JP3009620B2 - Home position return method for multi-pole detection resolver and home position return device for multi-pole detection resolver - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of returning to the origin in a multi-pole detection resolver provided in a motor or the like, and to a device for returning to the origin of the multi-pole detection resolver.

[0002]

2. Description of the Related Art Conventionally, a direct drive motor having a built-in resolver is not provided with a one-rotation detection resolver for detecting an absolute rotation angle in one rotation of an output shaft of the motor in order to provide an inexpensive motor. Some have only a multi-pole detection resolver that detects the absolute rotation angle with high accuracy. Therefore, since this motor cannot obtain the absolute rotation angle in one rotation of the output shaft, the motor returns to the home position each time the power is turned on, and the multi-pole detection resolver generated corresponding to the rotation angle with respect to the home position. The absolute rotation angle in one rotation is obtained based on the periodic rotation angle data.

[0003] Return to origin is performed by detecting a detection plate that rotates together with the output shaft by a proximity sensor fixed to the motor. That is, when the power of the motor is turned on, the output shaft is rotated, and as shown in FIG. 11 , the detection pole T10 of the multi-pole detection resolver becomes the rotation angle data at the rotation angle θ10 when the detection signal S from the proximity sensor is input. When outputting D10, this detection pole T10 is set as the first detection pole, that is, a reference pole for setting the origin position, and the rotation angle θ0 at which the rotation angle data D at this reference pole becomes 0 is set as the origin position.

After the return to the origin, the detection pole to which the rotation angle data D is output is based on the periodic change of the rotation angle data D of the multi-pole detection resolver which is output according to the rotation of the output shaft. Is determined from the reference pole, and the detection pole at the current position is specified. Then, based on the specified detection pole and the rotation angle data D at the current position, the absolute rotation angle of the output shaft at one rotation at the current position is calculated.

That is, this origin return method is based on the premise that the detection poles of the multi-pole detection resolver at the rotation angle at which the detection signal S is input each time the origin return is performed are the same detection pole T10.

[0006]

However, when the motor is controlled by the sequencer, the rotation angle at which the detection signal S is inputted is determined as shown in FIG. 12 due to factors such as the scan time of the sequencer and the rotation speed of the output shaft . θ10 varies within a certain rotation angle range. As a result, the rotation angle data D10 of the multi-pole detection resolver when the detection signal S is input fluctuates.

Therefore, as shown in FIG.
Is input to the two detection poles T10,
When the rotation angle range spans T11, the origin position set by the rotation angle θ10 when the detection signal S is input is different. That is, when the detection signal S is input within the rotation angle range of the detection pole T10, the rotation angle θ2 at which the rotation angle data D at the detection pole T10 becomes 0 is set to the origin position.
When the detection signal S is input within the rotation angle range of the detection pole T11, the rotation angle θ3 at which the rotation angle data D at the detection pole T11 becomes 0 is set as the origin position. Therefore, since the origin return to the same origin position cannot be performed reliably, there arises a problem that a mechanical device driven by this motor does not operate properly.

[0008] In order to prevent such a situation, in the above homing method, the rotation angle range when the detection signal S is input, as shown in FIG. 12, the rotation angle range of the particular detection electrode T 10 The positional relationship between the proximity sensor and the detection plate is adjusted in advance so as to be approximately at the center. With this setting, the detection signal S is input within the rotation angle range in which the rotation angle data D10 from the same detection pole T10 is input each time the home position return is performed. Therefore, the rotation angle θ0 at which the rotation angle data D of the detection pole T10 becomes 0 is always set as the origin position. That is, in this origin return method, it is assumed that the rotation angle range in which the detection signal S is input is a range sufficiently smaller than the rotation angle range Δθ corresponding to the rotation angle data D of one detection pole T10. Have been.

However, in this method of returning to the origin, if the positional relationship between the detection plate and the proximity sensor is not properly adjusted, as described above, the origin cannot be returned to the same origin position. In addition, it is necessary to periodically check the adjustment so that the positional relationship between the two is correctly set.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to adjust the positional relationship between a detected part and a detected part detection sensor for performing origin return. Another object of the present invention is to provide an origin return method for a multi-pole detection resolver and an origin return device for a multi-pole detection resolver that can surely perform an origin return.

[0011]

In order to solve the above-mentioned problems, the invention according to claim 1 rotates with a rotating shaft provided with a multi-pole detection resolver, and the rotating shaft rotates at a preset rotation angle. A reference electrode that is provided with a detection target that is detected by the detection unit when the detection position is reached, and that sets the origin position based on the detection pole of the multipolar detection resolver at the rotation angle when the detection unit is detected by the detection unit. In the multi-pole detection resolver in which the rotation angle data at the reference pole is the reference rotation angle data set in advance and the rotation angle becomes the origin position, in the multi-pole detection resolver, before performing the home position return, the detection means in advance The detected part is detected at that time, and the reference pole is determined based on a first detected pole of a multi-pole detection resolver that outputs first rotation angle data at a first rotation angle at which the detected part is detected. Decide and origin At the time of return, the magnitude of the data difference obtained by subtracting the first rotation angle data from the second rotation angle data output by the multi-pole detection resolver at the second rotation angle at which the detected portion is detected again is large. When not more than the median which is half of the maximum data value of each detection pole of the pole detection resolver, set the reference pole based on the second detection pole of the multi-pole detection resolver at the second rotation angle, When the data difference is a positive value and the magnitude exceeds the median, the reference pole is set based on a detection pole one behind the second detection pole, and the data difference is negative. When the magnitude exceeds the median value, the reference pole is set based on the detection pole one before the second detection pole.

According to a second aspect of the present invention, a detected portion which rotates together with a rotation shaft provided with a multi-pole detection resolver, and the detected portion is detected at a preset rotation angle to output a detection signal. Detecting means, and setting a reference pole for setting the origin position based on the detection pole of the multi-pole detection resolver at the rotation angle when the detected part is detected by the detection means, and the rotation angle data at this reference pole In the multi-pole detection resolver home position return device having a rotation angle serving as a reference rotation angle data set in advance as a home position, a first rotation angle at which a detection target is detected by a detection unit before performing home position return And a reference pole determining means for determining a reference pole for setting an origin position based on the first detection pole of the multi-pole detection resolver for outputting the first rotation angle data. A data difference obtained by subtracting the first rotation angle data from the second rotation angle data output by the multi-pole detection resolver at the second rotation angle is calculated, and the magnitude of the data difference is determined by each of the multi-pole detection resolvers. When the difference is equal to or less than the median value which is half of the maximum data value of the detection pole, the reference pole is set based on the second detection pole of the multi-pole detection resolver at the second rotation angle, and the data difference is positive. If the magnitude exceeds the median, the second
The reference pole is set based on the detection pole one behind the detection pole, and when the data difference is a negative value and the size exceeds the median value, one of the second detection poles is set. And a reference pole setting means for setting the reference pole on the basis of the detection pole immediately before.

