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: