Encoders as angular position indicators

How Does It Work:?

Shown in the diagrams are the
important parts of a typical
optical encoder. A transparent
disk with equally spaced dark
radial marks is attached to the
rotation axis. A fixed light
(LED) sent through the series
of dark stripes is sensed with a
photodetector. The electrical
output is high with light and
low with no light. As the axis
rotates the electrical signal will
change in step movement of the
movement of the stripes
beneath the light sensor. Two
light sensor set near each other
provide information to
determine the difference in
rotation direction. These also
create a method of quadrupling the resolution of the encoder.

Incremental Encoder Electrical Output: - twochannelsA and B

• Count at 1 per step (one cycle per optical mark)
• Count at 4 per step (four cycles per optical mark)
• Determine direction of moment
360 deg/revolution
Resolutions: Incremental Encoders
Max. Rotation Max. Rotation
Optical
Cycles/Revolution Resolution 8000 Hz read 50,000 Hz read
Ticks
MGIII Ouranos
1000 4000 5.4' arc 2 rev/s 12 rev/s
2000 8000 2.7' arc 1 rev/s 6 rev/s

Encoder Interface
A special interface is needed between the encoder and the computer. This has a
microprocessor (computer) that
• (1) keeps track of the encoder position and direction of rotation by polling the
optical sensors at a high rate,
• (2) converting the information to numbers and
• (3) communication with the outside world (or other computer).
Operations of the Encoder Interface and Computer: (Interface has clock and
microprocessor)
• Clock and Microprocessor Counts and Interprets movement of the Encoder.
• Microprocessor receives commands from RS232 port and sends back status
and/or positions of encoder.
• Computer with database of astronomical objects and a control program
calculates geometry of the telescope and converts encoder positions to telescope
direction angles.
• Sky Programs show where the telescope in pointed in the Sky (When properly
aligned!!!).
Commercial Computer Interfaces and/or Encoder Controllers
(only representative and not a complete list)
• OrionTelescopes
SkyView Pro IntelliScope
• Mead - Magellan "Telescope Computer Systems"
• CelestronAstromaster
• Microguider (Nova Astronomics)
• Dave Ek's Digital Setting Circles Project Home Page
• TL SYSTEMS EzDSC "DSC object finder in your pocket"
• Jim's Mobile, Inc. (SGT-Max)
• Others.....
The Brooklyn Street Observatory Installed Ditial Setting Circles
An working system showing attachment of the encoders and wiring to the computer-
encoder interface. A 33 cm Newtonian on Dobsonian mount using the Outranous
interface (no longer available).Page of Details

Acadia University's Celestron 8 with Encoders and Computer Interface

An example of a
telescope retrofit with
encoders is the one shown
below. It allows students
not completely familiar
with the sky to find
celestial object to image
with the CCD camera.
The environment in
which the telescope is
used is light polluted
which makes it all the
more difficult to find
celestial objects using the
traditional star hopping
using star patterns. The
computer aided telescope
is a big help in this environment.
• Earth Centred Universe 3.0A - Sky Program
• Orion Sky Wizard CTI (9 V battery required)
• 4000 cycles/revencoders
• Santa Barbara Group ST-7 CCD Camera
• CCDOps DOS software
• Laptop with Windows 98

A couple of Sky Programs that can talk to an encoder interface

• EarthCentredUniverse
• Guide (Project Pluto)

L.Bogan Nov 2000

My Robot
From AlanMacek.com
There project is very much in progress. Unfortunately I don't work on it often enough so
when I do work on it, it takes a while to get back to where I left off.
The latest version of the robot is powered by two modified servo motors. Shaft encoders
on the wheels provide feedback to the control system but not much is done with that yet.
The control system is a PIC Microchip microprocessor. For testing, I'm using the
12F675.
Wheel Encoders - Motor Control - Object Detectors
Wheel Encoders
My plan is to use the wheel encoders to implement a dead reckoning navigation system.
Also, the encoders might will be helpful to get the robot to drive in a straight line since
the servos are not exactly matched. Seattle Robotics has a good article on dead
reckoning and includes a good template for making your own encoders.

My sensor is the QRD1114 which is an analog 4 pin IR emitter/detector module. I feed

the output from the sensor to an op-amp configured as a voltage comparator with the
threshold voltage set by a voltage divider (the 10k/15k resistors). The output from the
op-amp is digital.
The digital signal is connected to an IO pin of the 12F675 configured to interrupt on
change. So every time a black/white boundary passes the sensor, an interrupt is
triggered. In the interrupt handler, I determine which encoder has fired and increment a
counter. The plan is that periodically, the processor will integrate these counters to
determine its new location.
I placed the sensor and a couple of resistors next to the wheel (the dashed box) with the
op-amp and remaining circuitry on the main board. A 3-wire lead connects between the
two sections. The circuit diagram above only shows the circuit for a single wheel. The
other wheel is exactly the same, except it uses the second op-amp in the LM385
package.
Update (Oct 2005): I noticed that 'svo' has used and improved my circuit for the wheel
encoders on his robot. Svo uses a similar circuit with general purpose IR
transmitter/receivers and places the entire circuit inside a modified servo motor case. He
has step-by-stepinstructionswithphotoillustrations.
The detector is mounted next to the
servo motor with the sensor aligned
near the rim of the wheel. The wheel
has been removed but the backside The back side of the wheel and
of the opposite wheel is visible in the encoder showing the encoder disk.
background. A - the power shaft of There is about 2mm between the
the servo motor. B - the sensor. C - encoder disk and the sensor.
leads toadditionalcircuitry.