[0013] According to a third aspect of the present invention, a detected part which rotates together with a rotating shaft provided with a multi-pole detection resolver and is detected by a detecting means when the rotating shaft has reached a preset rotation angle. Provided, the detection pole of the multi-pole detection resolver at the rotation angle when the detected portion is detected by the detection means as a reference pole to provide the origin position, the rotation angle data at the reference pole and the current position data In the multi-pole detection resolver with the rotation angle at which the rotation angle data at the reference pole becomes 0 as the origin position, the detection unit detects the detected portion in advance by the detection unit before performing the origin return. At this time, the detection pole of the multi-pole detection resolver that outputs the first rotation angle data at the first rotation angle at which the detected portion is detected is set as the reference pole, and the data of each detection pole of the multi-pole detection resolver is used. The multi-pole detection resolver calculates a shift value obtained by subtracting the first rotation angle data from the median value which is half of the multi-pole detection resolver at the second rotation angle at which the part to be detected is newly detected when returning to the origin. First shift rotation angle data obtained by adding the shift value to the second rotation angle data to be output is calculated. When the first shift rotation angle data is larger than the maximum data value, the first shift rotation angle data is calculated. This is a value obtained by subtracting the number of data from the shift rotation angle data.
When the shift rotation angle data is smaller than 0, it is a value obtained by adding the first shift rotation angle data to the number of data. When the first shift rotation angle data is smaller than the maximum data value, , Second shift rotation angle data serving as first shift rotation angle data is calculated, and a value obtained by subtracting the shift value from the second rotation angle data is used as current position data.

According to a fourth aspect of the present invention, there is provided a detection section which rotates together with a rotation shaft provided with a multi-pole detection resolver, and detection means for detecting the detection section at a preset rotation angle. By setting the detection pole of the multi-pole detection resolver at the rotation angle when the detected portion is detected by the detection means as a reference pole for providing a determined position, and using the rotation angle data at the reference pole as current position data, In the home position return device of the multi-pole detection resolver having the rotation angle at which the rotation angle data at the reference pole becomes 0 as the origin position, before the origin return is performed, the first rotation in which the detection target is detected by the detection means is performed. A reference pole determining means for setting the first detection pole of the multi-pole detection resolver that outputs the first rotation angle data at the angle as a reference pole for setting the origin position, and a half of the number of data of each detection pole of the multi-pole detection resolver A shift value calculating means for calculating a shift value obtained by subtracting the first rotation angle data from the median value, and the multi-pole at a second rotation angle at which a portion to be detected is newly detected at the time of origin return. First shift rotation angle data calculating means for calculating first shift rotation angle data obtained by adding the shift value to second rotation angle data output by the detection resolver; When the value is larger than the maximum data value, it is a value obtained by subtracting the number of data from the first shift rotation angle data. When the first shift rotation angle data is smaller than 0, the first data is the first data. This is the value obtained by adding the shift rotation angle data,
When the first shift rotation angle data is smaller than the maximum data value, the second shift rotation angle data becomes the second shift rotation angle data.
A second shift rotation angle data calculating means for calculating the shift rotation angle data, and a current position data calculating means for setting a value obtained by subtracting the shift value from the second rotation angle data as a current position data.

Therefore, according to the first aspect of the present invention,
Before returning to the home position, the home position is set based on the first detection pole of the multipolar detection resolver that outputs the first rotation angle data at the first rotation angle when the detected portion is detected in advance. A reference pole is determined. The rotation angle at which the rotation angle data at the reference pole becomes the preset rotation angle data is set as the origin position. At the time of home position return, the magnitude of the data difference obtained by subtracting the first rotation angle data from the second rotation angle data output by the multi-pole detection resolver at the second rotation angle when the detected portion is newly detected is: When it is equal to or less than the median value which is half of the maximum data value of each detection pole, the second detection pole and the first detection pole at the second rotation angle are the same detection pole. Therefore, in this case, by setting the reference pole based on the second detection pole, the same detection pole as the reference pole determined based on the first detection pole at the time of setting the origin is set as the reference pole. You. When the data difference is a positive value and its magnitude exceeds the median, the second detection pole is set to the first detection pole.
Becomes the detection pole immediately before the detection pole. Therefore, in this case, by setting the reference pole based on the next detection pole after the second detection pole, the same detection pole as the reference pole determined based on the first detection pole is used as the reference pole. Set as pole.
When the data difference is a negative value and its magnitude exceeds the median value, the second detection pole is the next detection pole after the first detection pole. Therefore, in this case, by setting the reference pole based on the detection pole immediately before the second detection pole, the same detection pole as the reference pole set based on the first detection pole is used as the reference pole. Set as pole. As a result, when the variation range of the rotation angle data corresponding to the rotation angle range when the detection signal is input is equal to or smaller than the median, the rotation angle range is the rotation angle range of the adjacent detection pole. , A preset reference pole is set at the time of origin return.

According to the second aspect of the present invention, before performing the return to origin, the reference pole determination means sets the first rotation angle at the first rotation angle when the detection target is detected by the detection means in advance.
The reference pole for setting the origin position is determined based on the first detection pole of the multi-pole detection resolver that outputs the rotation angle data of. The rotation angle at which the rotation angle data at the reference pole becomes the preset rotation angle data is set as the origin position. At the time of home return, the reference pole setting means subtracts the reference rotation angle data from the second rotation angle data output by the multi-pole detection resolver at the second rotation angle when the detected portion is detected again. Is required. When the magnitude of this data difference is equal to or less than the median value which is half the maximum value of the rotation angle data of each detection pole, the second detection pole and the first detection pole at the second rotation angle are the same. Detection pole. Therefore, in this case, since the reference pole setting means sets the reference pole based on the second detection pole, the same detection pole as the reference pole determined based on the first detection pole when setting the origin is set. It is set as a reference pole. When the data difference is a positive value and its magnitude exceeds the median value, the second detection pole becomes the detection pole immediately before the first detection pole. Therefore, in this case,
Since the reference pole setting means sets the reference pole based on the detection pole immediately after the second detection pole, the same detection pole as the reference pole determined based on the first detection pole is used as the reference pole. Is set. When the data difference is a negative value and its magnitude exceeds the median, the second detection pole is one of the first detection poles.
The next detection pole. Therefore, in this case, since the reference pole setting means sets the reference pole based on the detection pole immediately before the second detection pole, it is the same as the reference pole set based on the first detection pole. Are set as reference electrodes. As a result, when the data range corresponding to the rotation angle range when the detection signal is input is equal to or smaller than the median, even if the rotation angle range spans the rotation angle range of the adjacent detection pole,
At the time of home return, a predetermined reference pole is set.

