JP4606177B2 - Initial phase detector - Google Patents

Description

  The present invention relates to synchronous control and positioning control of a plurality of electric motors that require high accuracy not only during a stop or low speed operation but also during a high speed operation, such as a shaftless rotary printing machine or a machine tool. The present invention relates to an apparatus for quickly initializing the rotational phase and detecting the rotational phase with high accuracy at all times without requiring a waiting time in the subsequent operation.

  In shaftless rotary printing presses that perform high-precision synchronous control between multiple motors and machine tools that perform precise positioning, the phase and speed of the motor must be detected with high accuracy. Although a rotary encoder is required, an incremental encoder or an absolute encoder is conventionally used as the rotary encoder. And when operating an electric motor, it is necessary to always detect a rotation phase accurately.

FIG. 11 shows an outline of the incremental encoder. First, in FIG. 11- (a), optical slits are provided radially on a rotating disk which is a detection target, and this is changed according to rotation by a light emitting element and a light receiving element. 11- (b), (c), and (d) to obtain the A-phase and B-phase incremental signals and the Z-phase signal for generating one pulse per rotation. It is. Here, the A phase and the B phase have an electrical angle of, for example, a phase difference of 90 °, and can detect forward rotation and reverse rotation. The incremental encoder has the following characteristics.
(I) The number of output signals is small, such as A phase, B phase and Z phase, and can withstand long-distance transmission.
(Ii) Since the phase change is detected by a serial pulse train, it is possible to detect a rotation phase without a time delay in real time even during high-speed rotation.
(Iii) The interface on the receiving side can be easily configured with only rectangular signals of A phase, B phase and Z phase as output signals, and an interface with little temperature change and secular change is possible.
(Iv) It is generally cheaper than an absolute encoder described later.
There are advantages such as,
(V) The absolute rotation phase cannot be detected as it is.
For this purpose, for example, a rotation phase detection counter is provided on the control device side, the A phase and B phase incremental signals output from the incremental encoder are counted, and the rotation phase detection counter is set to zero by the Z phase signal. Therefore, the absolute rotation phase of one rotation is detected. In such a device, when the operation is first started, the absolute encoder phase can be detected after rotating the incremental encoder and receiving the Z phase,
(Vi) The absolute rotation phase cannot be detected until the Z-phase signal is first received.
There was a problem to say.

Next, FIG. 12 shows an outline of the absolute encoder. First, in FIG. 12- (a), a plurality of concentric tracks are provided on a rotating disk which is a detected object, and the rotational phase is shown on the track. The absolute position information is constituted by a binary code, and an n-bit absolute signal having a rotational phase of, for example, b0 to bn-1 is detected by a light emitting element and a light receiving element. FIGS. 12- (b) to (f) show the situation where the signals b0 to bn-1 change according to the rotation.
(Vii) The absolute rotation phase can always be detected.
There is an advantage, but
(Viii) In order to increase the resolution of rotational phase detection, the number of tracks on the rotating disk must be increased. With this, the shape of the rotating disk becomes large, and it is difficult or impossible to realize a high-resolution one. Is possible.
(Ix) Similarly, the higher the resolution of rotational phase detection, the greater the number of binary signal lines, making it difficult to transmit a long-distance rotational phase.
(X) When detecting the absolute rotation phase, it is necessary to detect the change in the data from b0 to bn-1 and the timing, and it is difficult to detect the rotation phase in real time at high speed rotation.
There were issues such as.

In addition to using such incremental encoder and absolute encoder,
A method of using a rotary encoder provided with both the absolute signal and the incremental signal has been conventionally devised by (Patent Document 1) and (Patent Document 2).
First, the above-mentioned (Patent Document 1) includes “an analog code forming surface that continuously changes in accordance with a change in the rotation angle and a digital code formation surface that forms an optical signal of a different binary code in accordance with the change in the rotation angle. The optical angle sensor is characterized in that the rotation angle is measured by a combination of an optical analog code and an optical digital code. Further, “the analog code forming surface and the digital code forming surface are formed on the rotating disk. A rotary encoder “An optical angle sensor formed on an annular surface concentrically formed on the same surface” is used. In other words, the absolute signal output from the absolute encoder corresponds to the digital code of the above (Patent Document 1), and the incremental signal output from the incremental encoder is considered to output a periodic signal according to the rotation. This corresponds to the analog code of the above (Patent Document 1). The rotational phase is detected by a combination of an analog code and a digital code.

  Further, the above-mentioned (Patent Document 2) states that, in the absolute encoder signal output method for outputting an absolute encoder signal having a resolution of 2 to the power of n, the m-bit absolute signal (20) having m bits smaller than n bits and the m-bit Using the LSB of the absolute signal (20) and the sine wave signal (10) having the same period, the m-bit absolute signal (20) is obtained by electrically interpolating the sine wave signal (10) into (nm) bits. And an absolute encoder signal output method characterized in that an absolute encoder signal having a resolution of 2n is obtained. That is, “the absolute encoder having a resolution of 2 n can be obtained by electrically interpolating the sine wave signal 10 into (nm) bits and synthesizing the sine wave signal 10 with the m-bit absolute signal 20”. Use rotary encoder to achieve. Similarly, the absolute signal output from the absolute encoder corresponds to the m-bit absolute signal (20) of (Patent Document 2), and the incremental signal output from the incremental encoder is also periodic according to the rotation. If considered broadly as a signal output, it corresponds to the sine wave signal (10) of the above (Patent Document 2), and the m-bit absolute signal (20) and the sine wave signal (10) are combined to detect the rotational phase. ing.

The main purpose of (Patent Document 1) and (Patent Document 2) is to increase the accuracy by an incremental signal while limiting the number of the absolute signals, and to combine the absolute signal and the incremental signal to obtain a high-resolution rotational phase. A means for detecting is provided.

Shokai 56-96322 (Fujitsu) JP 11-344359 (Tama River)

  In recent years, high-accuracy synchronous control between multiple motors has been applied to shaftless rotary printing presses and precision positioning devices. Taking shaftless rotary printing presses as an example, a plurality of cyan, magenta, yellow, black, etc. Color printing has been performed by individually driving colors with an electric motor. Such products do not allow color misregistration, and the rotation phase and rotation speed are detected with high speed and high accuracy from the rotary encoder attached to the motor not only at low speed and medium speed but also at high speed. Need to run cyclically with high speed and high accuracy. (Because the rotation speed can be calculated from the rotation phase, the detection of the rotation phase will be described below.)

