JPH01219902A - Data input device and position controller - Google Patents

Abstract

PURPOSE:To improve the reliability by preventing overlap between the timing of a read signal and that of counted data with the combination of an exclusive control circuit and a counter circuit. CONSTITUTION:A position controller 10 consists of a servo circuit 12 including a stepping motor 13 and a data input device 1 and controls the angle of the motor 13. This servo circuit 12 constitutes a feedback control system and consists of an internal CPU 14, a driver 15, and an encoder 16. Position data Sp given from a host CPU 20 and one-bit rotation direction data Sd are inputted to the data input device 1, and the device 1 converts them to control data So of parallel data Sf and inputs this data to the internal CPU 14. This data input device is provided with an exclusive control circuit 4, an up-down counter circuit 3, a clock transmitting circuit it 5, and a code correcting circuit 6. The data input to the counter circuit 3 is stopped when a read signal Sr is active, thus obtaining accurate counted data.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a data manipulator that converts serial data into parallel data and inputs it to a control unit, and a position control device using the same.

[Prior art and its problems]

In general, a motor position control device 50 that performs position (angle) control as shown in FIG. Rotation direction data Sd is provided. For this reason, each data Sp, S
d is converted into parallel control data SO by the data input device 52 and applied to a servo circuit 53 forming a control section. The servo circuit 53 includes a motor 54, an encoder 55 for position detection, an internal CPU 56, and a driver 57.
This constitutes a feedback control system consisting of:

By the way, the conventional data input device 52 has a counter circuit 5.
8. It is constituted by a latch circuit 59, and a counter circuit 58 counts the position data sp to obtain control data which is a parallel signal.

This control data and the rotation direction data are stored in the internal C
The data acquisition signal from the PU56 is the data signal S.
When r is active, it is latched by the latch circuit 59 and taken into the internal CPO 56.

However, such a conventional data human-powered device 52 does not control the timing of the position data Sp and the rotational direction data Sd and the internal C
The timing of the read signal Sr from the PO 56 has an arbitrary relationship. For this reason, a state in which the count data is latched occurs during data counting (transition state), and for example, as shown in Fig. 6, the count data output changes from "3" to "4".
” and the read signal Sr may be at the same timing as indicated by the dotted line frame H. In this case, the output of the latch circuit 59 is either "3", "4", or r7J (duplicate data of 3 and 4), and the data becomes uncertain during the transition of the count operation. As a result, although the data itself taken into the internal CPU 56 is stable, the reliability of the data value is greatly impaired, which ultimately leads to malfunction of the servo circuit 53, which greatly impairs the reliability of the entire control device. In addition to this, even if specifications were changed as a countermeasure, a huge amount of cost and time would be required.

[Means for solving problems]

The present invention aims to provide a data input device and a position control device that solve the problems existing in the prior art described above.
This is accomplished by O.

That is, the data input device l according to the present invention converts serial data Se into parallel data Sf, and transmits this parallel data Sf to the control unit 2 according to the timing of the read signal Sr.
In the input device of the type that inputs the serial data Se or the correction data Si obtained by correcting the time axis of the serial data Se, a counter circuit 3 is provided to count the serial data Se or the correction data Si obtained by correcting the serial data Se, and when the read signal Sr is active, the input serial data Se or the correction data A clear signal Sc that holds Si and clears the count data based on the end timing of the read signal Sr is given to the counter circuit 3, and then the held serial data Se or correction data Si is given to the counter circuit 3. It is characterized by comprising an exclusive control circuit 4. Also,
The position control device 10 utilizes such a data input device 1, and has a position control function using position data Sp1 as serial data Se and 1-bit rotation direction data Sd.

[For production]

Next, the operation of the present invention will be explained.

In the data manual device 1 (position control device 10) according to the present invention, the serial data Ss is directly counted by the counter circuit 3 when the read signal Sr is not applied.

On the other hand, when the read signal Sr is applied, that is, when it is active, the serial data Sr is input based on this.
e is temporarily held. Then, this read signal Sr
The count data of the counter circuit 3 is cleared by the clear signal SC based on the end timing of
granted to. That is, when the read signal Sr is active, data input to the counter circuit 3 is stopped, and accurate count data is obtained.

〔Example〕

Hereinafter, preferred embodiments of the present invention will be described in detail based on the drawings.

First, the position control device 10 will be explained in detail with reference to FIG. 2. This figure is a block circuit diagram of a position control device according to the present invention.