According to the third aspect of the present invention, the first detection pole for outputting the first rotation angle data at the first rotation angle at which the detected portion is detected before the home position return is performed. The reference position is set as a reference pole, and the rotation angle at which the rotation angle data at this reference pole becomes 0 is determined as the reference position. At this time, a shift value is calculated by subtracting the first rotation angle data from a median value that is a half value of the number of data of each detection pole. During return to origin, the detected part is detected again.
When the shift value is added to the second rotation angle data output by the multi-pole detection resolver at the rotation angle of, the rotation angle at which the detected part is detected in the rotation angle range of the detection pole adjacent to the reference pole Data value is greater than or equal to the maximum data value, or
It is converted to first shift rotation angle data having a data value of 0 or less. When the first shift rotation angle data is larger than the maximum data value, the second shift rotation angle data is a value obtained by subtracting the number of data from the first shift rotation angle data. When it is smaller than 0, the value becomes the value obtained by adding the first shift rotation angle data to the number of data. When the first shift rotation angle data has a size between 0 and the maximum data value, it becomes the first data. Is the shift rotation angle data. As a result, in the second shift rotation angle data, the rotation angle data at the reference pole and the rotation angle data at the detection pole adjacent to the reference pole are continuous. The current position data obtained by subtracting the shift value from the second shift rotation angle data corresponds to the absolute rotation angle with the rotation angle at which the rotation angle data of the reference pole becomes 0 as the origin position.

According to the fourth aspect of the present invention, the reference pole determination means outputs the first rotation angle data at the first rotation angle at which the detected portion is detected before performing the origin return. The first detection pole to be used is a reference pole for setting the origin position, and the rotation angle at which the rotation angle data at this reference pole becomes 0 is determined as the origin position. At this time, the shift value calculation means
From the median value, which is half the number of data for each detection pole,
The shift value obtained by subtracting the rotation angle data is calculated. At the time of origin return, the first shift rotation angle data calculation means adds the shift value to the second rotation angle data output by the multi-pole detection resolver at the second rotation angle at which the detected portion is detected again. And a first shift rotation in which the rotation angle data when the detected part is detected in the rotation angle range of the detection pole adjacent to the reference pole is a data value equal to or greater than the maximum data value or a data value equal to or less than 0. Converted to angle data. Second
When the first shift rotation angle data is larger than the maximum data value, the second shift rotation angle data calculated by the second shift rotation angle data calculation means is obtained by subtracting the number of data from the first shift rotation angle data. When the first shift rotation angle data is smaller than 0, the first shift rotation angle data is a value obtained by adding the first shift rotation angle data to the number of data. When the value is within the range, the first shift rotation angle data is obtained. as a result,
In the second shift rotation angle data, the rotation angle data at the reference pole and the rotation angle data at the detection pole adjacent to the reference pole are continuous. Then, the current position data calculating means calculates the current position data obtained by subtracting the shift value from the second rotation angle data. This current position data corresponds to an absolute rotation angle having a rotation angle at which the rotation angle data of the reference pole becomes 0 as an origin position.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment] A first embodiment in which the present invention is embodied in an origin return device of a multi-pole detection resolver incorporated in a direct drive motor will be described below with reference to FIGS.

As shown in FIG. 1, a direct drive motor (hereinafter simply referred to as a motor) 1 whose absolute rotation angle is controlled has a rotation for detecting the absolute rotation angle in one rotation of an output shaft 2 of the motor 1. The angle detection unit 3 is connected. The motor 1 includes a motor body 4 and a multi-pole detection resolver 5. On the other hand, the rotation angle detection unit 3
Is an oscillator 6, a resolver / digital converter (hereinafter, referred to as
RD converter 7) and a microcomputer unit 8.

As shown in FIG. 2, an arm 9 for operating a work (not shown) is connected to the output shaft 2 of the motor 1, and a detection plate 10 serving as a detected part that rotates together with the output shaft 2 is connected to the arm 9. Is fixed. Above the plane on which the detection plate 10 rotates, a proximity sensor 11 is provided as detection means for detecting the detection plate 10 when the detection plate 10 is arranged at a preset rotation angle. When the proximity sensor 11 detects the detection plate 10, it outputs a detection signal S to the microcomputer unit 8.

The oscillator 6 outputs a reference signal VS consisting of a sine wave signal for detecting the absolute rotation angle to the multi-pole detection resolver 5 of the motor 1. The multi-pole detection resolver 5 converts a pair of rotation angle detection signals V1 and V2 having a phase shift of 90 ° from one another corresponding to a rotation angle range obtained by dividing 360 ° by the number of detection poles from the reference signal VS. Generate and resolver /
Output to a digital converter (hereinafter abbreviated as RD converter) 7.

The RD converter 7 calculates a pair of rotation angle detection signals V 1 and V 2 whose phases of one cycle are shifted from each other by 90 °.
For example, digital rotation angle data D of 12 bits is generated and output to the microcomputer unit 8. That is, the RD converter 7
Is the maximum data value DR from 0 to 4095 (in the case of 12 bits) from a pair of rotation angle detection signals V1 and V2 in one cycle.
Is converted into rotation angle data D composed of a digital signal which changes up to. Accordingly, the RD converter 7 periodically generates the rotation angle data D that changes from 0 to 4095 by the total number of the detection poles, corresponding to one rotation of the output shaft 2.

The microcomputer section 8 as a reference pole determining means and a reference pole setting means has a non-volatile memory (not shown). The microcomputer unit 8 has an origin setting mode and an origin return /
A rotation angle detection mode is provided. The origin setting mode is a mode for setting the origin position before the motor 1 is operated. The home position return / rotation angle detection mode is a method for obtaining the absolute rotation angle of the output shaft 2 based on the home position after the home position is returned when the power is turned on each time the motor 1 is operated after the home position is set. Mode.