When the incremental encoder is used, the rotational phase with no time delay can be detected in real time as shown in the section (ii), but the Z phase signal can be detected when the operation is started as shown in the section (vi). Until the first time is detected, the absolute rotation phase cannot be detected, which has a problem that it takes time to complete the origin adjustment and shift to the synchronous control. When the absolute encoder is used, the absolute rotational phase can always be detected as shown in the section (vii), but it is difficult to obtain a high resolution as shown in the sections (viii) and (x). There is a problem that it is difficult to detect the rotation phase in real time at high speed rotation. Further, in the method using the rotary encoder having the absolute signal and the incremental signal at the same time, it is possible to detect the rotational phase with high resolution by combining the absolute signal and the incremental signal. However, since the absolute signal detection mechanism and the incremental signal detection mechanism are different, there is a problem that it is extremely difficult to detect the rotational phase by detecting and combining the absolute signal and the incremental signal in a short time during high-speed rotation. It was.

  The present invention has been made in view of the above, and an object of the present invention is to provide a real-time rotation phase not only at a low speed but also at a high speed in a synchronous control or positioning control of an electric motor that requires high accuracy. For the problem that the absolute rotation phase cannot be detected until the Z-phase signal of the incremental signal is first detected when the operation is started, the incremental signal and the absolute signal are both used. In other words, the absolute rotational phase obtained from the incremental signal is precisely initialized by the absolute rotational phase from the absolute signal before the operation is started.

In the present invention, the above problem is solved as follows.
(1) In a synchronous drive system that is configured by a centralized control device and a synchronous drive device that drives a plurality of electric motors respectively, and that synchronizes the rotational phases and rotational speeds of the plurality of electric motors with high accuracy, the electric motor outputs an absolute signal and an incremental signal. It comes with a rotary encoder that outputs both.
Then, the absolute signal and incremental signal output of the rotary encoder are input as feedback to the initial phase detection device built in the synchronous drive device, and the absolute signal outputs the absolute rotation phase of one rotation with a resolution of (i + 2) bits. The incremental signal outputs a two-phase sine wave having a phase difference of 90 degrees, and the two-phase sine wave outputs a sine wave cycle number SH every time it rotates once.
Next, the initial phase detection device uses the upper i bit value as the absolute upper phase value RH and the lower 2 bit value as the absolute middle phase in the resolution of the absolute rotation phase (i + 2) bits of one rotation of the absolute signal. The absolute upper phase value RH is equal to the sine wave cycle number SH, and the absolute middle phase value RM is sequentially detected as 0, 1, 2, 3, 0.
Furthermore, the initial phase detection device includes a preset type phase counter that discriminates and counts the high and low phases of the two-phase sine wave when the motor makes one rotation, and detects the relative rotation phase with i-bit resolution. The preset type phase counter outputs the i-bit value as a relative upper phase value TH, and the relative upper phase value TH is equal to the sine wave cycle number SH.
The initial phase detection device includes an A / D converter for inputting the two-phase sine wave, and divides one cycle of the two-phase sine wave from the output of the A / D converter to sine wave section. , And the sine wave section is sequentially detected as S0, S1, S2, S3, S0.

(2) In the initial phase detection device according to (1), when the detection value of the sine wave section is S0 and the detection value of the absolute intermediate phase value RM is 3, the preset type phase counter A value obtained by adding 1 to the absolute upper phase value RH is preset as the relative upper phase value TH, and 0 is preset as the relative middle phase value TM.
When the detection value of the sine wave section is S0 and the detection value of the absolute middle phase value RM is 0 or 1, the relative upper phase value TH of the preset type phase counter includes the absolute upper phase value TH. The initial phase detection apparatus is characterized in that the upper phase value RH is initialized by presetting 0 in the relative middle phase value TM.

(3) In the initial phase detector of the item (1), when the detected value of the sine wave section is S1, the absolute upper phase value RH is used as the relative upper phase value TH of the preset type phase counter, The relative phase value TM is initialized by presetting 1 to the initial value.

(4) In the initial phase detector of the item (1), when the detected value of the sine wave section is S2, the absolute upper phase value RH is used as the relative upper phase value TH of the preset type phase counter, The relative phase value TM is initialized by presetting 2 as an initial phase detector.

(5) In the initial phase detection device according to (1), when the detection value of the sine wave section is S3 and the detection value of the absolute intermediate phase value RM is 2 or 3, the preset type The absolute upper phase value RH is preset as the relative upper phase value TH of the phase counter, and 3 is preset as the relative middle phase value TM.
When the detected value of the sine wave section is S3 and the detected value of the absolute middle phase value RM is 0, the absolute upper phase is included in the relative upper phase value TH of the preset type phase counter. The initial phase detection device is characterized in that a value obtained by subtracting 1 from the value RH is initialized by presetting 3 in the relative intermediate phase value TM.

(6) The initial phase detection device according to the above items (1) to (5), comprising: a centralized control device; a synchronous drive device incorporating the initial phase detection device; an electric motor; and the rotary encoder attached to the electric motor. As a set, the present invention relates to a shaftless rotary printing press in which a plurality of printing sections and folding sections are synchronously controlled with high accuracy and a speed command is input to the folding sections from the central control device.
The synchronous drive device of the printing unit includes a setting initial phase detection device and a feedback initial phase detection device, and the synchronous drive device of the folding unit includes a feedback initial phase detection device.
Further, the output of the rotary encoder of the folding unit is input to the initial phase detection device for setting the printing unit and the initial phase detection device for feedback of the folding unit. The rotation phase of the folding part is quickly detected as the main setting, and the feedback initial phase detection device for the folding part quickly detects the rotation phase of the folding part as feedback.
The output of the rotary encoder of the printing unit is input to the initial phase detection device for feedback of the printing unit, and the initial phase detection device for feedback immediately detects the rotational phase of the printing unit before starting operation, and the folding unit Is an initial phase detection device that enables stable synchronous control operation of a shaftless rotary printing press without requiring a waiting time.