To Top

Motor Control
I recently moved from using modified servo motors (see in the above photos) to using
GM2 geared motors. They have the advantage of better speed control using PWM
control than the pulse control of the servos. I used the L293D dual 'push-pull' motor
driver which allows directional control of two motors - it handles all the high current
stuff that would overwhelm a microprocessor.
The challenge was to develop a PWM controller for two motors using a single 16F819
PIC microprocessor. Some of the bigger microprocessors (such as the 16F877A) have
dual PWM controls built-in but the 819 only has one.
I wrote an assemble program which using a single 8bit timer (TMR0) to drive both
channels of PWM as well as control direction.
To Top

Object Detector
This is an older module. My current version does not have any object detection yet. The
next version of the object detection will likely move more to the microprocessor by
using the analog->digital converter.
Here is a circuit diagram of the IR detector unit I am using for object detection.
Here are the values I used:

• R1 = 150 ohms - used for current limiting through the LED. R1 >Vcc/
(Rated Current Max)
• R2 = 220 Kohms - used in voltage division with detector.
• R3 = 4.7 Kohms
• R4 = 10 Kohms
• L1 is a cheap LED IR emitter
• T1 is a IR photo transistor - basically a variable resister depending on
intensity of IR light.
• OP1 is a Operational Amplifier. I used a LM358 package which
includes two op amps.
• Vcc = +5 Volts
Notes:
R2 should be larger then the maximum resistance of the detector. Measure the
resistance of the detector when it is pointing into a dark area and then choose the next
larger resister. This means the voltage on the op amp is close to zero when there is no
signal.
R3 and R4 determine the amplification of the op amp, gain = 1 + R4/R3. An
appropriate ratio can be determined by connecting up the circuit and measuring the
voltage entering the op amp and knowing the threshold value needed at Vout. Vout = (1
+ R4/R3)Vin so just solve for the ratio using the values for Vout and Vin.
As stated above, I used a LM358 Dual op amp package. The specs and pin outs are
available on the net at any of the semiconductor manufacturers such as National
Semiconductor.
I used an approximately Vcc = 5 Volt power source on my robot but almost any power
source greater then that can easily be used with appropriate values of R1, R2 and within
the specs for the OP Amp chip.
The Vout signal is connected directly to an I/O pin of the Basic Stamp. The ground
used for this circuit is required to be the same as the ground used by the processor.
ToTop
 2 Unidades de tracción gemelas.

Vamos a construir dos unidades de tracción:

motor+reductor+rueda idénticas, para poderlas
utilizar en un robot de tracción diferencial. Todo ello,
como no, con materiales de reciclaje. Utilizaremos
piezas de CD-ROM, impresora y disquetera.

Es un ejemplo de lo que puede hacerse con la chatarra

informática y algo de imaginación.
Comenzamos con una cabeza lectora de una unidad grabadora de CDROM.
Serán necesarias dos iguales. Lo que vamos a aprovechar es el motor y el
reductor, que en este caso es angular. Casualmente en este modelo el motor
lleva un encoder de una fase en el eje del motor, también podremos usarlo.

Se eliminan las guías y la cabeza y se corta el el chasis para dejar únicamente

el motor y el reductor.
Este es el despiece de lo que queda: el motor es un FF-050SK-13130 que
funciona entre 2V y 4V y da 0,59 mNm a 7600 RPM. No es mucho pero con
una reducción adecuada puede mover con soltura un microrobot. Puede verse
el detector de herradura del encoder montado en un circuito impreso y el disco
ranurado montado en el eje del motor. El encoder es de 30 pulsos por vuelta y
la reducción es de 16 dientes a 53, es decir 3,3125:1, bastante poco.
Como la reducción que proporciona los piñones en ángulo que ya tenemos es
poca añadiremos otro piñón más. Compruebo entre la chatarra y tengo este
reductor de una unidad de CDROM creative X24 (que malas salieron). Ya
comenté en alguna ocasión que prefiero guardar los motores junto con sus
reductores, suelen resultar más útiles. El piñón de la izquierda tiene el mismo
módulo que el del reductor anterior y podría servir. La reducción resultante es
de 16 dientes a 89, es decir 5.5625:1 que junto con el conjunto anterior se
consigue una reducción total de 18,426 a 1.El resto del reductor y el motor
puede utilizarse para otra unidad de tracción en el futuro.
Como ruedas utilizaremos los rodillos de tracción de papel de una impresora
HP690C. Estas máquinas llevan 3 rodillos en un eje de 8mm. Con una sola
impresora destripada ya tenemos las dos ruedas, y la otra de repuesto. Como
eje servirán unos tornillos de M4 que coinciden con el diámetro interior de los
rodamientos de disquetera. El diámetro exterior de estos rodamientos es 8mm,
perfecto para ajustarlos al taladro del eje de las ruedas. Las ruedas tienen un
diámetro de 51,5 mm. En la foto pueden verse las ruedas con los rodamientos
y los tornillos que hacen de eje. En una esta ya pegado el piñón de la
transmisión.
En esta foto puede verse los dos conjuntos ya montados.
Conecto el encoder al frecuencímetro (usando el montaje que describí en
"midiendo las revoluciones de un motor") y alimento el motor con distintas
tensiones. Utilizo otro cuentarrevoluciones para medir la velocidad de la
rueda.
Hz M/S V
RPM RPM
Voltios encode lineal
motor rueda
r rueda