The microcomputer section 8 executes an origin setting process in the origin setting mode. That is, the microcomputer unit 8
As the origin setting processing, when the detection signal S is input at the first rotation angle θ1, the first rotation angle data D1 of the multi-pole detection resolver 5 output at the first rotation angle θ1 is stored in the nonvolatile memory. . As a result, the microcomputer unit 8
Sets the first detection pole T1 from which the first rotation angle data .theta.1 is output as a reference pole for setting the origin position, and sets the rotation angle .theta.0 at which the rotation angle data at this reference pole becomes zero as the origin position.

In the home position return / rotation angle detection mode, the microcomputer unit 8 executes a home position return process and a rotation angle detection process. That is, when the detection signal S is input again at the second rotation angle θ2 as the origin return processing, the microcomputer unit 8 receives the multi-pole detection resolver 5 at the second rotation angle θ2.
Is obtained by subtracting the first rotation angle data D1 from the second rotation angle data D2 output by the controller. Then, the microcomputer unit 8 calculates the absolute value of the data difference ΔD as the data number DN of the rotation angle data D (409 in the case of 12 bits).
6) is compared with DC (hereinafter referred to as the median, which is 2048 in the case of 12 bits).

As shown in FIG. 3, when the magnitude of the data difference ΔD is equal to or smaller than the median value DC, the microcomputer unit 8 returns the second rotation angle data D2 to the output shaft 2 as shown in FIG. It is stored as current position data which is absolute rotation angle data in rotation. As a result, the microcomputer unit 8
Sets the second detection pole T2 of the multi-pole detection resolver 5 at the second rotation angle .theta.2 as a reference pole, and sets the rotation angle .theta.0 at which the rotation angle data D at this reference pole becomes 0 as the origin position.

As shown in FIG. 4, the microcomputer section 8 executes the second rotation angle when the data difference ΔD is a positive value and its magnitude exceeds the median value DC as shown in FIG. The value obtained by subtracting the data number DN from the data D2 is stored as the current position data. As a result, the microcomputer unit 8
Sets the detection pole T1 immediately behind the second detection pole T2 as a reference pole, and the rotation angle data D at this reference pole is 0.
Is the origin position.

Further, as shown in FIG. 5, the microcomputer unit 8 performs the second rotation angle when the data difference ΔD is a negative value and the magnitude exceeds the median value DC, as shown in FIG. The value obtained by adding the data value DN to the data D2 is stored as the current position data. As a result, the microcomputer unit 8 determines the detection pole T1 immediately before the second detection pole T2 as the reference pole, and sets the rotation angle data D at this reference pole to 0.
Is the origin position.

Next, the microcomputer section 8 performs a new rotation angle detection process based on the periodically changing rotation angle data from the multi-pole detection resolver 5 and the current position data stored in the home position return process. The position of the detection pole from the reference pole at the current position is determined. And the microcomputer unit 8
Generates absolute rotation angle data at the current position based on the position of the detection pole from the reference pole and the rotation angle data at the detection pole.

Next, the operation of the origin return device of the multi-pole detection resolver configured as described above will be described with reference to the flowcharts of FIGS. First, in order to set the origin position, the microcomputer unit 8 is caused to execute an origin setting process. FIG.
Shows a flowchart of the origin setting process. In the origin setting process, the microcomputer unit 8 firstly performs step 1
At 0 (hereinafter abbreviated as S10), it is determined whether or not the output shaft 2 of the motor is rotated to set the origin and the detection signal S is input. When the detection signal S is input, the microcomputer unit 8 reads and temporarily stores the first rotation angle data D1 of the multi-pole detection resolver 5 at the first rotation angle θ1 to which the detection signal S is input in S11. as a result,
The first detection pole T1 of the multi-pole detection resolver 5 at the first rotation angle θ1 when the detection signal S is input is set as a reference pole at which the origin position is set. The rotation angle θ0 that becomes 0 is determined as the origin position.

In order to return to the origin after setting the origin,
The microcomputer 8 causes the microcomputer 8 to execute the origin return processing. FIG. 7 shows a flowchart of the origin return processing. In the home position return process, the microcomputer unit 8 first determines in S20 whether the output shaft 2 of the motor is rotated for the home position return and the detection signal S is input. When the detection signal S is input, the microcomputer unit 8 reads and temporarily stores the second rotation angle data D2 of the multi-pole detection resolver 5 at the second rotation angle θ2 to which the detection signal S was input in S21.

Next, in S22, the microcomputer unit 8 calculates a data difference ΔD obtained by subtracting the first rotation angle data D1 from the second rotation angle data D2. The microcomputer unit 8 is configured in S23
The absolute value of the data difference ΔD obtained in S22 is the median value DC.
It is determined whether or not: When the absolute value of the data difference ΔD is equal to or smaller than the median value DC, the microcomputer unit 8 performs the first
It is assumed that the first detection pole θ1 from which the rotation angle data D1 has been output, that is, the reference pole, and the second detection pole θ2 from which the second rotation angle data D2 has been output coincide with each other. Is stored as the current position data. As a result, the current position data is set as absolute rotation angle data from the origin position.

If the absolute value of the data difference ΔD is larger than the median value DC in S23,
In S25, it is determined whether the data difference ΔD is a positive value. When the data difference ΔD is a positive value, the microcomputer unit 8 determines that the second detection pole T2 from which the second rotation angle data D2 has been output is the first detection pole T1 immediately before the reference pole. In step S26, a value obtained by subtracting the data number DN from the second rotation angle data D2 is stored as the current position data.
As a result, the current position data is set as absolute rotation angle data from the origin position.

When the data difference ΔD is a negative value in S25, the microcomputer section 8 determines that the second detection pole, from which the second rotation angle data has been output, is located immediately behind the reference pole. Assuming that it is the first detection pole T1, in S27, a value obtained by adding the number of data DN to the second rotation angle data D2 is stored as the current position data. As a result, the current position data is set as absolute rotation angle data from the origin position.

Therefore, the second detection pole T2 of the multi-pole detection resolver 5 at the second rotation angle θ2 at which the detection signal S is input at the time of home return is set to the reference pole (ie, the first pole) set at the time of home setting. , The return to the origin position at the reference pole is performed.

