BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings are included to provide a further understanding of the present invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the present invention together with the description and serve to explain the principles of the invention. In the drawings,
FIG. 1 is a schematic diagram showing how a system to locate a servo motor controller in accordance with a preferred embodiment of the present invention; and
FIG. 2 is a flow-chart illustrating a method of locating a servo motor controller in accordance with a preferred embodiment of the present invention.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
FIG. 1 is a schematic diagram showing how a system to locate a servo motor controller in accordance with a preferred embodiment of the present invention; FIG. 2 is a flow-chart illustrating a method of locating a servo motor controller in accordance with a preferred embodiment of the present invention.
A driving system of a servo motor controller 1 comprises an input unit 11 and a control unit 12, wherein the driving system 1 controls a motor 2 rotating to a predetermined position.
The locating method for a servo motor controller of the present invention, comprises the following steps:
- (1) dividing a last digit of a gear ratio by 2 to obtain a quotient or a sum, and applying an round-to-even method to round the final sum to its 1st place (units place) without decimal digit, either increasing it by 1 when the next digit is 5 or more, or leave it the same if the next digit is 4 or less, wherein the final sum is then used as a critical value and the gear ratio is produced by a feedback signal;
- (2) inputting a commend pulse value, wherein the pulse value is produced by the input unit 11, and the input unit 11 can be a host controller, an internal memory or a signal processor;
- (3) multiplying the commend pulse value by a first digit of the gear ratio, and dividing the obtained quantity by the last digit of the gear ratio to produce a quotient and a remainder, wherein both the quotient and the remainder are produced in the control unit 12, the remainder is added to a remainder of a remainder temporary storage device, in which both remainders are then stored in the remainder temporary storage device, the calculation of the quotient and the remainder in the control unit 12 can be processed via the hardware processor of a complex programmable logic device (CPLD), or a field programmable gate array (FPGA) or a application specific integrated circuit (ASIC), and a software processor;
- (4) determining whether the sum of the remainder temporary storage device is greater than or equal to the critical value, if it is no, the system will proceed to step (6), otherwise the system will proceed to the following step;
- (5) adding the quotient by 1 and subtracting the sum of the remainder temporary storage device by the last digit of gear ratio in such that the final result is stored within the remainder temporary storage device;
- (6) adding the quotient by a quotient of a quotient temporary storage device, and saving the sum in the quotient temporary storage device; and
- (7) rotating the motor 2 to a calculated position according to the quotient sum of the quotient temporary storage device, and then proceed to step (2).
A preferred example is used to demonstrate how the present invention can calculate and locate the position of a servo motor controller. Assuming a gear ratio is 1:3, and the inputted commend pulse value is 1000,
- (1) dividing a last digit of a gear ratio by 2 to obtain a quotient or a sum, 3/2=1.5, and applying an round-to-even method to round the final quotient/sum to its 1st place, 1+1=2, therefore the critical value is 2;
- (2) inputting the commend pulse value 1000;
- (3) multiplying 1000 by 1=1000, and dividing the sum by last digit gear ratio 3, 1000/3=333 (quotient) . . . 1 (remainder), wherein the remainder 1 is added by a remainder of a remainder temporary storage device, 1+0=1, the sum 1 is then stored in the remainder temporary storage device;
- (4) determining whether the sum of the remainder temporary storage device is greater than or equal to the critical value, 1<2, the system proceeds to step (6);
- (6) adding the quotient 333 by a quotient of a quotient temporary storage device, 0, i.e. 333+0=333, the sum 333 is stored in the quotient temporary storage device;
- (7) rotating the motor 2 to a calculated position in accordance with the quotient sum 333, and the system will then proceed to the step (2);
- (2) inputting the commend pulse value 1000;
- (3) multiplying 1000 by 1=1000, and dividing the sum by last digit gear ratio 3, 1000/3=333 (quotient) . . . 1 (remainder), wherein the remainder, 1, is added by the remainder of the remainder temporary storage device, 1, 1+1=2, the sum 2 is stored in the remainder temporary storage device;
- (4) determining whether the sum of the remainder temporary storage device is greater than or equal to the critical value, 2=2, the system proceeds to step (5);
- (5) adding the quotient 333 by 1, 333+1=334, and subtracting the sum of the remainder temporary storage device by the last digit of gear ratio, 2-3-1, the sum −1 is stored in the remainder temporary storage device;
- (6) adding the quotient 334 by a quotient of a quotient temporary storage device 333, i.e. 334+333=667, the sum 667 is stored in the quotient temporary storage device;
- (7) rotating the motor 2 to a calculated position in accordance with the quotient sum 667, and the system will proceed to the step (2);
- (2) inputting the commend pulse value 1000;
- (3) multiplying 1000 by 1=1000, and dividing the sum by last digit gear ratio 3, 1000/3=333 (quotient) . . . 1 (remainder), wherein the remainder 1 is added by the remainder of the remainder temporary storage device, 1+(−1)=0, the sum 0 is then stored in the remainder temporary storage device;
- (4) determining whether the sum of the remainder temporary storage device is greater than or equal to the critical value, 0<2, the system proceeds to step (6);
- (6) adding the quotient 333 by the quotient of the quotient temporary storage device, 667, i.e. 333+667=1000, the sum 1000 is stored in the quotient temporary storage device; and
- (7) rotating the motor 2 to a calculated position in accordance with the quotient sum 1000, and the system will then proceed to the step (2);
Other embodiments of the invention will appear to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples to be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
Patent Application
20070244955