The position control device 10 includes a servo circuit 12 including a controlled motor 13 and a data input device 1. Controlled motor 13
is, for example, a stepping motor whose angle is controlled.

The servo circuit 12 constitutes a feedback control system, and includes an internal CPtJ (including necessary functional parts such as RAM, ROM, and interface) 14 that outputs a control signal, and based on this control signal, transmits drive power to the controlled motor I3. A driver 15 for supplying the data, and an encoder 1 for detecting the actual mechanical output result of the controlled motor 12 and applying it to the internal CPU 14.
The internal CPU 14 compares the detection data given from the encoder 16 with the control data taken in from the data manpower device 1 to control the controlled motor I3.

In addition, the data human power device 1 inputs position data Sp consisting of a pulse train, which is serial data Se given from the host CPU (host computer) 20, and rotational direction data Sd of 1 bit, and converts it into control data So, which is parallel data Sf. to force the internal CPU 14 to operate.

Next, the data input device 1 will be specifically explained with reference to FIGS. 1, 3, and 4. FIG. 1 is a block circuit diagram of a data input device according to the present invention, FIG. 3 is a timing chart of input/output data in the exclusive control circuit of the device, and FIG. 4 is an input/output data diagram of the counter circuit and sign correction circuit of the device. It is a timing chart of data.

The data input device 1 is configured as shown in FIG. 1, and includes position data Sp and rotation direction data Sd from the host CPU 20.
An exclusive control circuit 4 manually operated by an exclusive control circuit 4, an abup-down counter circuit 3 which receives the output of the exclusive control circuit 4 as input, and a clock generator for applying a clock signal to the exclusive control circuit 4 to change the state of the exclusive control circuit 4. The counter circuit 5 includes a circuit 5 and a sign correction circuit 6 that performs sign correction on the output data of the counter circuit 3. Even if the position data Sp and rotation direction data Sd from the host CPU 20 are inputted at any timing, the exclusive control circuit 4 outputs each data sp and Sd to a read signal Sr.
It has the ability to output accurately without being affected by the current, and can be constructed entirely from a sequential circuit using logic circuits. The output of the counter circuit 3 is, for example, parallel data of the lower 4 bits, and is input to the internal CPU 14. Further, the output of the sign correction circuit 6 is data of the upper 1 bit, and is taken into the internal CPU 14 together with the output of the counter circuit 3 as 5-bit control data So. Further, a read signal Sr from the internal CPU 14 is applied to the exclusive control circuit 4.

Next, the functions of the data input device 1 will be explained.

Now, assume that position data Sp, which is serial data Se, is manually input to the exclusive control circuit 4 as a pulse train. This l pulse is shown in FIG. 3(B).

In the figure (B), points a to m illustrate the points at which the pulse changes to high level at different timings, and point n shows the point at which the pulse changes to low level. On the other hand, FIG. 2C shows rotational direction data Sd expressed by 1 bit, and the point of change in level indicates the point of change in the rotational direction. FIG. 2A shows a read signal Sr, which is a low active signal that takes in data at a low level. Note that since the position data sp and the rotation direction data Sd are accompanied by a slight delay in the output of the exclusive control circuit 4, Iln is set as the unaffected region when the read signal Sr is applied in FIG. . Above, (A) to (C) of the same figure show input data signals of the exclusive control circuit 4.

On the other hand, the output data signals of the exclusive control circuit 4 are shown in FIG.
It becomes like (P). As shown in the same figure (A), the read signal S
The position data sp input in the region In to which r is not given is data that rises at points a and b, and the position data Sp that rises at points 0 to m is data input in the region 11n.

If the position data Sp that rises at point a is manually generated, it will not be affected by the read signal Sr at all, so the corrected position data S m (rises at x) shown in FIG. The signal is outputted and applied to the counter circuit 3. This corrected position data Sm is based on the transition of position data sp.
In other words, it is a clock signal whose time axis has been corrected. This clock signal is applied from the clock generation circuit 5. Note that, as mentioned above, there will be a slight delay. This state is b
The same applies when inputting points. In addition, the polarity of the rotational direction data Sd is read by the rise of the clock from the clock generating circuit 5, and the signal is inverted to become the up-down signal Su shown in FIG. The corrected rotation direction data Sn is obtained by correcting the time axis.