When the origin return is completed, the microcomputer unit 8
Execute rotation angle detection processing. In the rotation angle detection process, the microcomputer unit 8 detects the detection pole corresponding to the change of the rotation angle θ based on the periodic change of the rotation angle data D output from the multi-pole detection resolver 5 with the rotation of the output shaft 2. Judge the move. The microcomputer unit 8 determines the position of the detection pole from the reference pole at the current position based on the current position data stored in the origin return processing and the number of movements of the detection pole. Then, the microcomputer unit 8 generates absolute rotation angle data of the current position based on the determined detection pole and the rotation angle data D of the multi-pole detection resolver 5 at the current position.

As described in detail above, according to the method of returning to the origin in the multi-pole detection resolver of the present embodiment and the device for returning to the origin of the multi-pole detection resolver, the following effects (a) and (b) can be obtained. it can.

(A) The detection plate 1 is detected by the proximity sensor 11 in advance.
0 is detected, and at that time, the first rotation angle data D1 of the multi-pole detection resolver 5 is stored at the first rotation angle θ1 to which the detection signal S is input. Thus, the first detection pole T1 is determined as a reference pole for setting the origin position.
At the time of home return, the magnitude of the data difference ΔD between the second rotation angle data D2 and the first rotation angle data D1 when the detection signal S is input again is half of the maximum data value DR of each detection pole. When it is equal to or smaller than the median value DC, the second detection pole T2 from which the second rotation angle data D2 is output is the same as the first detection pole T1. Therefore, by setting the second detection pole as the reference pole, the same detection pole as the reference pole determined based on the first detection pole T1 at the time of setting the origin is set as the reference pole.

Similarly, when the data difference ΔD is a positive value and its magnitude exceeds the median value DC, the second detection pole T2 becomes the detection pole immediately before the reference pole. Therefore, by setting the detection pole immediately after the second detection pole T2 as the reference pole, the same detection pole as the reference pole determined at the time of setting the origin is set as the reference pole.

Further, similarly, when the data difference ΔD is a negative value and its magnitude exceeds the median value DC, the second detection pole T2 is the detection pole immediately after the reference pole. Therefore, by setting the detection pole immediately before the second detection pole T2 as a reference pole, the same detection pole as the reference pole determined at the time of setting the origin is set as the reference pole. As a result,
Even when the rotation angle range when the detection signal S is input extends over each rotation angle range of the adjacent detection poles, the reference pole set at the time of origin setting is set when returning to the origin.
Therefore, regardless of the relationship between the rotation angle range where the detection signal S is input and the rotation angle range of the rotation angle data D of each detection pole, the return to the preset origin position is performed. Therefore, the detection signal S
The origin return can be reliably performed without adjusting the positional relationship between the detection plate 10 and the proximity sensor 11 so that the rotation angle range in which is input is within the rotation angle range of one detection pole.

(B) Since the multi-pole detection resolver 5, the detection plate 10 and the proximity sensor 11 are provided in the direct drive motor 1 and the origin is returned by the rotation angle detection unit 3, the output shaft of the direct drive motor 1 is provided. 2 can be performed.

[Second Embodiment] Next, a second embodiment of the present invention will be described with reference to FIGS. This embodiment is different from the first embodiment only in the origin setting process executed by the microcomputer unit 8 in the origin setting mode and in the origin return process executed in the origin return / rotation angle detection mode. Are different. Therefore, only the origin setting process and the origin return process will be described in detail, and the same components as those in the first embodiment will be denoted by the same reference numerals and description thereof will be omitted.

Reference pole determining means, shift value calculating means, first
The microcomputer unit 8 as the shift rotation angle data calculation means, the second shift rotation angle data calculation means, and the current position data calculation means performs the first rotation angle θ as the origin setting processing.
When the detection signal S is inputted at step 1, the first rotation angle data D1 of the multi-pole detection resolver 5 output at the first rotation angle θ1 is stored. As a result, the microcomputer unit 8
Sets the first detection pole T1 from which the first rotation angle data .theta.1 is output as a reference pole for setting the origin position, and sets the rotation angle .theta.0 at which the rotation angle data at this reference pole becomes zero as the origin position.

Next, as the origin setting processing, the microcomputer unit 8 calculates a value obtained by subtracting the first rotation angle data D1 from the median value DC, and uses this value as a shift value E (= DC-D1). Store in memory.

In the present embodiment, the variation range of the rotation angle θ to which the detection signal S is input is the rotation angle range corresponding to each detection pole of the multi-pole detection resolver 5, as in the first embodiment. It is assumed that it is less than half of Δθ.
That is, when the detection signal S is input at the first rotation angle θ1 which is within the rotation angle range of the first detection pole T1, the variation range is from the first rotation angle θ1 to the rotation angle range Δθ. The rotation angle range is from the rotation angle θL reduced by half to the rotation angle θU obtained by adding the same rotation range to the rotation angle θ1. Therefore, the rotation angle data D output corresponding to this rotation angle range takes data values from 0 to DR.

As shown in FIG. 8, when the first rotation angle θ1 is smaller than the median value of the rotation angle range Δθ, 0 to D1 of the rotation angle data D from 0 to DR.
The rotation angle data D up to + DC is output at the first detection pole T1, and the rotation angle data D from DR− (DC−D1) (= DR−E) to DR is immediately before the first detection pole T1. At the detection pole T2. That is, the shift value E (> 0) is the first rotation in which the detection signal S is the rotation angle smaller than the median of the rotation angle range Δθ within the rotation angle range of the first detection pole T1 in the origin setting processing. When the angle θ1 is input, the detection signal S is set to the first position within the variation range of the input rotation angle θ.
Is the rotation angle data D corresponding to the rotation angle range within the rotation angle range Δθ of the detection pole T2 immediately before the detection pole T1 (that is, the reference pole).

In the above case, when the microcomputer section 8 inputs the detection signal S again at the second rotation angle θ2 within the range of θL to θU as the origin return processing, the microcomputer section 8 performs the second rotation angle θ2. A value obtained by adding the shift value E to the second rotation angle data θ2 output from the multi-pole detection resolver 5 is obtained, and this value is temporarily stored as first shift rotation angle data DS1. That is, the microcomputer unit 8 converts the second rotation angle data D2 into the first shift rotation angle data DS1 in the range of the shift value E or more by adding the shift value E to the second rotation angle data D2. . Therefore, the rotation angle data D output from the detection pole T2 is the first shift rotation angle data D ranging from the maximum data value DR to (DR + E).
The rotation angle data D converted to S1 and output at the first detection pole T1 is obtained from E by the number of data DN (= D1 + DC + E =
It is converted to first shift rotation angle data DS1 up to 2DC = DN).