(7) The initial phase detection device according to the items (1) to (5), comprising: a centralized control device; a synchronous drive device incorporating the initial phase detection device; an electric motor; and the rotary encoder attached to the electric motor. As one set, the present invention relates to a shaftless rotary printing machine that controls synchronously a plurality of printing sections and folding sections with high accuracy.
The printing unit and the folding unit synchronous driving device each incorporate a feedback initial phase detection device to detect the rotational phase of the electric motor, and the folding unit synchronous driving device detects the detected rotational phase of the folding unit. Send to the central control unit.
This centralized control device has a built-in virtual commander, which is initialized with the rotation phase of the folding unit, and then generates a rotation phase command and a rotation speed command for operation to generate all sections of the printing unit and folding unit. To the synchronous drive device.
As described above, the initial phase detection device is capable of starting the operation of the stable synchronous control of the shaftless rotary printing press without using a waiting time with the rotation phase of the folding portion as the initial value of the main setting.

  The present invention uses the incremental signal capable of detecting the rotational phase in real time not only at low speed but also at high speed in synchronous control and positioning control of an electric motor that requires high accuracy. When starting, with respect to the problem that the absolute rotation phase cannot be detected until the Z-phase signal of the incremental signal is first detected, the absolute rotation from the absolute signal is started when the operation is started by using both the incremental signal and the absolute signal. The absolute rotation phase obtained from the incremental signal is precisely initialized by the phase. As a result, when the power is turned on using the incremental signal and the operation is started, the rotation phase is quickly initialized to eliminate the waiting time, and high-precision synchronous control and positioning control are performed until low speed operation and high speed operation are achieved. It was possible.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIGS. 1 to 3 illustrate the configuration and operation of the initial phase detection apparatus of the present invention, and FIGS. 4 to 8 illustrate claims 1, 2, 3, 4, and 5. FIG. 9 shows an embodiment of the present invention applied to a commercial rotary printing press, and FIG. 9 illustrates an embodiment applied to a commercial rotary press.

  FIG. 1 is a diagram for explaining the overall configuration of the first embodiment. Reference numeral 103 denotes a rotary encoder, which outputs an absolute signal 103a and an incremental signal 103b. As described above, the rotary encoder 103 outputs the two forms of the absolute signal 103a and the incremental signal 103b, and will be referred to as the hybrid encoder 103 in the following description. The absolute signal 103a has a binary (i + 2) -bit resolution with an absolute rotation phase of one rotation, and is input as feedback to the initial phase detection device 101a in the synchronous drive device 101 described later. The incremental signal 103b is Two sine waves having a phase difference of 90 degrees are an A phase sine wave and a B phase sine wave, and the number of sine wave cycles per rotation of the A phase sine wave or B phase sine wave is counted from zero. SHmax, which is also input as feedback to the initial phase detection device 101a in the synchronous drive device 101, which will be described later.

Reference numeral 101a denotes an initial phase detection device in the synchronous drive device 101. A control & status bus 101k is built in from an absolute interface 101b described later, and these will be sequentially described below.
First, 101b is an absolute interface, and the absolute signal 103a output from the hybrid encoder 103 is input from the input port IN. As described above, the absolute signal 103a has a resolution in which the absolute rotation phase of one rotation is (i + 2) bits, and the absolute interface 101b uses the value of the lower 2 bits of the absolute rotation phase (i + 2) bits as an absolute middle phase value. Output as RM from the output ports Q0 and Q1, and output the value of the upper i bits from the output port Q2 to Qi + 1 as the absolute upper phase value RH.
The input port C of the absolute interface 101b is composed of a plurality of input ports. A control signal such as a normal chip select signal or a read signal is input to the input port C from the microcomputer 101h. Omit.

Further, 101h is a microcomputer, 101i is a data bus, 101j is a control bus, 101k is a control & status bus, and the microcomputer 101h controls the initial phase detector 101a. The data bus 101i connected to 1, the control bus 101j connected to the input / output port C / S, and the control & status bus 101k exchange data with the absolute interface 101b, a phase counter 101g described later, and the like. .
That is, the microcomputer 101h reads the absolute middle phase value RM and the absolute upper phase value RH from the output ports Q0 to Qi + 1 of the absolute interface 101b.

Next, in FIG. 1, 101c is an incremental interface, 101g is a phase counter, and the incremental interface 101c receives the A-phase sine wave of the incremental signal 103b output from the hybrid encoder 103 and compares it with a reference value. As a result, Low and High A-phase rectangular waves are output and input to the input port PA of the phase counter 101g.
The phase counter 101g detects the relative rotational phase of the hybrid encoder 103 by counting the A-phase rectangular wave input from the input port PA, and outputs it from the output port R2 through Ri + 1. The microcomputer 101h reads the relative rotational phase via the data bus 101i.
Here, since the relative rotational phase is output from the output port R2 to Ri + 1, it has i-bit resolution, and the output value is set as the relative upper phase value TH.
Next, input ports P2 to Pi + 1 of the phase counter 101g are preset inputs, and a preset value (to be described later) is written from the microcomputer 101h via the data bus 101i, and the relative upper phase detected by the phase counter 101g. The value TH is initialized.
The input port C of the phase counter 101g is composed of a plurality of input ports. The input port C is connected to a normal chip select signal, address signal, read signal from the microcomputer 101h via the control bus 101j. A control signal such as a signal and a write signal is input.

Similarly, in FIG. 1, reference numeral 101e denotes an A / D converter, which inputs an A-phase sine wave of the incremental signal 103b from an input port IN, and converts an A-phase sine wave into a numerical value from an output port S0. A binary number is output to Sk-1 with a resolution of k bits, and read to the microcomputer 101h via the data bus 101i.
The input / output port C / S of the A / D converter 101e is composed of a plurality of ports. The input / output port C / S is connected to the normal input / output port C / S via the control & status bus 101k from the microcomputer 101h. Control signals such as a chip select signal, an address signal, an A / D start signal, and a read signal are input, and a status signal such as an A / D conversion completion signal is output to the microcomputer 101h.
Reference numeral 101f is an A / D converter that receives the B-phase sine wave of the incremental signal 103b and outputs a B-phase sine wave value. The operation is the same as that of the A / D converter 101e, and a description thereof will be omitted. .

