The present disclosure relates to the technical field of mechanical precision manufacturing, in particular to a motor tracking error reduction method and an implementation device based on a micro-drive unit. A motor tracking error reduction method based on micro-drive unit includes: providing a motor mover as the working output end, and feeding back the position information of the motor mover to the micro-drive controller in real time by the sensor; controlling the micro-drive unit to compensate the displacement of the motor mover by the micro-drive controller; correcting the tracking error of the motor mover after the displacement compensation, and feeding back the tracking error information after correction to the motor controller. The error reduction method and implementation device in the present disclosure reduce the motor tracking error and solve the problem of coupling interference. In addition, the single position feedback is used to reduce the production cost.

A grating measuring module includes a light source, a collimating device, a first grating, a second grating, and an image sensing chip. The first grating is arranged on an optical path of the collimating device and the second grating is arranged on an optical path of the first grating. Each of the two gratings comprises a first pattern and a plurality of second patterns locating at the both sides of the first pattern. The first and second gratings can each be attached to an object which may be displaced in relation to another object, so allowing light of a certain pattern to pass depending on the magnitude of the displacement. The image sensing chip arranged on an optical path from the second grating receives light emitted from the light source and forms an image from which a displacement can be calculated and displayed.

The present disclosure relates to the technical field of mechanical precision manufacturing, in particular to a motor tracking error reduction method and an implementation device based on a micro-drive unit. A motor tracking error reduction method based on micro-drive unit includes: providing a motor mover as the working output end, and feeding back the position information of the motor mover to the micro-drive controller in real time by the sensor; controlling the micro-drive unit to compensate the displacement of the motor mover by the micro-drive controller; correcting the tracking error of the motor mover after the displacement compensation, and feeding back the tracking error information after correction to the motor controller. The error reduction method and implementation device in the present disclosure reduce the motor tracking error and solve the problem of coupling interference. In addition, the single position feedback is used to reduce the production cost.

A control system includes an encoder and a control device that controls a target object by using information transmitted from the encoder by serial communication. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as a series of serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; and a control unit that processes the position information received by the reception unit on the basis of the configuration information received by the reception unit.

A control system includes an encoder and a control device that controls a target object. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; a storage unit that stores the received configuration information; and a notification unit that performs notification of a configuration mismatch when the stored configuration information does not match the next received configuration information.

A grating measuring module includes a light source, a collimating device, a first grating, a second grating, and an image sensing chip. The first grating is arranged on an optical path of the collimating device and the second grating is arranged on an optical path of the first grating. Each of the two gratings comprises a first pattern and a plurality of second patterns locating at the both sides of the first pattern. The first and second gratings can each be attached to an object which may be displaced in relation to another object, so allowing light of a certain pattern to pass depending on the magnitude of the displacement. The image sensing chip arranged on an optical path from the second grating receives light emitted from the light source and forms an image from which a displacement can be calculated and displayed.

A control system includes an encoder and a control device that controls a target object. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; a storage unit that stores the received configuration information; and a notification unit that performs notification of a configuration mismatch when the stored configuration information does not match the next received configuration information.

A control system includes an encoder and a control device that controls a target object by using information transmitted from the encoder by serial communication. The encoder includes a position information generating unit that generates position information made of a predetermined amount of data and including absolute position data of an object to be detected; a configuration information generating unit that generates configuration information representing a ratio of the absolute position data in the amount of data during serial communication; and a transmission unit that transmits, to the control device, the position information and the configuration information as a series of serial data. The control device includes a reception unit that receives the position information and the configuration information transmitted from the encoder; and a control unit that processes the position information received by the reception unit on the basis of the configuration information received by the reception unit.

A grid plate encoder based positioning system (1) for positioning of an element is provided, the positioning system (1) comprises a grid plate (2) with a grid plate surface (21); an encoder unit (3) with one or more optical sensors (31) for sensing a grid plate surface pattern (23) of the grid plate surface (21); an input (7) to receive coordinates (Xd, Yd) specifying a desired position of the element; a mapping unit (8) to compute compensated coordinate data (Xa, Ya) corresponding to estimated position data expected from the encoder unit (3) when the element is positioned at a desired position (Xd, Yd) specified by the setpoint coordinates; a feedback control unit (9) providing the compensated coordinate data (Xa, Ya) as a setpoint (Xs, Ys) to a positioning unit (12), with feedback control based on the estimated position data obtained from the encoder unit.

Additionally, a grid plate encoder based positioning method and a method for computing compensation data are provided.

The preferred embodiments relate to the field of measuring technology, and can be used to determine in-motion delta robot arm deformation. The method includes the use of a linear encoder, which is mounted on one side of the delta robot arm, and the shaft is attached to the other side of the arm, and the turning shaft is arranged with freedom of movement inside the linear encoder, and the delta robot arm deformation is determined during its motion by displacement of the said shaft inside the encoder relative to its initial position. The use of the invention enables to simplify the process of determining deformations.