Next, the microcomputer section 8 executes the first shift rotation angle data DS1 and the maximum data value DR as the origin return processing.
And the value is temporarily stored as second shift rotation angle data DS2. That is, the microcomputer unit 8 calculates the logical sum of the shift rotation angle data DS1 and the maximum data value DR, thereby converting the first shift rotation angle data value DS1 from the maximum data DR corresponding to the detection pole T2 to DR + E. 0
From the shift value E corresponding to the first detection pole T1 to the number of data DN, and the second shift rotation angle data DS1 corresponding to the first detection pole T1 is converted to the second shift rotation angle data DS2. The shift rotation angle data is set to DS2.

Next, the microcomputer section 8 obtains a value obtained by subtracting the shift value E from the second shift rotation angle data DS2 as the origin return processing, and stores this value as the current position data. That is, the microcomputer unit 8 subtracts the shift value E from the second shift rotation angle data DS2, thereby converting the shift rotation angle data DS1 from 0 to E corresponding to the detection pole T2 to -E.
To the current position data of the first detection pole T
The second shift rotation angle data DS2 from E corresponding to 1 to the number of data DN is converted to current position data from 0 to DN -E (= D1 + DC).

Therefore, when the first rotation angle θ1 is smaller than the median of the rotation angle range Δθ of the reference pole by the origin return processing, the microcomputer section 8 sets the second rotation angle θ2 to the first detection pole. When the rotation angle is within the rotation angle range of T1, the second rotation angle data D2 is stored as the current position data. As a result, the microcomputer unit 8 sets the second detection pole T2 of the multi-pole detection resolver 5 at the second rotation angle θ2 as a reference pole, and sets the rotation angle θ0 at which the rotation angle data D at this reference pole becomes zero. Is the origin position.

When the first rotation angle θ 1 is smaller than the central value of the rotation angle range Δθ of the reference pole, the microcomputer 8
When the second rotation angle θ2 is within the rotation angle range of the detection pole T2 immediately before the first detection pole T1, the second rotation angle data D2 is converted to the absolute rotation angle data for the first rotation angle data D1. Is stored as the current position data. As a result, the microcomputer unit 8 determines that the second detection pole T2
The next detection pole T1 is set as a reference pole, and the rotation angle θ0 at which the rotation angle data D at this reference pole becomes 0 is defined as the origin position.

Similarly, as shown in FIG. 9, when the first rotation angle θ1 is a rotation angle θ larger than the median of the rotation angle range Δθ, the rotation angle data D from 0 to DR D
The rotation angle data D from 1 −DC) (= −E; E <0)) to DR is output at the first detection pole T 1, and from 0 to −E
The rotation angle data D up to the first detection pole T1 is output from the detection pole T2 immediately after the first detection pole T1. That is, the shift value E is input at the first rotation angle θ1 at which the detection signal S is a rotation angle larger than the median of the rotation angle range Δθ within the rotation angle range of the first detection pole T1 in the origin setting processing. Of the rotation angle θ at which the detection signal S is inputted,
Detection pole T1 (that is, the detection pole T2 immediately after the detection pole T1)
Is the range of the rotation angle data D corresponding to the rotation angle range that is within the rotation angle range.

In the above case, when the microcomputer section 8 inputs the detection signal S again at the second rotation angle θ2 within the range of θL to θU as the origin return processing, the microcomputer section 8 executes the second rotation angle θ2. A value obtained by adding the shift value E to the second rotation angle data .theta.2 output from the multipole detection resolver 5 is obtained, and this value is temporarily stored as the first shift rotation angle data DS. That is, the microcomputer unit 8 adds the shift value E to the second rotation angle data D2 to convert the second rotation angle data D2 into the first shift rotation angle data DS1 in the range of (DR-E) or less. Convert. Therefore, the first detection pole T1
Is 0 (= D1 -DC +
The rotation angle data D, which is converted into the first shift rotation angle data DS1 from (E = 0) to (DR + E) and output at the detection pole T2, is the first shift rotation angle data in the range from E to 0. It is converted into angle data DS1.

Next, the microcomputer unit 8 executes the first shift rotation angle data DS1 and the maximum data value DR as the origin return processing.
And the value is temporarily stored as second shift rotation angle data DS2. That is, the microcomputer unit 8 performs a logical OR operation of the shift rotation angle data DS1 and the maximum data value DR, thereby changing from 0 corresponding to the first detection pole T1 to (D
R + E) is used as the second shift rotation angle data DS2 as it is, and the first shift rotation angle data values D from E to 0 corresponding to the detection pole T2 are obtained.
S1 is converted to second shift rotation angle data DS2 from (DR + E) to DR.

Next, as the origin return processing, the microcomputer section 8 obtains a value obtained by subtracting the shift value E from the second shift rotation angle data DS2, and stores this value as the current position data. That is, the microcomputer unit 8 subtracts the shift value E from the second shift rotation angle data DS2 to convert the second rotation angle data DS2 from 0 to (DR + E) corresponding to the first detection pole T1 to E. To DR, and the second rotation angle data DS2 from (DR + E) to DR corresponding to the detection pole T2 is converted to current position data from DR to (DR-E).

Therefore, when the first rotation angle θ1 is larger than the median of the rotation angle range Δθ of the reference pole by the origin return processing, the microcomputer section 8 sets the second rotation angle θ2 to the first detection pole. When the rotation angle is within the rotation angle range of T1, the second rotation angle data D2 is stored as the current position data. As a result, the microcomputer unit 8 sets the second detection pole T2 of the multi-pole detection resolver 5 at the second rotation angle θ2 as a reference pole, and sets the rotation angle θ0 at which the rotation angle data D at this reference pole becomes zero. Is the origin position. Also, the microcomputer unit 8 includes the first
Is larger than the median value of the rotation angle range Δθ of the reference pole, and the second rotation angle θ2 is within the rotation angle range of the detection pole T2 immediately after the first detection pole T1. , And the value obtained by converting the second rotation angle data D2 into the absolute rotation angle data for the first rotation angle data D1 is stored as the current position data. As a result, the microcomputer unit 8 sets the detection pole T1 immediately before the second detection pole T2 as a reference pole, and sets the rotation angle θ0 at which the rotation angle data D at this reference pole becomes 0 as the origin position. .