Next, FIG. 2 explains in detail the absolute signal 103a and the incremental signal 103b output from the hybrid encoder 103. First, FIG. 2- (a) shows an A-phase sine wave and a B-phase of the incremental signal 103b. As shown in the figure, the A-phase sine wave and the B-phase sine wave have an electrical phase difference of 90 degrees, and when the hybrid encoder 103 is in an arbitrary rotational phase, the A-phase sine wave and the B-phase sine wave The number of sine wave cycles of the phase sine wave is SH, and when the hybrid encoder 103 makes one rotation, the number of sine wave cycles SH changes from zero to the maximum SHmax.
FIG. 2B shows the A-phase rectangular wave output from the incremental interface 101c. The A-phase rectangular wave is input to the phase counter 101g and counted to detect the relative rotational phase. FIG. 2- (c) shows the temporal transition of the relative upper phase value TH detected by the phase counter 101g and outputted from the output port R2 through Ri + 1. The relative upper phase value TH changes from zero to the maximum THmax. Yes.
FIG. 2- (d) shows that one cycle of the A-phase sine wave and the B-phase sine wave is divided into four sine wave sections S0, S1, S2, and S3 as normally performed. Yes. The division of the sine wave section is performed by the microcomputer 101h reading the outputs of the A / D converters 101e and 101f. For example, when both the A phase sine wave and the B phase sine wave are positive, the sine wave is divided. The interval is S0, and S1 when the A-phase sine wave is positive and the B-phase sine wave is negative.

Next, FIG. 2- (e) shows the absolute upper phase value RH and the absolute middle phase value RM output from the absolute interface 101b that receives the absolute signal 103a as shown in FIGS. 2- (a) and (d). The comparison is shown. The upper part of FIG. 2- (e) shows that the absolute upper phase value RH output by the absolute interface 101b from the output port Q2 at Qi + 1 transitions within the range of 0 to the maximum RHmax. ), The absolute middle phase value RM output from the output ports Q0 and Q1 corresponds to the sine wave sections S0, S1, S2 and S3 in FIG. And 3 and 3.
Here, the absolute upper phase value RH, the maximum value RHmax, the relative upper phase value TH, the maximum value THmax, the sine wave cycle number SH, and the maximum value SHmax are related to the following equations (1) and (2). There is.
RH = TH = SH (1) Equation RHmax = THmax = SHmax (2) Equation (1) According to the equation (1), the upper rotation phase of the hybrid encoder 103 at an arbitrary time can be detected by the absolute upper phase value RH. And can be equal to the relative upper phase value TH and the sine wave cycle number SH.

Next, FIG. 3 shows an outline of the initialization of the phase counter 101g and the detection of the rotational phase. First, FIG. 3- (a) shows the absolute rotation phase output from the absolute interface 101b, and outputs the absolute middle phase value RM from the output ports Q0 and Q1, and the absolute upper phase value RH from the output port Q2 to Qi + 1. To do.
The microcomputer 101h reads the absolute rotational phase, writes the absolute upper phase value RH from the preset input P2 of the phase counter 101g to (Pi + 1) as shown in FIG. Is initialized. Thus, the initialized rotational phase is output as the relative upper phase value TH from the output port R2 of the phase counter 101g from Ri + 1 as shown in FIG. 3C, and the microcomputer 101h always reads. Become.
The microcomputer 101h reads the outputs of the A / D converters 101e and 101f to convert one cycle of the A-phase sine wave and B-phase sine wave into the sine wave sections S0, S1, S2, and S3. Are divided into four sections, and the result of the division is stored in U1 and U0 bits on a memory (not shown) as shown in FIG.
Further, bits T0 to (Tm-1) in FIG. 3 (e) indicate interpolation phase values interpolated from the A-phase sine wave and B-phase sine wave in one cycle. This interpolation is conventionally performed. For example, the values of the A-phase sine wave and the B-phase sine wave read by the microcomputer 101h via the A / D converters 101e and 101f are respectively SA. And SB, the phase θ within one cycle of the A-phase sine wave and the B-phase sine wave can be obtained by the following equation (3).
θ = (2 ^m −1) × arcTAN (SA / SB) / 90 ° (3) Formula

Next, FIG. 3- (f) is a combination of the relative upper phase value TH of FIG. 3- (c), the sine wave section of FIG. 3- (d), and the interpolated phase value of FIG. 3- (e). Thus, the phase of one rotation of the hybrid encoder 103 can be detected with a resolution of (i + 2 + m) bits and extremely high resolution. For example, if a specific example is shown for ease of explanation, if i bit is 10 bits in FIG. 3- (f), the value is from 0 to 1023, U0 and U1 are values from 0 to 3, If m bits are set to 12 bits, a value from 0 to 4095 is obtained. The synthesized value has a resolution expressed by the following equation (4) and detects the rotational phase with extremely high accuracy.
1024 × 4 × 4096 = 16,777,216 = 0100,0000h (4) Expression Here, in the present invention, h added to the end of the numerical value indicates a hexadecimal number.

The upper i bits in FIG. 3 (f) are the relative upper phase value TH output by the phase counter 101g. However, the rotation phase is not output correctly immediately after the initial phase detector 101a is turned on. The absolute upper phase value RH of the absolute interface 101b
Is used for initialization. Then, according to the specific example of the equation (4), even if the initialization error of the upper i bits is the minimum 1, the following (5) by 4 by the sine wave section and 4096 by the interpolation phase value A large rotational phase error shown by the equation will occur.
4 × 4096 = 16384 = 4000h (5) Therefore, the initialization of the phase counter 101g must always be performed accurately.

  Here, it is assumed that the change in the A phase sine wave and the B phase sine wave of the incremental signal 103b in FIG. 2- (a) and the absolute rotation phase by the absolute signal 103a in FIG. 2- (e) change simultaneously. Yes. However, due to errors and variations in manufacturing the hybrid encoder 103 and differences in signal processing between the incremental interface 101a and the absolute interface 101b, a time lag in the change between the incremental signal 103b and the absolute signal 103a cannot be avoided.

FIG. 4, FIG. 5, and FIG. 6 show examples of this deviation and explain the details of the present invention. First, FIG. 4 will be explained. FIG. 4- (a) shows the temporal transition of the A-phase sine wave and B-phase sine wave of the incremental signal 103b as in FIG. 2- (a), and FIG. The time transition of the sine wave section detected from the A-phase sine wave and the B-phase sine wave is shown. In FIG. 4- (d), time t0 indicates the time when the sine wave section transitions from S3 to S0, and time t1 indicates the time when transition from S0 to S1.
Next, FIG. 4- (i) shows the temporal transition of the absolute upper phase value RH and the absolute intermediate phase value RM output from the absolute interface 101b, as in FIG. 2- (e). Unlike the example shown in 2- (e), an example is shown in which the operation is delayed. That is, the time at which the absolute upper phase value RH transitions from (N−1) to N at the same time as the absolute middle phase value RM transitions from 3 to 0 in FIG. ) Shows a case where there is a delay of time Ti from time t0 when the sine wave section changes from S3 to S0.