2V 1800 3600 195 0,5258

3V 285,6 0,7701

4V 3800 7600 402 1,084

5V 4600 9200 514,2 1,380

6V 612 1,6502

Como el encoder es de 30 pulsos por revolución y 1 minuto son 60 segundos

RPM = (HZ/30) * 60seg. Puede verse que a 4V las 7600 RPM coinciden con
lo dicho por el fabricante del motor. A esta tensión se consigue una velocidad
lineal, con estas ruedas de 51,5 mm de diametro, de 1,084 m/seg que son 3,9
Km/h.
Para rizar el rizo acoplo otro detector de herradura (obtenido del detector de
pista 0 de una disquetera de 3 y 1/2 pulgadas) al disco ranurado del encoder
para obtener la segunda fase del encoder y poder determinar el sentido de giro.
Hay que ajustar la posición para que la salida esté desplazada 90 grados
respecto del que había de origen. De esta forma, con un encoder de 2 fases de
30 pulsos por vuelta, se puede hacer un control muy preciso de la posición y
de la velocidad. También se puede acoplar un mecanismo de ratón de bola
para hacer el encoder completo, pero no con este reductor, no hay sitio.

Como no puedo resistirme a la tentación de ver las ruedas corriendo ya

mismo, monto un triciclo con ¡un cartón!, pegamento térmico, una rueda de
un mueble, las unidades de tracción y una pila de 4,5 V. ¡A correr!!!
Compruebo que puede salvar obstáculos como lapiceros, alicates etc. El peso
del conjunto es de 290 gramos, lo lastro hasta 600 gramos y compruebo que
sube pendientes de 30 grados con mucha soltura. Hay que lijar la goma de las
ruedas porque se endurece superficialmente y no agarra bien (fallo común en
todas las impresoras hp series 500 y 600 y reconocido por HP). El siguiente
paso es construir un chasis en condiciones e ir pensando en la electrónica de
control.
Conclusión: en un par de horas se han conseguido dos unidades de tracción
con unas prestaciones bastante buenas ¡gratis! y hemos aprovechado unos
cuantos cacharros viejos.
Inicio.
mailto:helitp@arra

Rotary Encoder
From Mech
Jump to: navigation, search
A digital optical encoder is a device that converts motion into a sequence of digital
pulses. By counting a single bit or by decoding a set of bits, the pulses can be converted
to relative or absolute position measurements. Encoders have both linear and rotary
configurations, but the most common type is rotary. Rotary encoders are manufactured
in two basic forms: 1) the absolute encoder where a unique digital word corresponds to
each rotational position of the shaft, and 2) the incremental encoder, which produces
digital pulses as the shaft rotates, allowing measurement of relative position of shaft.
Most rotary encoders are composed of a glass or plastic slotted disk. As radial lines in
each track interrupt the beam between a photoemitter-detector pair (or Optointerrupter),
digital pulses are produced. Below is a figure of an encoder with a spinning codewheel
and a stationary mask. Thisstationarymaskisusuallynotused.

Absolute encoder
The optical disk of the absolute encoder is designed to produce a digital word that
distinguishes N distinct positions of the shaft. For example, if there are 8 tracks, the
encoder is capable of producing 256 distinct positions or an angular resolution of 1.406
(360/256) degrees. The most common types of numerical encoding used in the absolute
encoder are gray and binary codes. To illustrate the acion of an absolute encoder, the
gray code and natural binary code dsisk track patterns for a simple 4-track (4-bit)
encoder are illustrated in Fig 2 and 3. The linear patterns and associated timing
diagrams are what the photodetectors sense as the code disk circular tracks rotate with
the shaft. The output bit codes for both coding schemes are listed in Table 1.
 Gra
Decima Rotationran Binaryco
y
l code ge (deg.) de
code

