What is an Encoder?

Any transducer that changes a signal into a coded (digital signal)

Optical Encoders

Use light & photosensors to produce digital code (ie. Lab 3 encoder).

Most popular type of encoder.

Can be linear or rotary.

Types of Optical Encoders

2 types of Optical Encoders:

1. Incremental

Measure displacement relative to a reference point.

2. Absolute

Measure absolute position.

Advantages A missed reading does not affect the next reading. Only needs power on
when taking a reading.

Disadvantages More expensive/complex. Cost/complexity proportional to

resolution/accuracy.

Fundamental Components

Light source(s)

LEDs or IR LEDs provide light source.

Light is collimated using a lens to make the beams parallel.

Photosensor(s)

Either Photodiode or Phototransistor.

Opaque disk (Code Disk)

One or more tracks with slits to allow light to pass through.

Optical Encoder Components

Other Components

Stationary masking disk

Identical

track(s) to Code Disk

Eliminates

error due to the diameter of the light

beam being greater than the code disk window
length.

Quadrature
Two

tracks (A & B) at
90 degrees offset.

Provide

direction
information.

Provides

up to 4
times resolution.

Encoder Disks
Incremental Disk

Absolute Disks

Binary

Gray Code

Absolute
Disk
Codes
Example: 3 bit binary code
Bit 0
Bit 1
Bit 2
Bit 0
Bit 1
Bit 2

Angle

Binary

Decimal

0-45

000

45-90

001

90-135

010

135-180

011

180-225

100

225-270

101

270-315

110

315-360

111

Problem with Binary Code

Angle

Binary

Decimal

0-45

000

45-90

001

90-135

010

1 => 2

135-180

011

001

(start at 1)

180-225

100

000

(turn off bit 0)

225-270

101

010

(turn on bit 1)

270-315

110

315-360

111

One

angle shift
results in multiple bit
changes.

Example:

Problem with Binary Code

Angle

Binary

Decimal

0-45

000

45-90

001

90-135

010

1 => 2

135-180

011

001

(start at 1)

180-225

100

000

(turn off bit 0)

225-270

101

010

(turn on bit 1)

270-315

110

315-360

111

One

degree shift
results in multiple bit
changes.

Example:

It

looks like we went

from 1 => 0 => 2

Gray Code

One bit change per angle change.

Angle

Binary

Decimal

Bit 0

0-45

000

Bit 1
Bit 2

45-90

001

90-135

011

135-180

010

180-225

110

225-270

111

270-315

101

315-360

100

Bit 0
Bit 1
Bit 2

Encoder Reliability and Errors

Encoder errors

1.

Quantization Error Dependent on digital word size.

2.

Assembly Error Dependent on eccentricity of rotation (is track center of

rotation=center of rotation of disk)

3.

Manufacturing tolerances Code printing accuracy, sensor position, and

irregularities in signal generation.

Encoder Reliability and Errors

More encoder errors

4.

Structural Limitations Disk Deformation, physical loads on shaft.

5.

Coupling Error Gear backlash, belt slippage, etc

6.

Ambient Effects Vibration, temperature, light noise, humidity, etc

Applications

Any linear/rotary position/velocity sensing

DC Motor control robotics/automation

Mechanical computer mouse

Digital readouts for measurement gauges

Tachometers planes, trains and automobiles