In FIG. 4, a means for the microcomputer 101h to preset the preset input P2 to (Pi + 1) of the phase counter 101g and initialize the relative upper phase value TH will be described below.
(Times t0 to t0 + Ti in the sine wave section S0): When the microcomputer 101h performs processing in this section, the absolute middle phase value RM is 3 and does not match the sine wave section S0, so there is a phase delay in the absolute upper phase value RH. It is determined that there is, and N obtained by adding 1 to the value (N−1) of the absolute upper phase value RH is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(Time t0 + Ti to t1 in sine wave section S0): When the microcomputer 101h performs processing in this section, since the absolute middle phase value RM is 0 and coincides with the sine wave section S0, the phase shifts to the absolute upper phase value RH. The absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In the sine wave section S1): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In the sine wave section S2): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In the sine wave section S3): When the microcomputer 101h performs processing in this section, when the absolute middle phase value RM is 2 or 3, it is determined that there is no phase shift in the absolute upper phase value RH. The value (N) of the phase value RH is preset in the phase counter 101g, and the relative upper phase value TH is initialized.

  Next, the operation of the present invention will be described with reference to FIG. 5- (a) and (d) show the same signals as those shown in FIGS. 4- (a) and (d), and their explanation is omitted. FIG. 5- (j) shows the temporal transition of the absolute upper phase value RH and the absolute intermediate phase value RM output from the absolute interface 101b as in FIG. 4- (i). Unlike (i), the time when the absolute middle phase value RM in FIG. 5- (j) transitions from 3 to 0 and the time when the sine wave section in FIG. 5- (d) changes from S3 to S0. In this example, the time difference Tj is zero and there is no delay or advance. In FIG. 5, the microcomputer 101h outputs the absolute upper phase value RH (N) shown in the upper part of FIG. 5- (j) as a phase counter when processing is performed at any time in the sine wave sections S0 to S3. Preset to 101g and initialize the relative upper phase value TH.

Next, the present invention will be described with reference to FIG. 6 (a) and 6 (d) show the same signals as in FIGS. 4 (a) and 4 (d), and their explanation is omitted. In FIG. 6 (d), the sine wave section starts from S2 at time t3. The time at which the transition is made to S3, and the time t4 is the time for the transition from S3 to S0.
FIG. 6- (k) shows the temporal transition of the absolute upper phase value RH and the absolute intermediate phase value RM output from the absolute interface 101b as in FIG. 4- (i). -It shows an example of operating in advance, unlike (i). That is, in FIG. 6- (k), the absolute middle phase value RM transitions from 3 to 0, and at the same time the absolute upper phase value RH transitions from N to (N + 1), the time shown in FIG. A case where there is a time Tk advance from time t4 when the sine wave section changes from S3 to S0 is shown.

In FIG. 6, a means for the microcomputer 101h to preset from the preset input P2 of the phase counter 101g to (Pi + 1) and initialize the relative upper phase value TH will be described below.
(In the sine wave section S0): When the microcomputer 101h performs processing in this section, when the absolute middle phase value RM is 0 or 1, it is determined that there is no phase shift in the absolute upper phase value RH, and the absolute upper phase The value (N) of the value RH is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In the sine wave section S1): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In the sine wave section S2): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(Time t3 to t4-Tk of sine wave section S3): When the microcomputer 101h performs processing in this section, the absolute middle phase value RM is 3 and coincides with the sine wave section S0, so that the phase is the absolute upper phase value RH. The absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(Times t4-Tk to t4 of sine wave section S3): When the microcomputer 101h performs processing in this section, the absolute middle phase value RM is 0 and does not match the sine wave section S3, so that the phase of the absolute upper phase value RH It is determined that there is a deviation due to advance, and N obtained by subtracting 1 from the value (N + 1) of the absolute upper phase value RH is preset in the phase counter 101g, and the relative upper phase value TH is initialized.

  Thus, when the hybrid encoder 103 is stopped or rotating at a low speed, the microcomputer 101h performs the incremental signal 103b and the absolute signal in the sine wave sections S0 and S3 as shown in FIGS. When there is a phase shift in the transition of 103a, this is detected, and after correcting the absolute upper phase value RH, the relative upper phase value TH of the phase counter 101g is accurately initialized. As a result, the subsequent operation can be performed without requiring a waiting time, and even when the motor is accelerating, decelerating, or operating at high speed, the incremental signal 103b output from the hybrid encoder 103 attached to the motor can be used. The correct relative upper phase value TH is always detected, and the detection of the highly accurate rotational phase according to FIG. 3- (f) is ensured.

  Next, FIG. 7 comprehensively explains the initialization of the relative upper phase value TH described in FIGS. 4 to 6, and FIGS. 7- (a) and (d) are the same as FIGS. ), The same signal as (d) is shown and the description thereof is omitted. FIGS. 7- (f) to (p) show the time transition of the absolute upper phase value RH output from the absolute interface 101b in the upper part, and the lower part in FIG. The time transition of the absolute middle phase value RM is shown. 7- (i), (j), and (k) are the same as FIGS. 4- (i), 5- (j), and 6- (k), respectively, and the description thereof is omitted. First, the description will be made with reference to FIG.

The absolute upper phase value RH and the absolute middle phase value RM in FIG. 7- (i) are cases where there is a delay of time Ti from the transition of the sine wave section shown in FIG. 7- (d). When converted into a corner, the delay was 90 degrees or less, but FIG. 7- (h) shows a case where there is a delay of 90 degrees in electrical angle. In FIG. 7- (h), the microcomputer 101h performs the following processing.
(In the sine wave section S0); When the microcomputer 101h performs processing in this section, the absolute middle phase value RM is 3 and does not coincide with the sine wave section S0. Judgment is made, N obtained by adding 1 to the absolute upper phase value RH (N-1) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In sine wave sections S1 and S2): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized. To do.
(In the sine wave section S3): When the microcomputer 101h performs processing in this section, when the absolute middle phase value RM is 2, it is determined that there is no phase shift in the absolute upper phase value RH, and the absolute upper phase value The value (N) of RH is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
Thus, in the case of FIG. 7- (h), the same processing as in FIG. 7- (i), ie, FIG. 4, is performed.

