeling direction for unreeling the cable based on sensed information from the rotation sensor.
1. A cable system comprising:
a cable connecting a base device and a travelling body, functions of the cable at least including transmission of signals;
a reel device disposed on the travelling body, the reel device having a reel onto which the cable is to be wound, a motor that drives the reel and a rotation sensor that detects a rotation of the reel;
a motor controller that controls the motor of the reel device; and
an acceleration sensor that is disposed in the traveling body and detects an acceleration in a vertical direction;
the motor controller opening a motor drive circuit for driving the motor or bringing a supply current to the motor to zero when it is determined that the reel is rotated in an unreeling direction for unreeling the cable based on sensed information from the rotation sensor;
the motor controller activating the motor to provide the reel with a rotary torque in a reeling direction when it is determined that the reel is rotated in a reeling direction for reeling the cable based on the sensed information from the rotation sensor; and
the motor controller activating the motor to provide the reel with the rotary torque in the reeling direction if a differential value of the acceleration in the vertical direction obtained from the acceleration sensor is greater than a reference value even when the reel is rotated in the unreeling direction.
2. The cable system according to claim 1 , wherein when the differential value of the acceleration in the vertical direction obtained from the acceleration sensor is greater than the reference value, the motor controller activates the motor to provide the reel with the rotary torque in the reeling direction only if a rotation speed of the reel in the unreeling direction detected by the rotation sensor exceeds a reference value for the rotation speed.
3. The cable system according to claim 1 ,
wherein the reel device further comprises a reel diameter detector that detects a diameter of the reel with the cable wound around the reel; and
wherein the motor controller calculates an unreeling speed at which the cable is unreeled from the reel based on the diameter of the reel detected by the reel diameter detector and the rotation speed of the reel in the unreeling direction detected by the rotation sensor, and
wherein, when the differential value of the acceleration in the vertical direction obtained from the acceleration sensor is greater than the reference value, the motor controller activates the motor to provide the reel with the rotary torque in the reeling direction only if the unreeling speed of the cable exceeds a reference value for the unreeling speed.
4. The cable system according to claim 1 ,
wherein the reel device further comprises a reel diameter detector that detects a diameter of the reel with the cable wound around the reel; and
wherein, when the reel is rotated in the unreeling direction, the motor controller;
calculates an unreeling speed at which the cable is unreeled from the reel based on the diameter of the reel detected by the reel diameter detector and the rotation speed of the reel in the unreeling direction detected by the rotation sensor,
opens the motor drive circuit to minimize a resistance of the motor when the unreeling speed of the cable is smaller than a travelling speed of the travelling body, and
closes the motor drive circuit to restrict the rotation of the reel by the resistance of the motor when the unreeling speed of the cable is greater than the travelling speed of the travelling body.