Next, the operation of the home position return device of the multi-pole detection resolver configured as described above will be described with reference to the flow charts of FIGS. 10 (a) and 10 (b). FIG.
0 (a) shows a flowchart of the origin setting processing. In the origin setting process, the microcomputer unit 8 first sets S
At 30, it is determined whether the detection signal S has been input. When the detection signal S is input, the microcomputer unit 8 reads the first rotation angle data D1 in S31. As a result, the first detection pole T1 at the first rotation angle θ1 is set as a reference pole at which the origin position is provided, and the rotation angle θ0 at which the rotation angle data D at this reference pole becomes 0 is determined as the origin position. You. The microcomputer unit 8 determines the first value from the median value DC in S32.
A shift value E obtained by subtracting the rotation angle data D1 from the above is calculated, and S3
At 3, the shift value E is stored in the nonvolatile memory.

FIG. 10B shows a flowchart of the origin return processing. In the home position return process, the microcomputer unit 8 first determines whether or not the detection signal S has been input in S40. When the detection signal S is input, the microcomputer unit 8 reads the second rotation angle data D2 in S41.

Next, the microcomputer unit 8 calculates first shift rotation angle data DS1 by adding the shift value E to the second rotation angle data D2 in S42. In S43, the microcomputer unit 8 calculates the logical sum of the first shift rotation angle data DS1 and the maximum data value DR to calculate the second shift rotation angle data DS2. Then, the microcomputer section 8 calculates the current position data by subtracting the shift value E from the second shift rotation angle data DS2 in S44.

As a result, the obtained current position data is set as absolute rotation angle data from the origin position. Therefore, at the time of origin return, the second detection pole T2 of the multi-pole detection resolver 5 at the second rotation angle .theta.2 to which the detection signal S is input is set to the reference pole (that is, the first pole) set at the time of origin setting. Even if it differs from the detection pole T1), the reference pole is returned to the origin position θ0.

According to the origin return method and the origin return device in the multi-pole detection resolver of the present embodiment described in detail above,
In addition to the effects (a) and (b) of the first embodiment, the following effect (a) can be obtained.

(A) Unlike the home position return process of the microcomputer unit 8 in the first embodiment, since a conditional branch instruction is not included, the program memory of the microcomputer unit 8 can be reduced and the processing time can be shortened. Can be.

The present invention is not limited to the above embodiments, but may be configured as follows. (1) In the above embodiment, the first detection pole T1 of the multi-pole detection resolver 5 at the first rotation angle θ1 to which the detection signal S was input was set as the reference pole when the origin was set. Any number of detection poles forward from the pole T1 or some number of detection poles backward may be set as the reference pole.

(2) Although the rotation angle θ0 at which the rotation angle data D at the reference pole becomes 0 is set as the origin position, the rotation angle at which the rotation angle data D takes a value other than 0 is set as the origin position. You may do so.

(3) The motor 1 provided with one multi-pole detection resolver 5 was used. However, this was performed for two multi-pole detection resolvers having different numbers of detection poles, for example, an 18-pole detection resolver and a 132-pole detection resolver. May be implemented in a motor provided with In this case, the origin is returned when the absolute rotation angle is detected by the 18-pole resolver, and the detection pole of the 132-pole detection resolver at the current position is specified based on the absolute rotation angle data of the 18-pole resolver. In this configuration, 13
The detection pole of the two-pole detection resolver can be specified with high accuracy, and the absolute rotation angle can be detected with high resolution by the 132-pole detection resolver.

Further, the present invention may be applied to a motor having three or more multi-pole detection resolvers having different numbers of detection poles. (4) Although the present invention is applied to the multi-pole detection resolver 5 built in the motor 1, the invention may be applied to a multi-pole detection resolver which is mounted outside the motor and detects the absolute rotation angle of the output shaft 2.

(5) Although the present invention is applied to the multi-pole detection resolver for detecting the absolute rotation angle of the output shaft 2 of the direct drive motor 1, the present invention is also applicable to a multi-pole detection resolver for detecting the absolute rotation angle of the rotation shaft. Good.

The technical ideas other than the claims which can be grasped from the embodiment will be described below together with their effects. (1) The method for returning to the origin in the multi-pole detection resolver according to claim 1 is a method for returning to the origin of a multi-pole detection resolver having the smallest number of detection poles among a plurality of multi-pole detection resolvers having different numbers of detection poles. According to this configuration, since the detection pole of the multi-polar detection resolver having high resolution can be specified with high accuracy, the absolute rotation angle can be detected with higher accuracy.

[0070]

As described in detail above, according to any one of the first to fourth aspects of the present invention, adjustment of the positional relationship between the detected part and the detected sensor for performing the home position return. Origin return can be performed without fail.

[Brief description of the drawings]

FIG. 1 is a block diagram of a motor and a rotation angle detection unit according to a first embodiment.

FIG. 2 is a perspective view of a motor.

FIG. 3 is a graph of rotation angle data and a detection signal.

FIG. 4 is also a graph of rotation angle data and a detection signal.

FIG. 5 is also a graph of rotation angle data and a detection signal.

FIG. 6 is a flowchart of an origin setting process.

FIG. 7 is a flowchart of a home position return process.

FIG. 8 is a graph of rotation angle data according to the second embodiment.

FIG. 9 is also a graph of rotation angle data.

FIG. 10A is a flowchart of an origin setting process;
(B) Flow chart of the origin return processing.

FIG. 11 is a graph of rotation angle data and a detection signal in a conventional example.

FIG. 12 is also a graph of rotation angle data and a detection signal.

FIG. 13 is a graph of rotation angle data and a detection signal.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Direct drive motor, 2 ... Output shaft as a rotating shaft, 8 ... Reference pole determination means, reference pole setting means, shift value calculation means, 1st shift rotation angle data calculation means, 2nd shift rotation angle data calculation Microcomputer means as means and current position data calculation means, 10 detection plate as detected part, 11 proximity sensor as detection means, D rotation angle data, DC medium value, DN data number, DR maximum Data value, DS1... First shift rotation angle data, DS2... Second shift rotation angle data, T1... First detection pole, T2.
, The first rotation angle, θ2... The second rotation angle,
ΔD: Data difference.