  FIG. 7- (g) shows a case where the delay is further large. The absolute upper phase value RH and the absolute middle phase value RM are delayed by a time Tg from the transition of the sine wave section shown in FIG. 7- (d). In some cases, this delay is 90 degrees or more in terms of electrical angle. Here, in the hybrid encoder 103, the present invention overcomes a slight phase shift between the absolute signal 103a and the incremental signal 103b, which occurs due to manufacturing errors and signal processing differences. As in g), a delay of 90 degrees or more is impossible and is excluded. Further, in the case of FIG. 7- (f), the delay time is Tf, which is a delay of 180 degrees when converted into an electrical angle. Like the case of FIG. 7- (g), such a large delay is not possible in the present invention. It is said.

Next, the absolute upper phase value RH and the absolute middle phase value RM in FIG. 7- (k) are obtained when the time Tk advances from the transition of the sine wave section shown in FIG. 7- (d). When the delay is converted into an electrical angle, the advance is 90 degrees or less. FIG. 7- (m) shows a case where the electrical angle is advanced by 90 degrees. In FIG. Does the following:
(In the sine wave section S0): When the microcomputer 101h performs processing in this section, when the absolute middle phase value RM is 1, it is determined that there is no phase shift in the absolute upper phase value RH, and the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized.
(In sine wave sections S1 and S2): When the microcomputer 101h performs processing in this section, the absolute upper phase value RH (N) is preset in the phase counter 101g, and the relative upper phase value TH is initialized. To do.
(In the sine wave section S3): When the microcomputer 101h performs processing in this section, if the absolute middle phase value RM is 0 and does not match the sine wave section S3, the absolute upper phase value RH has a shift due to the advance of the phase. Judgment is made and N obtained by subtracting 1 from the absolute upper phase value RH (N + 1) is preset in the phase counter 101g to initialize the relative upper phase value TH.
Thus, in the case of FIG. 7- (m), the same processing as in FIG. 7- (k), ie, FIG. 6, is performed.

  FIG. 7- (n) shows a case where the advance is further large. The absolute upper phase value RH and the absolute intermediate phase value RM are advanced by time Tn from the transition of the sine wave section shown in FIG. 7- (d). In some cases, this advance is an advance of 90 degrees or more in terms of electrical angle. Here, as described above, in the hybrid encoder 103, the present invention overcomes a slight phase shift between the absolute signal 103a and the incremental signal 103b, which is generated due to an error in manufacturing or a difference in signal processing. As in the case of the delay, as shown in FIG. 7- (n), it is excluded that there is no advance shift of 90 degrees or more. In the case of FIG. 7- (p), the advance time is Tp, which is an advance of 180 degrees when converted to an electrical angle. Like the case of FIG. 7- (n), there is such a large advance in the present invention. It is said that you do not get.

  Thus, in the present invention, the phase shift between the sine wave section obtained from the incremental signal 103b and the absolute signal 103a output from the hybrid encoder 103 and the absolute intermediate phase value RM is changed from 90 degrees to 90 degrees. The phase counter 101g is preset after the absolute upper phase value RH is accurately corrected, and the relative upper phase value TH is initialized.

Next, FIG. 8 is a flowchart for explaining the initialization of the phase counter 101g executed by the microcomputer 101h for the present invention described in FIGS. 4 to 7. Steps f1 to f11 in FIG. explain.
f1: The microcomputer 101h reads the A-phase sine wave value from the incremental signal 103b output from the hybrid encoder 103 by the A / D converter 101e and the B-phase sine wave value by the A / D converter 101f.
f2: The microcomputer 101h detects sine wave sections S0 to S3 from the read A-phase sine wave value and B-phase sine wave value.
f3: The microcomputer 101h reads the absolute upper phase value RH and the absolute middle phase value RM from the absolute interface 101b.
f4: The microcomputer 101h checks whether the sine wave section is S0. If it is S0, the microcomputer 101h proceeds to step f5, and otherwise proceeds to f7.
f5: The microcomputer 101h checks whether the absolute middle phase value RM is 3, and when it is 3, the absolute upper phase value RH has a deviation due to the phase delay. When RM is not 3, since there is no deviation in the absolute upper phase value RH, the process proceeds to step f11.
f6: The microcomputer 101h adds 1 to the absolute upper phase value RH to correct the phase delay, and proceeds to step f11.
f7: The microcomputer 101h checks whether the sine wave section is S3. If it is S3, the microcomputer 101h proceeds to step f8, and if not, proceeds to f11 via f10.
f8: The microcomputer 101h checks whether or not the absolute middle phase value RM is 0. If the absolute middle phase value RM is 0, the absolute upper phase value RH has a deviation due to the advance of the phase. When RM is not 0, there is no deviation in the absolute upper phase value RH, so the process proceeds to step f11.
f9: The microcomputer 101h subtracts 1 from the absolute upper phase value RH to correct the phase advance, and proceeds to Step f11.
f10: This route is when the sine wave section is S1 or S2, and when the correction of the absolute upper phase value RH is unnecessary, the process proceeds to f11 as it is.
f11: The microcomputer 101h presets the absolute upper phase value RH from the input port P2 of the phase counter 101g to Pi + 1, and initializes the relative upper phase value TH.

  Thus, the present invention quickly initializes the phase counter 101g with an absolute signal, and receives the incremental signal regardless of whether it is accelerating, decelerating, or operating at high speed in the subsequent operation of the motor. The relative upper phase value TH is detected accurately from 101g, and the real-time rotational phase can be detected with high accuracy.

  FIG. 9 is a diagram for explaining the second embodiment, and shows an example in which the initial phase detection device according to the present invention is applied to a shaftless commercial rotary printing press for color printing. In FIG. 9, 11 is a paper feeding unit, 12 is an infeed roll, 13, 14, 15 and 16 are printing units such as yellow, cyan, magenta and black, respectively, 6 is a running paper, 17a, 17b, 17c is a dryer, cooling, drag roll, and 5 is a folding part. The running paper 6 from the paper supply unit 11 is color-printed by the printing units 13, 14, 15 and 16 through the infeed roll 12, and the running paper 6 is dried by the dryer 17a and cooled by the cooling 17b. Then, it reaches the folding part 5 via the drag roll 17c and is cut and folded.