0 0-22.5 0000 0000

1 22.5-45 0001 0001

2 45-67.5 0010 0011

3 67.5-90 0011 0010

4 90-112.5 0100 0110

5 112.5-135 0101 0111

6 135-157.5 0110 0101

7 15.75-180 0111 0100

8 180-202.5 1000 1100

9 202.5-225 1001 1101

10 225-247.5 1010 1111

11 247.5-270 1011 1110

12 270-292.5 1100 1010

13 292.5-315 1101 1011

14 315-337.5 1110 1001

15 337.5-360 1111 1000

Table 1. 4-Bit gray and natural binary codes

Image:Conv.jpg

Fig 4. Gray code to binary code conversion

The gray code is designed so that only one track (one bit) will change state for each
count transition, unlike the binary code where multiple tracks (bits) change at certain
count transitions. This effect can be seen clearly in Table 1. For the gray code, the
uncertainty during a transition is only one count, unlike with the binary code, where the
uncertainty could be multiple counts.
Since the gray code provides data with the least uncertainty but the natural binary code
is the preferred choice for direct interface to computers and other digital devices, a
circuit to convert from gray to binary code is desirable. Figure 4 shows a simple circuit
that utilizes exclusive OR gates (XOR) to perform this function.For a gray code to
binary code conversion of any number of bits N, the most signficant bits (MSB) of the
binary and gray code are always identical, and for each other bit, the binary bit is the
exlcusive OR (XOR) combination of adjacent gray code bits.
Incremental encoder

The incremental encoder, sometimes called a relative encoder, is simpler in design than
the absolute encoder. It consists of two tracks and two sensors whose outputs are called
channels A and B. As the shaft rotates, pulse trains occur on these channels at a
frequency proportional to the shaft speed, and the phase relationship between the signals
yields the direction of rotation. The code disk pattern and output signals A and B are
illustrated in Figure 5. By counting the number of pulses and knowing the resolution of
the disk, the angular motion can be measured. The A and B channels are used to
determine the direction of rotation by assessing which channels "leads" the other. The
signals from the two channels are a 1/4 cycle out of phase with each other and are
known as quadrature signals. Often a third output channel, called INDEX, yields one
pulse per revolution, which is useful in counting full revolutions. It is also useful as a
reference to define a home base or zero position.
Figure 5 illustrates two separate tracks for the A and B channels, but a more common
configuration uses a single track with the A and B sensors offset a 1/4 cycle on the track
to yield the same signal pattern. A single-track code disk is simpler and cheaper to
manufacture.
The quadrature signals A and B can be decoded to yield the direction of rotation as
hown in Figure 6. Decoding transitions of A and B by using sequential logic circuits in
different ways can provide three different resolutions of the output pulses: 1X, 2X, 4X.
1X resolution only provides a single pulse for each cycle in one of the signals A or B,
4X resolution provides a pulse at every edge transition in the two signals A and B
providing four times the 1X resolution. The direction of rotation(clockwise or counter-
clockwise) is determined by the level of one signal during an edge transition of the

second signal. For example, in the 1X mode, A= with B =1 implies a clockwise

pulse, and B= with A=1 implies a counter-clockwise pulse. If we only had a single
output channel A or B, it would be impossible to determine the direction of rotation.
Furthermore, shaft jitter around an edge transition in the single signal would result in
erroneous pulses.
Connecting an Encoder to the PC/104 Stack
To connect an encoder to the PC/104 stack, you will have to create a suitable ribbon
cable connector. The connector that came with the encoder will most likely not match
the correct pinout to attach. Consult the PC104 I/O page to see how to connect the
encoder.
Datasheets
Datasheet for the MaxonTacho 103935 encoder:
Media:maxon_tacho_103935_encoder.pdf
References
Introduction to Mechatronics and Measurement Systems, Histand&Alciatore, 1999
McGraw Hill
Retrieved from
"http://hades.mech.northwestern.edu/index.php/Rotary_Encoder"

Category: Sensors
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Digital Encoders
A digital optical encoder is a device that
converts motion into a sequence of digital
pulses. By counting a single bit or by
decoding a set of bits, the pulses can be
converted to relative or absolute position
measurements. Encoders have both linear
and rotary configurations, but the most
common type is rotary. Rotary encoders are
manufactured in two basic forms: the
absolute encoder where a unique digital
word corresponds to each rotational position
of the shaft, and the incremental encoder,
which produces digital pulses as the shaft rotates, allowing measurement of relative
position of shaft. Most rotary encoders are composed of a glass or plastic code disk with
a photographically deposited radial pattern organized in tracks. As radial lines in each
track interrupt the beam between a photoemitter-detector pair, digital pulses are
produced.
Absolute encoder
The optical disk of the absolute encoder is designed to produce a digital word that
distinguishes N distinct positions of the shaft. For example, if there are 8 tracks, the
encoder is capable of producing 256 distinct positions or an angular resolution of 1.406
(360/256) degrees. The most common types of numerical encoding used in the absolute
encoder are gray and binary codes. To illustrate the acion of an absolute encoder, the
gray code and natural binary code dsisk track patterns for a simple 4-track (4-bit)
encoder are illustrated in Fig 2 and 3. The linear patterns and associated timing
diagrams are what the photodetectors sense as the code disk circular tracks rotate with
the shaft. The output bit codes for both coding schemes are listed in Table 1.
 Gra
Decima Rotationran Binaryco
y
l code ge (deg.) de
code

