Encoders
Encoder types
Incremental encoders
Absolute encoders
Prepared by: Ivica Bai
DA-1-221101
Resolvers
Encoders
Prepared by: Ivica Bai
DA-2-221101
Encoder types
Encoders
Encoder types
Incremental encoders
Sinusoidal voltage signals VPP
Square-wave signals TTL
Incremental Signals HTL
Abolute encoders
Prepared by: Ivica Bai
DA-3-221101
Absolute Position Values
PROFIBUS-DP Absolute Position Values
SSI Absolute Position Values
Encoders
Encoder types
The most commonly used with drives:
Prepared by: Ivica Bai
DA-4-221101
Incremental encoder with square-wave signals HTL
level, bipolar
Encoders
Prepared by: Ivica Bai
DA-5-221101
Incremental encoder
Encoders
Incremental encoder
Prepared by: Ivica Bai
DA-6-221101
A rotary incremental optical
encoder has five main
components:
1. LED light source.
2. Rotating encoder disk.
3. Stationary mask.
4. Photodetector.
5. Electronics to amplify and
square the output signals
from the photodetector.
Encoders
Incremental encoder - signals
A
B
C
One channel is enough for calculating speed.
Second channel is needed for knowing sense of rotation.
Prepared by: Ivica Bai
DA-7-221101
Third channel is needed for positioning tasks.
Encoders
Prepared by: Ivica Bai
DA-8-221101
Incremental TTL encoder - direction of rotation
Encoders
Complementary outputs bipolar encoder
Prepared by: Ivica Bai
DA-9-221101
Encoder with complementary outputs can greatly reduce noise problems.
Encoders
Incremental encoder with sinusoidal
voltage signals
Prepared by: Ivica Bai
DA-10-221101
Two nearly sinusoidal signals, phase-shifted by 90 elec. and have an amplitude of
typically 1 VPP. One reference signal R.
Encoders
Absolute encoder
Prepared by: Ivica Bai
DA-11-221101
Multiturn encoder
Encoders
Absolute encoder
Code:
Single-turn
Connection:
1. Gray
Multi-turn
1. Parallel
3. BCD
2. SSI - Synchronous
Serial Interface
Prepared by: Ivica Bai
DA-12-221101
2. Binary
1. Every position of an absolute encoder is
unique. Unlike an incremental encoder,
where position is determined by counting
pulses from a zero mark or home base, the
absolute encoder reads a system of coded
tracks to establish position information. No
two positions are alike.
2. Absolute encoders do not lose position
when power is removed. Since each
position is unique, true position verification
is available as soon as power is up. It is not
necessary to initialize the system by
returning to home base.
Encoders
Prepared by: Ivica Bai
DA-13-221101
PROFIBUS-DP Absolute position encoder
Encoders
Absolute Position Values
Prepared by: Ivica Bai
DA-14-221101
The data is transmitted in synchronism with the CLOCK signal from the
subsequent electronics.
Encoders
Resolver
A resolver is a rotary transformer that provides
information on the rotor position angle .
rotor
stator
Prepared by: Ivica Bai
DA-15-221101
rotary
transformer
Encoders
Prepared by: Ivica Bai
DA-16-221101
Schematic diagram of a resolver
Encoders
Schematic diagram of a resolver
Prepared by: Ivica Bai
DA-17-221101
The stator bobbin winding is energized with an AC voltage E R1-R2. This AC voltage
is transferred to the rotor winding with transformation ratio Tr. The AC voltage
then induces the voltages ES1-S3 and ES2-S4 into the two output windings of the
stator.
Encoders
Prepared by: Ivica Bai
DA-18-221101
Input signals
Encoders
The magnitude of the output voltages vary with the sine and the cosine of the rotor
position angle , because the two secondary windings are shifted by 90.
Prepared by: Ivica Bai
DA-19-221101
Output signals
Encoders
Resolver position and speed
Prepared by: Ivica Bai
DA-20-221101
The change of the position angle between two sampling
times provides the current speed of the motor.
Encoders
Pole positioning / Autophasing
Prepared by: Ivica Bai
DA-21-221101
Determination of angle (offset) between the zero
angle of motor rotor and that of the resolver.
Encoders
Fast incremental encoder check
Motor stopped:
Signal
Correct
If not correct
Encoder power supply
15 V (or 24V)
Short circuit, supply or channel
A GND, A GND
B GND, B GND
C GND, C GND
one low, another high
one low, another high
C low, C high
Wires mismatch, no connection, bad channel
Signal
Correct
If not correct
A GND, A GND
B GND, B GND
6V
Allways high: bad channel
Allways low: no connection, bad channel
C GND, C GND
C low, C high
This is not C channel
low: 0.5 1.0 V
high: 10 12 V
DC voltage measurement
Prepared by: Ivica Bai
DA-22-221101
Motor is running:
