Digital Sensors

Dr. Ashraf Saleem

Shaft Encoders

z Incremental encoders
z Absolute encoders

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Incremental Encoders

• Offset sensor configuration

•Offset track configuration

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Direction of rotation

z If rising edge in v1
when v2 is logic high
→ CW rotation
z If falling edge in v1
when v2 is logic high
→ CCW rotation

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Hardware Design

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Displacement Measurement
z An incremental encoder measures displacement as
a pulse count, and it measures velocity as a pulse
frequency.
z Suppose that the maximum count possible is M
pulses and the range of the encoder is θmax
z The angular position θ corresponding to a count of n
pulses is computed as:

n
θ = θ max
M
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Velocity Measurement
z Pulse-counting method
To compute the angular velocity w using this method,
suppose that the count during a time period T is n
pulses. Hence, the average time for one pulse is T / n.
If there are N windows on the disk, the angle moved
during one pulse is 2π/N. Hence,

2πn
Speed =
NT
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Velocity Measurement

z Pulse-timing method
The time for one encoder cycle is measured using a high-
frequency clock signal. This method is particularly
suitable for accurately measuring low speeds. In this
method, suppose that the clock frequency is f Hz. If m
cycles of the clock signal are counted during an encoder
period (interval between two adjacent windows), the time
for that encoder cycle (i.e., the time to rotate through one
encoder pitch) is given by m/f. With a total of N windows
on the track, the angle of rotation during this period is
2π/N as before. Hence,

2πf
Speed =
Nm
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Absolute encoders

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Advantages and Drawbacks
z Advantages
z The main advantage of an absolute encoder is its ability to
provide absolute angle readings (within a full 360° rotation) ).
Hence, if a reading is missed, it will not affect the next reading.
Specifically, the digital output uniquely corresponds to a physical
rotation of the code disk, and hence a particular reading is not
dependent on the accuracy of a previous reading. This provides
immunity to data failure.
z A missed pulse (or, a data failure of some sort) in an incremental
encoder would carry an error into the subsequent readings until
the counter is cleared.
z An incremental encoder has to be powered throughout operation
of the device. Thus, a power failure can introduce an error
unless the reading is reinitialized (or, calibrated). An absolute
encoder has the advantage that it needs to be powered and
monitored only when a reading is taken.

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Advantages and Drawbacks

z Drawbacks
z Because the code matrix on the disk is
more complex in an absolute encoder, and
because more light sensors are required, an
absolute encoder can be nearly twice as
expensive as an incremental encoder.
z since the resolution depends on the number
of tracks present, it is more costly to obtain
finer resolutions.

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