0 0-22.5 0000 0000

1 22.5-45 0001 0001

2 45-67.5 0010 0011

3 67.5-90 0011 0010

4 90-112.5 0100 0110

5 112.5-135 0101 0111

6 135-157.5 0110 0101

7 15.75-180 0111 0100

8 180-202.5 1000 1100

9 202.5-225 1001 1101

10 225-247.5 1010 1111

11 247.5-270 1011 1110

12 270-292.5 1100 1010

13 292.5-315 1101 1011

14 315-337.5 1110 1001

15 337.5-360 1111 1000

Table 1. 4-Bit gray and natural binary codes

The gray code is designed so that only one track (one bit) will change state for each
count transition, unlike the binary code where multiple tracks (bits) change at certain
count transitions. This effect can be seen clearly in Table 1. For the gray code, the
uncertainty during a transition is only one count, unlike with the binary code, where the
uncertainty could be multiple counts.
Since the gray code provides data with the least uncertainty but the natural binary code
is the preferred choice for direct interface to computers and other digital devices, a
circuit to convert from gray to binary code is desirable. Figure 4 shows a simple circuit
that utilizes exclusive OR gates (XOR) to perform this function.For a gray code to
binary code conversion of any number of bits N, the most signficant bits (MSB) of the
binary and gray code are always identical, and for each other bit, the binary bit is the
exlcusive OR (XOR) combination of adjacent gray code bits.

Fig 4. Gray code to binary code conversion

Incremental encoder
The incremental encoder,
sometimes called a relative
encoder, is simpler in design
than the absolute encoder. It
consists of two tracks and two
sensors whose outputs are called
channels A and B. As the shaft
rotates, pulse trains occur on
these channels at a frequency
proportional to the shaft speed,
and the phase relationship between the signals yields the direction of rotation. The code
disk pattern and output signals A and B are illustrated in Figure 5. By counting the
number of pulses and knowing the resolution of the disk, the angular motion can be
measured. The A and B channels are used to determine the direction of rotation by
assessing which channels "leads" the other. The signals from the two channels are a 1/4
cycle out of phase with each other and are known as quadrature signals. Often a third
output channel, called INDEX, yields one pulse per revolution, which is useful in
counting full revolutions. It is also useful as a reference to define a home base or zero
position.
Figure 5 illustrates two separate tracks for the A and B channels, but a more common
configuration uses a single track with the A and B sensors offset a 1/4 cycle on the track
to yield the same signal pattern. A single-track code disk is simpler and cheaper to
manufacture.
The quadrature signals A and B can be decoded to yield the direction of rotation as
hown in Figure 6. Decoding transitions of A and B by using sequential logic circuits in
different ways can provide three different resolutions of the output pulses: 1X, 2X, 4X.
1X resolution only provides a single pulse for each cycle in one of the signals A or B,
4X resolution provides a pulse at every edge transition in the two signals A and B
providing four times the 1X resolution. The direction of rotation(clockwise or counter-
clockwise) is determined by the level of one signal during an edge transition of the

second signal. For example, in the 1X mode, A= with B =1 implies a clockwise

pulse, and B= with A=1 implies a counter-clockwise pulse. If we only had a single
output channel A or B, it would be impossible to determine the direction of rotation.
Furthermore, shaft jitter around an edge transition in the single signal woudl result in
erroneous pulses..
(Materials taken from Introduction to Mechatronics and Measurement Systems,
Histand&Alciatore, 1999 McGraw Hill)
Bueno aqui hay una confusionmia, porque yo sabia que los encoder (en un
topicomecanico) eran los que son discos perforados
el detalle es que la mayoria de los aparatos nuevos de audio, que trabajan
digitalmente utilizan una especie de potenciometro "digital" y al abrirlos
puedes verlos, investigue un poco y al buscar al fabricante (ALPS
http://www.alps.com/ ) este los llama encoders ò switch/encoder y trabajan
internamente de forma mecanica, bueno este es el tipo de encoder que
quiero utilizar, espero no haber expresado mal mi primer post y haberte
confundido.