On the other hand, since the position data sp that rises at points 0 to m overlaps in timing with the read signal Sr, the exclusive control circuit 4 outputs the clear signal SC in response to the end timing when the read signal Sr has passed the active time. , counter circuit 3
Clear the counter register data. Next to the clear signal Sc, an up/down signal Su is output, and in the illustrated case, it is inverted and becomes a high level. Further, following the up-down signal Su, the corrected position data Sm (
(rising at y) is output. At this time, the counter circuit 3 reliably counts the corrected position data Sm as data that is not affected by the read signal Sr. Then, counting continues until the next read signal Sr is applied.

On the other hand, the sign correction circuit 6 is cleared at the same time as the timing of the clear signal Sc, and has the function of outputting an up/down signal Su from the D flip flip when the counter circuit 3 overflows, and adding a sign to the output data value of the counter circuit 4. .

In addition, FIG. 4(G) shows continuous correction position data Sm,
(H) in the same figure shows the up-down signal Su, and (I) in the same figure shows the clear signal Sc. In addition, (K) in the figure is a signal of the upper 1 bit output from the sign correction circuit 6, which corresponds to the lower 4 bit signal that is the output data of the counter circuit 3 shown in (L) to (0) of the figure. .

In the embodiment, as is clear from the following equation, if the active period of the read signal Sr is set to 400 μsec, serial data up to 40 kpps can be transmitted to the internal CPU.
14, enabling high-speed and accurate data capture.

Pmax= =40 kpps4
00 X 10''' Although the embodiments have been described in detail above, the present invention is not limited to these embodiments.

For example, a data input device can be used not only in a control device but also in any device or system;
Although the case where the signal is input to the circuit is shown, it can also be applied to the case where the signal is input to any other digital circuit. Furthermore, although the position control device has been shown to control a motor, it can be applied to any actuator that performs position control. Other changes may be made in the configuration, circuit, and numerical values (number of bits, etc.) without departing from the gist of the present invention.

〔Effect of the invention〕

As described above, the data input device and position control device according to the present invention have the following features by combining the exclusive control circuit and the counter circuit.
Since the timing of the read signal and the timing of the counted data are prevented from overlapping, the following effects are obtained.

(2) Errors in count data, that is, errors in data taken into a control unit such as a CPU, can be reliably prevented, and the reliability of position control devices and the like can be significantly improved.

- The period of the read signal can be shortened, and as a result, the data acquisition speed and the processing speed of the control device can be increased.

■ Conventional standards are sufficient in terms of parts and manufacturing, contributing to low cost.

[Brief explanation of the drawing]

Figure 1: Block circuit diagram of the data input device according to the present invention; Figure 2: Block circuit diagram of the position control device according to the present invention; Figure 3: Timing of input/output data in the exclusive control circuit of the data input device. Chart, 4th column: Timing chart of human output data in the counter circuit and code correction circuit of the data input device, FIG. 5: Block circuit diagram of the conventional data input device, FIG. 6: The data input device of the same data input device. An explanatory diagram for explaining a problem. In the drawing, l: data human power device 3: counter circuit 4: exclusive control circuit 10: position control circuit Se real data
Sf: Parallel data Sr: Read signal Si: Correction data Sc: Clear signal Sp: Position data Sd
:Rotation direction data

Claims (1)

[Scope of Claims] [1] In a data input device that converts serial data into parallel data and inputs this parallel data to a control unit according to the timing of a read signal, the serial data or the serial data is corrected by time axis correction. A counter circuit that counts data, and a clear signal that holds the input serial data or correction data when the read signal is active, and clears the count data based on the end timing of the read signal, is provided to the counter circuit. A data input device comprising an exclusive control circuit that applies serial data or correction data held later to a counter circuit. [2] The data input device according to claim 1, wherein correction data for serial data is obtained using a clock pulse. [3] In addition to counting position data that is a serial signal or corrected position data obtained by correcting the time axis of the position data, the counting direction is determined by 1-bit rotation direction data or corrected rotation direction data obtained by correcting the rotation direction data on the time axis. an up/down counter circuit that inverts; a position control circuit that inputs the output data of the counter circuit; and a position control circuit that holds the input position data or corrected position data when the read signal from the position control circuit is active; A position control device comprising an exclusive control circuit that applies a clear signal to the counter circuit to clear count data based on the end timing of the count data, and then applies held position data or corrected position data to the counter circuit. [4] The position control device according to claim 3, wherein the position control circuit is a servo circuit for a motor. [5] Claim 3, further comprising a sign correction circuit that corrects the sign of the rotational direction data or corrected rotational direction data when the up-down counter circuit overflows.
The position control device described. [6] The position control device according to claim 3, wherein corrected position data of the position data is obtained using a clock pulse.