Rotary encoder and absolute angular position detection method thereof
A rotary encoder may include a first sensor unit including a first magnet, and a first magnetosensitive unit facing the first magnet; a second sensor unit including a second magnet with a plurality of pairs of N poles and S poles alternately magnetized, and a second magnetosensitive unit facing the second magnet; a circuit to generate pulses for counting from an output of the second sensor unit; and a counter to count the pulses. During activation, an angle position of the rotating body is calculated based on outputs of a first and second sensor unit, and after activation, pulse counting is counted by a counter.
1. A rotary encoder for detecting an angle of a rotating body with respect to a fixed body, the rotary encoder comprising:
a first sensor unit comprising a first magnet with a pair of N pole and S pole magnetized, and a first magnetosensitive unit facing the first magnet and detecting a component of phase A1 and a component of phase B1 different from the phase A1;
a second sensor unit comprising a second magnet with a plurality of pairs of N poles and S poles alternately magnetized, and a second magnetosensitive unit facing the second magnet and detecting a component of phase A2 and a component of phase B2 different from the phase A2;
a circuit structured to generate pulses for counting from an output of the second sensor unit;
a counter structured to count the pulses;
wherein one of the first magnet and the first magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body, and one of the second magnet and the second magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body, and
wherein during activation, an angle position of the rotating body is calculated and set as an initial value based on outputs of the first sensor unit and the second sensor unit, and after the activation, pulse counting is counted by the counter.
2. The rotary encoder according to claim 1 , further comprising:
a first arithmetic unit configured to calculate an angle based on an output of the first sensor unit; and
a second arithmetic unit configured to calculate an angle based on an output of the second sensor unit,
wherein during the activation, absolute angular position data for multiple rotations is generated and set as the initial value based on calculation in the first arithmetic unit and second arithmetic unit, a value obtained by converting the absolute angular position data for multiple rotations to a count value is stored in the counter, and the counter performs counting while the stored value is set as a starting value.
3. The rotary encoder according to claim 2 , wherein when an angle position is requested, absolute angular position data for multiple rotations is calculated from the count value in the counter and an output of the second arithmetic unit at a time point of the request.
4. The rotary encoder according to, wherein the pulse corresponds to each of timings with which a length of one cycle in output of the second sensor unit is divided into four sections.
5. The rotary encoder according to claim 4 , wherein
the first magnetosensitive unit comprises a magnetic resistance effect element which comprises a magnetic resistance pattern corresponding to the Phase A1 and a magnetic resistance pattern corresponding to the Phase B1; and
a pair of Hall elements disposed at positions respectively spaced from each other by 90 degrees as seen from a rotary shaft of the rotating body, and wherein multiple rotation data for Hall count is generated by performing counting based on a combination of polarities of signals from the pair of Hall elements.
6. The rotary encoder according to claim 1 , wherein a component of the Phase A1 and a component of the Phase B1 are respectively shifted to each other in a phase corresponding to ¼ cycle of a signal of a sine wave which is output from the first sensor unit, and
wherein a component of the Phase A2 and a component of the Phase B2 are respectively shifted to each other in a phase corresponding to ¼ cycle of a signal of a sine wave which is output from the second sensor unit.
7. The rotary encoder according to claim 1 , wherein
the first magnetosensitive unit comprises a magnetic resistance effect element which comprises a magnetic resistance pattern corresponding to the Phase A1 and a magnetic resistance pattern corresponding to the Phase B1; and
a pair of Hall elements disposed at positions spaced from each other by 90 degrees in phase as seen from a rotary shaft of the rotating body, and wherein multiple rotation data for Hall count is generated by performing counting based on a combination of polarities of signals from the pair of Hall elements.
8. The rotary encoder according to claim 7 , wherein a component of the Phase A1 and a component of the Phase B1 are respectively shifted to each other in a phase corresponding to ¼ cycle of a signal of a sine wave which is output from the first sensor unit, and wherein a component of the Phase A2 and a component of the Phase B2 are respectively shifted to each other in a phase corresponding to ¼ cycle of a signal of a sine wave which is output from the second sensor unit.
9. An absolute angular position detection method in a rotary encoder, the rotary encoder comprising a first sensor unit and a second sensor unit, the first sensor unit comprises a first magnet with a pair of N pole and S pole magnetized, and a first magnetosensitive unit facing the first magnet and detecting a component of phase A1 and a component of phase B1 different from the phase A1, and the second sensor unit comprises a second magnet with a plurality of pairs of N poles and S poles alternately magnetized, and a second magnetosensitive unit facing the second magnet and detecting a component of phase A2 and a component of phase B2 different from the phase A2, one of the first magnet and the first magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body, and one of the second magnet and the second magnetosensitive unit is provided in the fixed body and the other is provided in the rotating body, the method comprising:
during activation, calculating and defining an angle position of the rotating body as an initial value based on outputs of the first sensor unit and the second sensor unit; and
after the activation, starting counting by way of a counter with respect to pulses targeted for counting generated from outputs of the second sensor unit.
10. The absolute angular position detection method of claim 9 , further comprising:
during the activation, storing in the counter a value obtained by converting the initial value by a count value in the counter;
when an angle position is requested, calculating the angle position of the rotating body based on an output of the second sensor unit;
calculating absolute angular position data for multiple rotations from a result obtained in accordance with the calculating step and a count value of the pulse at a time point at which the angle position is requested,
wherein in the counter, counting is performed while the stored value is set as a starting value.