SENSORES DE POSICIÓN

Potenciómetro angular
Es un transductor de posición angular, de tipo absoluto y con salida de tipo analógico.
Básicamente es una resistencia de hilo bobinado en una pista de material conductor,
distribuida a lo largo de un soporte en forma de arco y un cursor solidario a un eje de
salida que pueda deslizar sobre dicho conductor . El movimiento del eje arrastra el
cursor provocando cambios de resistencia entre éste y los extremos. De esta forma si se
alimentan los extremos con una tensión constante Vo aparece en la toma de medida una
tensión proporcional al ángulo girado a partir del origen. Interesa que esta variación sea
lineal como se representa en la figura. En cuanto a la respuesta dinámica el
potenciómetro es un elemento proporcional sin retardo, pero la frecuencia de
funcionamiento suele quedar limitada a 5 Hz por motivos mecánicos.
 Potenciómetro angular
Encoders
Los encoders son dispositivos formados por un rotor con uno o varios grupos de bandas
opacas y translúcidas alternadas y un estator con una serie de captadores ópticos que
detectan la presencia o no de banda opaca. Existen dos tipos de encoders, incrementales
y absolutos. Los primeros dan un determinado número de impulsos por vuelta y
requieren un contador para determinar la posición a partir de un origen de referencia, los
absolutos disponen de varias bandas en el rotor ordenadas según un código binario, y
los captadores detectan un código digital completo que es único para cada posición del
rotor.
Los encoders incrementales suelen tener una sola banda de marcas repartidas en el disco
del rotor y separadas por un paso p. En el estator disponen de dos pares de emisor-
receptor ópticos, decalados un número entero de pasos más ¼ de paso. Al girar el rotor
genera una señal cuadrada, el decalaje hace que las señales tengan un desfase de ¼ de
periodo si el rotor gira en un sentido y de ¾ si gira en el sentido contrario, lo que se
utiliza para discriminar el sentido de giro.
Un simple sistema lógico permite determinar desplazamientos a partir de un origen, a
base de contar impulsos de un canal y determinar el sentido de giro a partir del desfase
entre los dos canales. Algunos encoders pueden disponer de un canal adicional que
genere un pulso por vuelta y la lógica puede dar número de vueltas más fracción de
vuelta.
 Encoder Incremental
La resolución del encoder depende del número N de divisiones del rotor, es decir del
número de impulsos por revolución. No debe confundirse lo que es resolución angular
del encoder con la posible resolución de un sistema de medida de coordenadas lineales
que dependerá de la desmultiplicación mecánica.
Los encoders absolutos disponen de varias bandas dispuestas en forma de coronas
circulares concéntricas, dispuestas de tal forma que en sentido radial el rotor queda
dividido en sectores, con combinaciones de opacos y transparentes que siguen un
código Gray o binario .

Encoder absoluto
El estator dispone de un conjunto emisor-receptor ópticos para cada corona del rotor. El
conjunto de información binaria obtenida de los captadores es único para cada posición
del rotor y representa su posición absoluta. Se utiliza el código Gray en lugar de un
binario clásico porque en cada cambio de sector sólo cambia el estado de una de las
bandas, evitando errores por falta de alineación de los captadores. Para un encoder con
N bandas, el rotor permite 2N combinaciones, la resolución será 360° entre los 2N
sectores, por ejemplo para encoders de 12 y 16 bits se obtiene una resolución angular de
0.0879° y 0.00054° respectivamente.
Sincros y Resolvers
Un sincro es un transductor de posición angular de tipo electromagnético. Su principio
de funcionamiento puede resumirse diciendo que se trata de un transformador, en el que
uno de los devanados es rotativo.La configuración más habitual es :
Primario en el rotor y monofásico
Secundario en el estator y trifásico
En la Figura se representa el esquema de un Sincro con la configuración indicada.
Cuando se aplica una tensión senoidal al devando primario, se recogen en los devanados
secundarios de cada una de las fases tres tensiones, cuya amplitud y fase con respecto a
la tensión del primario dependen de la posición angular del rotor.

Funcionamiento del Sincro

En caso de existir una sola fase en el estator existiría una indeterminación en el signo
del ángulo, que desaparece para un estator trifásico.
Una configuración particular del Sincro es la del Resolver, cuyo principio de
funcionamiento es análogo, con las siguientes particularidades constructivas :
Primario en el estator y bifásico
Secundario en el rotor, monofásico o bifásico.
En la Figura se representa de forma esquemática una configuración típica. Los
devanados del estator se alimentan en serie, dando un campo estacionario sobre el eje y
los devanados del rotor recogen distintas tensiones en función de 1 .
 Esquema de resolver
Sensores Inductosyn
Es un transductor electromagnético utilizado para la medida de desplazamientos
lineales, con precisión del orden de micras. Se emplea en máquinas medidoras de
coordenada y máquinas herramientas de control numérico. El transductor consta de dos
partes acopladas magnéticamente, una denominada escala fija y situada paralela al eje
de desplazamiento y otra solapada a la anterior deslizante y solidaria a la parte móvil.