Claims (4)

(57) [Claims] 1. A detecting means (11) which rotates together with a rotating shaft (2) provided with a multi-pole detecting resolver (5), and detects when the rotating shaft (2) reaches a preset rotation angle. The detection unit (10) is provided, and the origin is determined based on the detection pole of the multi-pole detection resolver (5) at the rotation angle when the detection unit (10) is detected by the detection unit (11). A reference pole for setting a position is set, and the origin is returned in the origin return method in the multi-pole detection resolver in which the rotation angle at which the rotation angle data (D) at the reference pole becomes the preset reference rotation angle data is the origin position. Before the detection, the detection unit (10) is detected in advance by the detection unit (11).
0) is detected based on the first detection pole (T1) of the multi-pole detection resolver (5) which outputs the first rotation angle data (D1) at the first rotation angle (θ1) at which the reference pole is detected. At the time of origin return, the multi-pole detection resolver (5) outputs the second rotation angle data (D2) at the second rotation angle (θ2) at which the detected part (10) is detected again. The magnitude of the data difference (ΔD) obtained by subtracting the first rotation angle data (D1) is the median value (D) which is half of the maximum data value (DR) of each detection pole of the multipole detection resolver (5).
C) If not greater than, the reference pole is set based on the detection pole of the multi-pole detection resolver (5) at the second rotation angle (θ2), and the data difference (ΔD) is a positive value. When the magnitude exceeds the median value (DC), the reference pole is set based on the detection pole immediately behind the second detection pole (T2), and the data difference (.DELTA.D) is negative. If the magnitude exceeds the median value (DC), the multi-pole is set based on the detection pole one ahead of the second detection pole (T2). Origin return method for detection resolver. 2. A detection part (10) that rotates together with a rotation shaft (2) provided with a multi-pole detection resolver (5), and a detection part that detects the detection part (10) at a preset rotation angle. A reference for setting an origin position based on a detection pole of the multi-pole detection resolver (5) at a rotation angle when the detection target (10) is detected by the detection means (11). A pole is set, and the rotation angle data (D) at the reference pole is set to the reference rotation angle data set in advance. The first detection pole of the multi-pole detection resolver (5) that outputs the first rotation angle data (D1) at the first rotation angle (θ1) at which the detected portion (10) is detected by the means (11). Base for setting the origin position based on (T1) A reference pole determining means (8) for determining a pole; and a multi-pole detection resolver (5) output at a second rotation angle (Dθ2) at which a portion to be detected (10) is detected again at the time of origin return. The data difference (ΔD) obtained by subtracting the first rotation angle data (D1) from the rotation angle data (D2) of the second multi-pole detection resolver (5) is obtained. If it is less than the median value (DC) which is half of the maximum data value (DR) of the detection pole, the second detection pole (T2) of the multipole detection resolver (5) at the second rotation angle (.theta.2). If the data difference (ΔD) is a positive value and its magnitude exceeds the median value (DC), one of the second detection poles (T2) is set. The reference pole is set based on a rear detection pole, and the data difference (ΔD) is a negative value. If the magnitude exceeds the median value (DC), the reference pole setting means (8) sets the reference pole based on the detection pole one ahead of the second detection pole (T2). Origin return device for multi-pole detection resolver. 3. A multi-pole detection resolver (5) is rotated together with a rotating shaft (2) provided with the rotating shaft (2), and the detecting means (11) detects when the rotating shaft (2) reaches a preset rotation angle. And a detection pole of the multi-pole detection resolver (5) at a rotation angle when the detection section (10) is detected by the detection means (11) is set to an origin position. An origin return method in a multi-pole detection resolver in which a rotation angle at which the rotation angle data at the reference pole becomes 0 by using the rotation angle data (D) at the reference pole as the current position data as a reference pole to be provided. Before performing the origin return, the detection unit (10) is detected in advance by the detection unit (11), and the detection unit (1)
0) is detected at the first rotation angle (θ1), and the detection pole (T1) of the multipole detection resolver (5) that outputs the first rotation angle data (D1) is set as the reference pole. (5) Number of data for each detection pole (DN)
The shift value (E) is calculated by subtracting the first rotation angle data (D1) from the median value (DC) which is half of the above, and the detected portion (10) is detected again when returning to the original position. First shift rotation angle data (DS1) obtained by adding the shift value (E) to second rotation angle data (D2) output from the multi-pole detection resolver (5) at a second rotation angle (θ2). When the first shift rotation angle data (DS1) is larger than the maximum data value (DR), the number of data (DN) is subtracted from the first shift rotation angle data (DS1). When the first shift rotation angle data (DS1) is smaller than 0, it is a value obtained by adding the first shift rotation angle data (DS1) to the number of data (DN). Is smaller than the maximum data value (DR). The first shift rotation angle data (DS1)
Origin return in a multi-pole detection resolver that calculates second shift rotation angle data (DS2) as the current position data and calculates a value obtained by subtracting the shift value (E) from the second rotation angle data (DS2). Method. 4. A detection part (10) that rotates together with a rotation shaft (2) provided with a multi-pole detection resolver (5), and a detection that detects the detection part (10) at a preset rotation angle. Means (11), and a detection pole of the multi-pole detection resolver (5) at a rotation angle when the detection section (10) is detected by the detection means (11) is set as a reference pole for providing a determined position. An origin return device for a multi-pole detection resolver having a rotation angle at which the rotation angle data at the reference pole becomes zero as an origin position by using the rotation angle data (D) at the reference pole as current position data; Before the detection, the multi-pole detection resolver (5) which outputs the first rotation angle data (D1) at the first rotation angle (θ1) at which the detection unit (10) is detected by the detection means (11). From the first detection pole (T1) A reference electrode determining means for the reference electrode to set the position (8), multi-pole sensing resolver (5) of the number of data of each detection electrode (DN)
Shift value calculating means (8) for calculating a shift value (E) obtained by subtracting the first rotation angle data (D1) from a median value (DC) which is half of the above. The second shift angle (E) is added to the second rotation angle data (DS2) output by the multi-pole detection resolver (5) at the second rotation angle (Dθ2) at which the section (10) is detected. A first shift rotation angle data calculating means (8) for calculating one shift rotation angle data (DS1); and a case where the first shift rotation angle data (DS1) is larger than the maximum data value (DR). , The first shift rotation angle data (DS19 is a value obtained by subtracting the number of data (DN) from the data, and if the first shift rotation angle data (DS1) is smaller than 0, the number of data (DN) 1 is the value obtained by adding the shift rotation angle data (DS1) of 1. When the first shift rotation angle data (DS1) is smaller than the maximum data value (DR), the second shift rotation angle data (DS2) that becomes the first shift rotation angle data (DS1) is calculated. 2 shift rotational angle data calculating means (8), and current position data calculating means (8) which uses the value obtained by subtracting the shift value (E) from the second rotational angle data (DS2) as current position data. A multi-pole detection resolver origin return device.