US 12,093,063 B2
Control system for monitoring control state of target device
Ryuichi Jimbo, Kusatsu (JP); Takao Uemura, Kusatsu (JP); Masakazu Matsugami, Ritto (JP); Takaya Kitano, Kyoto (JP); and Fumiaki Sato, Kyoto (JP)
Assigned to OMRON CORPORATION, Kyoto (JP)
Appl. No. 17/286,852
Filed by OMRON Corporation, Kyoto (JP)
PCT Filed Nov. 7, 2019, PCT No. PCT/JP2019/043728
§ 371(c)(1), (2) Date Apr. 20, 2021,
PCT Pub. No. WO2020/110653, PCT Pub. Date Jun. 4, 2020.
Claims priority of application No. 2018-222846 (JP), filed on Nov. 28, 2018.
Prior Publication US 2021/0382504 A1, Dec. 9, 2021
Int. Cl. G05D 3/12 (2006.01)
CPC G05D 3/12 (2013.01) 9 Claims
OG exemplary drawing
 
1. A control system for monitoring a control state of a target device to receive drive control performed by a motor, the system comprising:
one or more processors configured to implement (i) a determination unit configured to calculate a position of the target device based on a signal from an encoder for the motor and determine whether the position of the target device is within a predetermined monitoring range, and (ii) a setting unit configured to set an origin for the predetermined monitoring range;
an interrupter configured to interrupt transmission of a drive signal to a driver, the drive signal being transmitted to supply a drive current from the driver to the motor;
a safety controller configured to interrupt the drive signal with the interrupter in response to the determination unit determining that the position of the target device deviates from the predetermined monitoring range; and
at least one sensor configured to detect the target device driven by the motor reaching a predetermined position in a movable range of the target device,
wherein the setting unit includes:
an obtainer configured to obtain, under predetermined drive control over the target device performed by the motor, a leading edge occurring in a detection signal in response to the target device moving toward the predetermined position and a trailing edge occurring in the detection signal in response to the target device moving away from the predetermined position, the detection signal being output from the at least one sensor in response to the target device reaching the predetermined position, and
a calculator configured to calculate the origin using first position information and second position information, the first position information is associated with the position of the target device and calculated based on the leading edge and the trailing edge included in the detection signal, and the second position information is associated with the position of the target device and is different from the first position information, and
wherein
the at least one sensor includes a first sensor configured to detect the target device reaching a first predetermined position being the predetermined position, and a second sensor configured to detect the target device reaching a second predetermined position,
the obtainer obtains a leading edge and a trailing edge in a detection signal from the first sensor and a leading edge and a trailing edge in a detection signal from the second sensor, and
the calculator calculates, in accordance with motion of the target device under the predetermined drive control, the first position information based on the leading edge and the trailing edge included in the detection signal from the first sensor and the second position information based on the leading edge and the trailing edge included in the detection signal from the second sensor, and further calculates, as the origin, a predetermined candidate position between a position indicated by the first position information and a position indicated by the second position information in accordance with the motion of the target device under the predetermined drive control.