Inductosyn
La parte fija lleva grabado un circuito impreso con pistas en forma de onda rectangular
con un paso p. La parte móvil tiene dos más pequeños, encarados con los de la escala, y
desfasados entre si un número entero de pasos mas ¼ de paso (análogamente a lo visto
para encoders incrementales). Si se excita la parte fija con una señal alterna en cada uno
de los circuitos de la parte deslizante se recoge una tensión que es función del
desplazamiento lineal y el paso de onda de la escala. La amplitud varia entre un máximo
y un mínimo según las que los circuitos fijo y móvil estén enfrentados o decalados ½ de
paso. La medida se realiza sumando el número de ciclos de señal de salida completos,
más la variación dentro de un ciclo. La indeterminación del sentido se resuelve
comparando la fase de los dos captadores.
Sensores LASER
Los sensores LASER pueden utilizarse como detectores de distancias por análisis de
interferencias (interferometría LASER). El principio de funcionamiento se basa en la
superposición de dos ondas de igual frecuencia, una directa y la otra reflejada. La onda
resultante pasa por valores máximos y mínimos al variar la fase de la señal reflejada.
Los sensores industriales generan un haz de luz que se divide en dos parte ortogonales
mediante un separador . Un haz se aplica sobre un espejo plano fijo, mientras el otro
refleja sobre el objeto cuya distancia se quiere determinar, los dos haces se superponen
de nuevo en el separador, de forma que al separarse el objeto se generan máximos y
mínimos a cada múltiplo de la longitud de onda del haz. La distancia se mide contando
dichas oscilaciones o franjas, obteniéndose una salida digital de elevada precisión.

Sensores ultrasónicos
Los sensores ultrasónicos emiten una señal de presión hacia el objeto cuya distancia se
pretende medir, y miden el tiempo que transcurre hasta la recepción del eco reflejado. El
más conocido es el SONAR o en la actualidad los sistema de ecografía, en el campo
industrial se suelen emplear para controlar niveles de sólidos en depósitos, presencia de
obstáculos en celdas robotizadas, detección de grietas en la inspección de materiales o
soldaduras.
Sensores magnetoestrictivos
Están también basados en la detección de un impulso ultrasónico generado por la
deformación elástica que se produce en algunos materiales bajo el efecto de un campo
magnético.
Básicamente se trata de una varilla de material magnético en la que se genera una
perturbación ultrasónica mediante una bobina inductora, sobre la varilla se coloca un
imán móvil que puede deslizarse. El imán provoca un cambio de permeabilidad en el
medio y esto provoca una reflexión de la onda ultrasónica, pudiéndose detectar la
distancia al imán por el tiempo en recibir el eco.
What is an incremental encoder ?
Incremental encoders are sensors capable of generating digital signals in response to
rotary movement. They are employed to convert the rotary movement into electrical
signals and to obtain position and speed measures . The encoder generates a signal for
each incremental change in position . In onjunction with mechanical conversion
devices, such as rack-and-pinions, measuring wheels or spindles, incremental encoders
can also be used to measure linear movement.
Our incremental encoders are designed with an optical electronic circuit. With optical
encoders , a grating disc made of metal or glass associated with a mask interrupts an
infrared beam emitted by a transmitting gallium arsenide diode . The number of gratings
(increments ) determines the system ‘s resolution , ie . the number of increments per
rotation. Every time the infrared beam is interrupted, this is registered by a receiver and
then processed electronically. To make the detection less sensitive to the light level, the
receiver uses a differential measure between two photodiodes : one lighted and the other
masked. The result is a square wave output signal.
Two shifted photosensitive diode arrays deliver squared signals ( A and B) in
quadrature. The Phase shift ( 90° electric ) of signals A and B makes possible to
determine the direction of rotation. In one direction, during the going upof the singal A
the signal B is equal to 1. In the other direction, Deuring the going up the signal A, the
signal B is equal to 0.
The Z or singnal zero comprises only one transparent window delivering one signal by
turn. This signal is gated in synchronism with signals A and B. This zero signal
determines a position of reference and allows reinitializing the system at each turn.
The electronic treatment delivers signals complementary to A, B and Z and makes
possible to remove electric noises by using a differential transmission of the signals.

Output waveform: A leads B for clockwise

rotion from front size
 icles • ProductSele
Guide
oducts > Articles > Is a Modular Encoder Right for Your Application?
• New Produc
Kit", encoders are actually a specialized category of rotary encoders. The difference between a modular • UserManual
standard encoder is that the modular encoder does not incorporate internal bearings into its design. • Datasheets
es on the host, typically a motor, to supply the structural integrity necessary for proper operation. At
is approach seems to be a good idea, since eliminating the bearings can lower the price of the encoder • HowTo/FAQ
verall encoder a lower height profile. For these reasons, Modular Encoders are often favored by motor • ProductArtic
.
dular encoders are definitely not a panacea, and can be good or bad, depending upon personal
he root problem is not modular encoders themselves, but the fact that they are often misapplied, and a
anding of the tradeoffs involved will go a long ways towards preventing a bad experience. The primary
s article is to help you determine whether or not a modular encoder is the right choice for your
addition, you will better understand the tradeoffs involved, and proper implementation, so that you Principio del form
enefits. When applying modular encoders, there are several important considerations that often get Part No:
ut, before we discuss them in detail, let's review what is critical for an encoder's reliable operation.