Each of the printing units 13 to 16 includes a printing machine 104, a synchronous drive device 101 that drives the printing machine, an electric motor 102, and a hybrid encoder 103. Similarly, the folding unit 5 includes a folding machine 105 and the folding machine. The motor includes a synchronous drive device 101, an electric motor 102, and a hybrid encoder 103 that are driven. The electric motors in the sections should be driven with high speed and phase synchronized with high accuracy. Here, the hybrid encoder 103 is the same as the hybrid encoder denoted by the same reference numeral in FIG. 1, and the synchronous drive device 101 incorporates the initial phase detection device 101a shown in FIG. Reference numeral 01 is a central control device that performs overall control and monitoring of the rotary printing press via the communication line 02, and 03 is a signal composed of the absolute signal 103a and the incremental signal 103b output from the hybrid encoder 103 of the folding section. The phase information of the folding machine 105 is transmitted to the synchronous drive device 101 of the folding unit and the printing unit through a track.

  Further, in FIG. 9, the synchronous driving device 101 of the folding unit receives a speed command from the centralized control device 01 via the communication line 02, and the synchronous driving device 101 of the folding unit includes the initial phase detecting device 101a. And a feedback signal is input from the hybrid encoder 103 at the folding portion via the signal line 03. 1 to FIG. 8, the initial phase detection device 101a in the folding portion quickly initializes the rotation phase based on the preset when the power source is set to 0N, eliminates the waiting time, and performs high-precision synchronization. Transition to control.

Next, the synchronous driving device 101 of the printing unit 13 incorporates the initial phase detecting device 101a for setting and feedback, and the initial setting for incorporating the synchronous driving device 101 not shown in the following description. The phase detection device is called 101as, and the initial phase detection device for feedback is called 101af.
The setting initial phase detection device 101as of the printing unit 13 receives a signal output from the hybrid encoder 103 of the folding unit and sets the folding unit 5 as a main setting, and the feedback initial phase detection device 101af includes the printing unit 13. As a result, the synchronous drive device 101 of the printing unit 13 synchronizes the electric motor 102 with high accuracy.

Although the printing unit 13 has been described above, the printing units 14, 15, and 16 have the same configuration, and the initial phase detection device 101as for setting and the initial phase detection device 101af for feedback included in the printing units 13 to 16 are provided as needed. Using the absolute signal 103a and the incremental signal 103b described with reference to FIGS. 1 to 8, the rotation phase is initialized instantaneously with high accuracy, thereby significantly reducing the waiting time.
After the initialization of the rotation phase, when performing a printing operation, high-precision synchronous control is realized by using the incremental signal 103b having excellent real-time characteristics without using the absolute signal 103a, and color printing. I do.
Further, as described above, the printing presses 13 to 16 mainly set the output of the hybrid encoder 103 of the folding unit 5. In other words, the folding unit 5 only receives the speed command from the central control device 01. The printer 6 is operated stably without following and unnecessarily increasing / decreasing the speed, and the printing press 6 sets the rotational phase and rotational speed of the folding unit 5 to increase / decrease the speed. In this case, stable printing is realized without breaking between the printing part and the folding part, and the loss of paper is reduced and the loss time is reduced to improve the operability.

FIG. 10 is a diagram for explaining the third embodiment, and shows an example in which the initial phase detection device according to the present invention is applied to a shaftless commercial rotary printing press for color printing, similar to FIG. Those denoted by the same reference numerals as those in FIG. 9 have the same functions and will not be described. First, the difference between FIG. 10 and FIG. 9 will be described. In FIG. 10, the feedback signal output from the hybrid encoder 103 of the folding unit 5 is the initial phase detection device 101a built in the synchronous driving device 101 of the folding unit 5. The rotation phase of the electric motor 102 in the folding portion detected by the synchronous drive device 101 is cyclically transmitted to the central control device 01 via the communication line 02.
The centralized control device 01 has a built-in virtual commander (not shown) that generates a rotation phase and a rotation speed to be set, and receives the rotation phase of the virtual commander from the synchronous driving device 101 of the folding unit before starting operation. Initialize with rotational phase. Then, the rotation phase and speed command output from the virtual command device are transmitted to the synchronous drive devices 101 of all sections of the printing units 13, 14, 15, 16 and the folding unit 5 via the communication line 02.

  Then, immediately after turning on the power in the synchronous drive system shown in FIG. 10 and before starting the operation, the central control device 01 uses the rotation phase detected by the initial phase detection device 101a of the folding portion as an initial value. A rotation phase command and a rotation speed command are generated by calculation, and these two commands are transmitted to all sections. In other words, since the printing units 13, 14, 15, and 16 start the operation based on the rotation phase of the folding unit 5, the motor 102 of the folding unit 5 is driven stably so that the printing unit and the folding unit The running paper 6 is not broken in between, and the virtual commander generates a stable rotational phase and rotational speed command during operation, so that it is possible to produce color prints with excellent quality. .

  As described above, the initial phase detection device 101a of the present invention quickly initializes the built-in phase counter 101g with an absolute signal, regardless of whether it is accelerating, operating at high speed, or decelerating in the subsequent operation of the motor. It is possible to accurately detect the relative upper phase value TH from the phase counter 101g which receives an incremental signal. As a result, in the synchronous control of the shaftless rotary printing press, the operation can be promptly performed after the power is turned on, and after the operation is started, the operation shifts to the synchronous control without breaking the running paper 6, and the waste paper and the dead time. In this way, high-quality color printing can be realized by making it possible to detect the rotational phase and rotational speed with high accuracy and in real time even in the subsequent normal production operation.

  When operating the motor, the rotation phase can be initialized at any time, and the rotation phase can be accurately detected continuously in subsequent operations, so that it can be used for synchronous control between multiple motors, as well as machine tools and conveyors that perform precise positioning. It can be applied to.

