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Absolute Vs Incremental
Absolute Vs Incremental
INCREMENTAL
ROTARY ENCO DERS
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FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com
PROS AND CONS O F ABSOLUTE VS. INCREMENTAL
ROTARY ENCO DERS
Binary Code
Binary means "two," or "base two." The cause a shift of more than one bit at a time.
binary system is a way of counting using just If the code pattern on the disc is not 100%
the two numbers 0 and 1. It generates a precise (e.g. caused by production
value from powers to the base of 2. tolerances of the print on the code disc)
The binary code for the decimal number 186 changes in the different tracks would not
for example is 10111010, or: occur simultaneously. Thus the position
7 6 5 4 3
1x2 +0x2 +1x2 +1x2+1x2+0x value cannot be determined unambiguous.
2 1 0
2 +1x2 +0x2 As a consequence invalid position values
would be transmitted to the machine control.
The binary code is a multi-step code, i.e. the You can find more detailed technical info at:
change from one position to another can www.posital.com/products/awc58/awc58.html
www.posital.com
FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com
PROS AND CONS O F ABSOLUTE VS. INCREMENTAL
ROTARY ENCO DERS
The following image explains this problem The transfer from one position can be slightly
visually. When the position changes from 7 to shifted by imprecise scanning, but it is not
position 8 more than one bit (in this case the possible that this would cause incorrect
bits 0, 1 and 2) has to change from dark to position values to be given.
transparent at exactly the same time. If for
any reason one of those bits does not change Another advantage of the gray code is the
simultaneously a wrong position value would easy reversibility. Inverting the most
be forwarded. significant bit can easily change the counting
direction. Therefore it is possible to change
Bin. code the counter direction just by using the
complement-entry.
Bit
3
2
2 The gray code has to be converted into a
2
1
binary code, because the single bits of the
2
0
gray code don’t have a determined value. A
2
code converter that consists of a cascad of
Position 0 .. .. .. 6 7 8 9 XORs´ performs this function.
Gray-Code
Gray-Excess-Code
A solution for this problem is a one-step
The "ordinary" single step gray code is valid
code, such as the gray-code. When the
for resolutions that can be described as a
position changes from 7 to position 8 just
power to the base of 2. For other resolutions
one-bit (in this case 3) changes from
the range of gray code combinations is
transparent to dark.
limited by concentric trimming. This range
doesn't begin at 0, but is shifted by a
Gray code determined value. For evaluation half of the
Bit difference between the original and the
3 reduced resolution is subtracted from the
2
2
2 calculated binary value.
1
2
2
0 For example 360° (one degree resolution):
9
A 9 bit gray code (2 = 512 possible values)
Position 0 .. .. .. 6 7 8 9
is cut at both sides by 76 steps, equals:
www.posital.com
FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com