n Elements
iable output signals, proper axial and radial alignment OR
tating disk and the sensor must be established and Manufactur
is here that the primary area for potential problems occurs. :
coders, this relationship can be properly calibrated at the
an be more easily maintained in the field. However, since
ders do not have bearings, and their most common use
nting them on a motor, the motor's bearings and shaft
t serve as the encoder's optical platform. Understandably,
otors are designed to be motors and their design engineers
o consideration the requirements represented by encoders.
e newer, more tolerant sensor technology is used (such as
Model 121 Modular Encoders), the motor must still meet
. The two most common motor specifications that affect SearchTip
Final del formu
tion are the shaft's axial movement (end float or end play)
total indicated runout (TIR). Typical Encoder Construction Can't find a part
E-mailUs
Shaft Movement (End Float or End Play)
s to the amount of axial movement in the motor shaft. There are a number of factors that can contribute
shaft movement including part tolerances, bearing pre-load method, thermal expansion, and bearing
e. When an encoder is mounted, the amount of end float directly affects the encoder's air-gap (the
een the sensor and the disk). It can be difficult to obtain end float specifications from the motor
and even when you do, the information may not be correct. Some motor designs mechanically lock the
ovement on the feedback end so that end float is minimal. Other motor designs often use a wave spring
up any excess play and provide a pre-load force to the bearings. In this case, you cannot assume that
as been removed by the wave washer, since this is only true until an opposing axial force on the end of
omes the spring force of the wave washer allowing the shaft to move. The results on a modular
ted to this shaft could be disastrous, potentially causing the encoder disc to hit the sensor.
rethissituation can occur are:
a motor shaft is connected to a ball screw, as the motor changes direction, the force from the ball screw
so change directions. This alternating force may cause the motor shaft to move axially.
ocket, pulley, or gear with some side wobble is mounted on the motor shaft, the wobble may cause an
ting axial load to the motor shaft.
ed Runout (TIR)
d Run-out (TIR) measures the radial range of shaft movement about its centerline. If an encoder is to be
e motor shaft, TIR should be measured at that point that represents the furthest extent of the encoder
mple, if the encoder is one inch thick, TIR should be measured about 1" from the motor face. Although
s with new technology Sensors will continue to operate as TIR increases beyond the specified
uracy will be sacrificed.
h Bearings
ers (such as Encoder Products Company's Models 755A and 260) usually include internal bearings.
the amount of axial play is typically controlled to less than 0.0005". In addition, the disk is carefully
optics as part of the calibration procedure to keep radial run out less than 0.0002" typical. In this
itical factors of end float and TIR are controlled and will not be affected by the motor shaft in normal
tainless steel flex mount allows the encoder to tolerate increased TIR and end float from the motor
cing encoder performance or damaging it.
eria
e factors when choosing between a modular encoder and an encoder with bearings:
nd foremost, motor shaft end float and TIR must be within the encoder's specifications. This is so
ant that if you don't have (or can't get) this information on the motor, or don't trust what you have, then
oder with bearings is a much safer choice.
ar encoders can be a good choice for high-speed applications, those above 10,000 RPM, because there
speed limitations dictated by encoder bearings. For example, EPC's Model 121 Modular Encoder has
uccessfully operated at speeds in excess of 40,000 RPM.
motor is to be used under considerable load, where the motor bearings could experience extra wear,
n encoder with bearings would be the better choice.
ar encoders are difficult to seal. If your application needs wash down, your environment is dirty, etc.,
n encoder with bearings and seals should be your first consideration, effectively ruling out modular
rs, unless external protection is used.
application involves a combination of high frequency response (>200kHz), high temperatures (100C
er), and higher resolutions (>2048 CPR), then an encoder with bearings is recommended. This
nation requires that the air-gap be smaller and better controlled for long term reliability. An encoder
earings simply provides a better optical platform.
resolutions in general (up to 1024 CPR) are more forgiving to end float and TIR, and are well suited
dular applications.
plan to use a lot of encoders, then the lower price of a modular encoder could save you some money.
other hand, the additional durability and ease of installation of an encoder with bearings might easily
th the slightly higher price. In any case, you should carefully weigh the factors of long term support
ersus slightly lower acquisition costs before making your final decision.
Quick Selection Chart (listed in order of importance):
Use
Parameter Attribute Use Encoder withbearings
Modular
Within the encoder
end float and TIR mfg.'s Yes Yes
specifications
 Outside the
end float and TIR encoder mfg.'s No Yes
specifications
Don't have the
Notsugge
end float and TIR information or Suggested
sted
don't trust
Above 10,000 Goodpos
pplications Notsuggested
RPM sibility
Motor bearings
Notsugge
pplication have extra load and Suggested
sted
wear
Notsugge
ment Mayneedseals Suggested
sted
h freq. response, >200kHz, >100C, Notsugge
Suggested
>2048 CPR sted
<1024 cycles per Goodpos
ionrequirement Good
revolution sibility
Consider
Acquisition cost
nitsneeded if large Good
vs. Life cycle cost
volume

cided that a modular encoder is the right choice, Model 121 Self-Aligning Encoder is the best
der anywhere. It's innovative, patent pending design eliminates the installation and mounting hassles
r modulars. As a result, the Model 121 does not need calibration gapping or special tools to install. In
step installation is the simplest and quickest in the industry. What's more, the Model 121's all-metal
will not warp or deflect (like non-metal designs), making it the most durable and reliable modular
ble.