It is a figure explaining the structure of this invention. It is a figure explaining the relationship between an incremental signal and an absolute signal. It is a figure explaining initialization of a phase counter. FIG. 1 is a first diagram for explaining the operation of the present invention. FIG. 2 is a second diagram illustrating the operation of the present invention. FIG. 3 is a third diagram illustrating the operation of the present invention. FIG. 4 is a fourth diagram for explaining the operation of the present invention. Flow chart for initialization of phase counter by microcomputer. The figure which shows the example which uses this invention for a commercial rotary printing machine-the 1 The figure which shows the example which uses this invention for a commercial rotary printing machine-the 2 Diagram explaining incremental encoder Diagram explaining the absolute encoder

Explanation of symbols

01 Central control device 02 Communication line 03 Signal line 11 Paper feed unit 12 Infeed roll 13 Printing unit 14 Same as above 15 Same as above 16 Same as above 17a Dryer 17b Cooling 17c Drag roll 5 Folding part 6 Traveling paper 101 Synchronous drive device 101a Initial phase detection device 101as Initial phase detector for setting 101af Initial phase detector for feedback 101b Absolute interface 101c Incremental interface 101e A / D converter 101f A / D converter 101g Phase counter 101h Microcomputer 101i Data bus 101j Control bus 101k Control & status bus 102 Electric motor 103 Hybrid Encoder 103a Absolute signal 103b Incrementer Signal 104 printer 105 folding machine

Claims (7)

A synchronous drive system that is configured by a centralized control device and a synchronous drive device that drives a plurality of electric motors, and that synchronizes the rotational phase and rotational speed of the plurality of electric motors,
The electric motor is provided with a rotary encoder that outputs both an absolute signal and an incremental signal, and the output of the absolute signal and the output of the incremental signal are input as feedback to an initial phase detection device built in the synchronous drive device,
The absolute signal outputs an absolute rotation phase of one rotation with a resolution of (i + 2) bits, and the incremental signal outputs a two-phase sine wave having a phase difference of 90 degrees, and an arbitrary rotation phase for the two-phase sine wave When the rotary encoder rotates once, the sine wave cycle number SH changes from zero to the maximum SHmax.
The initial phase detection device uses the upper i-bit value as the absolute upper phase value RH and the lower 2 bits as the absolute middle phase value RM in the absolute rotation phase (i + 2) bit resolution of the absolute signal. The absolute upper phase value RH is equal to the sine wave cycle number SH, and the absolute middle phase value RM is sequentially detected as 0, 1, 2, 3, 0,
The initial phase detection device includes a preset type phase counter that identifies and counts High and Low of the two-phase sine wave when the motor makes one rotation, and detects a relative rotation phase with an i-bit resolution, The preset type phase counter is initialized with the i-bit absolute upper phase value RH as a preset input and outputs an i-bit relative upper phase value TH, which is equal to the sine wave cycle number SH. Is,
The initial phase detector includes an A / D converter that inputs the two-phase sine wave, and detects a sine wave section by dividing one cycle of the two-phase sine wave from the output of the A / D converter. The initial phase detection apparatus is characterized in that the sine wave section is sequentially detected as S0, S1, S2, S3, and S0. In the initial phase detection device of claim 1,
When the detected value of the sine wave section is S0 and the detected value of the absolute middle phase value RM is 3, the absolute upper phase value RH is included in the relative upper phase value TH of the preset type phase counter. 1 is added, and the relative intermediate phase value TM is preset to 0,
When the detected value of the sine wave section is S0 and the detected value of the absolute middle phase value RM is 0 or 1, the absolute upper phase is included in the relative upper phase value TH of the preset type phase counter. An initial phase detecting device, wherein the value RH is initialized by presetting 0 to the relative intermediate phase value TM. In the initial phase detection device of claim 1,
When the detected value in the sine wave section is S1, the relative upper phase value TH of the preset type phase counter is preset with the absolute upper phase value RH and the relative intermediate phase value TM is preset with 1 and initialized. An initial phase detection device characterized by: In the initial phase detection device of claim 1,
When the detected value of the sine wave section is S2, the preset upper phase value TH of the preset type phase counter is preset with the absolute upper phase value RH and the relative intermediate phase value TM is preset with 2 and initialized. An initial phase detection device characterized by: In the initial phase detection device of claim 1,
When the detected value of the sine wave section is S3 and the detected value of the absolute middle phase value RM is 2 or 3, the absolute upper phase is included in the relative upper phase value TH of the preset type phase counter. Preset the value RH to 3 for the relative intermediate phase value TM,
When the detected value of the sine wave section is S3 and the detected value of the absolute middle phase value RM is 0, the absolute upper phase value RH is included in the relative upper phase value TH of the preset type phase counter. An initial phase detection apparatus, wherein a value obtained by subtracting 1 from the preset is initialized by presetting 3 to the relative intermediate phase value TM. The initial phase detection device according to claim 1,
Central control unit and the initial phase detection system synchronous drive apparatus having a built-in electric motor, and the rotary encoder that is included in the electric motor as a set, and synchronization control unit folding a plurality of print portions,
In a shaftless rotary printing press in which a speed command is input to the folding part from the central control device,
The synchronous driving device of the printing unit incorporates an initial phase detection device for setting and an initial phase detection device for feedback, and the synchronous driving device of the folding unit incorporates an initial phase detection device for feedback,
The output of the rotary encoder of the folding unit is input to the initial phase detecting device for setting the printing unit and the initial phase detecting device for feedback of the folding unit, and the initial phase detecting device for setting the printing unit is the folding unit before starting the operation. The rotation phase is detected as a main setting, the initial phase detection device for feedback of the folding portion detects the rotation phase of the folding portion as feedback,
The output of the rotary encoder of the printing unit is input to the initial phase detection device for feedback of the printing unit, and the initial phase detection device for feedback detects the rotational phase of the printing unit before starting operation,
An initial phase detection device that can start synchronous control operation of a shaftless rotary printing press without requiring a waiting time with a folded portion as a main setting.
The initial phase detection device according to claim 1,
In a shaftless rotary printing press that controls a plurality of printing units and folding units synchronously, with a synchronous drive device incorporating a central control device and the initial phase detection device, an electric motor, and the rotary encoder attached to the electric motor as a set,
The synchronous drive device for the printing unit and the folding unit each have a built-in feedback initial phase detection device to detect the rotational phase of the motor,
The synchronous driving device of the folding unit sends the detected rotational phase of the folding unit to the central control device,
The central control device has a built-in virtual commander, and the virtual commander generates a rotation phase command and a rotation speed command to be operated after initialization with the rotation phase of the folding unit, and generates all sections of the printing unit and the folding unit. To the synchronous drive of
An initial phase detection device that enables a shaftless rotary printing press to start a synchronous control operation without requiring a waiting time with the rotation phase of a folded portion as an initial value of a main setting.

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