Wikipedia:VideoWiki/Incremental Encoder
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Introduction
An, incremental encoder, is an electromechanical motion detector. It has two output signals, A and B, which issue pulses when the device moves.{{cite web |last1=Sensoray |title=Introduction to Incremental Encoders |url=http://www.sensoray.com/support/appnotes/encoders.htm |accessdate=18 July 2018}} Together, these signals indicate the direction of movement and distance traveled.
File:VW RotaryIncrementalEncoder.jpg
Types
Incremental encoders are generally classified as either rotary or linear.
File:RotaryLinearAsPrintedWords.png
=Linear type=
Linear encoders move along a linear path. Each output pulse corresponds to a constant, linear distance.
=Rotary type=
In rotary encoders, movement consists of a shaft rotating about a central axis. Each output pulse corresponds to a constant angular change of the shaft.
Quadrature encoding
The pulses are quadrature-encoded, meaning that when the encoder is moving at constant speed, the signals are square waves. with equal on and off times,
File:VW Cycle called hertz.gif
=Phase difference=
and there is a 90 degree phase difference between the, A, and B signals.{{cite web |last1=Craig |first1=K. |title=Optical Encoders |url=http://engineering.nyu.edu/mechatronics/Control_Lab/Criag/Craig_RPI/SenActinMecha/S&A_Optical_Encoders.pdf |accessdate=25 July 2018}} The phase difference is positive or negative, depending on the direction of movement. For example,
File:VW_Quadrature_Diagram.png
=Positive phase difference=
In this diagram, A, rises before B, so the phase difference is positive. However,
File:VW Quadrature Diagram 1.png
=Negative phase difference=
when the encoder moves in the opposite direction, B rises before A, so the phase difference is negative. The direction of movement can be determined by measuring this phase difference.
File:VW Quadrature Diagram 2.png
=Sensing method=
Incremental encoders employ various techniques to sense movement, and to generate pulses when movement is detected.
File:Cedar Point Iron Dragon going around corners (2740).webm
=Optical encoders=
In optical encoders, light is shined on an optical detector such as these. As the encoder moves, the light is alternately blocked and allowed to pass through to the detector.
=Example mechanism=
In the device shown here, the edge of a transparent disc passes between a light source and detector. As the disc rotates, the black bands on the disc block the light, whereas the gaps between the bands allow light to pass.
File:VW Inkrementalgeber mit gabellichtschranke.jpg
Pulse generation
The optical detector will output pulses as the disc alternately blocks and passes light. The frequency of the optical interruptions is proportional to encoder speed. Consequently, encoder speed can be determined by measuring the pulse frequency.
File:VW Incremental encoder.gif
=Quadrature generation=
An incremental encoder has two pulse generators, which are mechanically coupled to each other to produce synchronized, quadrature outputs.
=Rotary encoder mechanism=
Rotary encoders typically use a single rotating disc which has two concentric optical interrupters, one for the A output and another for the B output. The patterns of the two interrupters are staggered to produce quadrature-encoded signals.
File:VW Incremental directional encoder.gif
=Linear encoder mechanism=
Linear incremental encoders employ a similar technique, but use a linear scale to produce the output pulses.
File:VW Linear Scale Scheme.png
Interface
Incremental encoders do not indicate the location or position of a mechanical system; they only report incremental movements.{{cite web |title=The Basics of How an Encoder Works |url=http://encoder.com/core/files/encoder/uploads/files/WP-2011.pdf |publisher=Encoder Products Company |accessdate=23 July 2018}}
File:VW_Sign_at_Vinappen_Fedje.jpg
=Interface example=
To determine position, it is necessary to send the encoder signals to an electronic circuit known as an incremental encoder interface, such as the one shown here.
File:VW 6-axis incremental encoder interface; adapted to VideoWiki aspect ratio.jpg
=Counter=
The interface keeps track of position by counting encoder pulses. It counts up when the quadrature phase difference is positive and down when the difference is negative, or vice versa. To do this, interfaces employ a quadrature decoder to convert the A and B pulses into direction and count enable signals, which in turn control an up/down counter.
Applications
Incremental encoders report position changes in real-time, making them useful for monitoring and controlling motion in numerous applications.{{cite web |title=Encoder Primer |url=http://irtfweb.ifa.hawaii.edu/~tcs3/tcs3/0306_conceptual_design/Docs/05_Encoders/encoder_primer.pdf |website=NASA Infrared Telescope Facility (IRTF) |publisher=Institute for Astronomy, University of Hawaii |accessdate=17 August 2018}} They are commonly used to control automated machining equipment, such as CNC mills.
=Escalators=
Rotary incremental encoders are used for closed-loop speed control of conveyor belts and other conveyor systems, including escalators and moving sidewalks.
=Trackballs=
=Mice=
=Mouse innards=
two rotary encoders are used, to simultaneously monitor position on two different axes.
File:VW Mouse mechanism diagram.png
=Radar speed=
A radar uses a single rotary encoder in two different ways. The encoder's pulse frequency is measured and used to control the rate of antenna rotation.
File:VW Rotating marine radar - rotating waveguide antenna.gif
=Radar bearing=
The pulses are also counted. To keep track of the antenna angle. When the radar detects an object, the target bearing is indicated by the pulse count.
=Pipeline inspection=
Rotary encoders are used to monitor underground pipeline inspection tractors. This is made possible by a cable which is towed behind the tractor. The incremental encoder monitors the length of cable that pays out as the tractor drives through a pipe. The exact location of the tractor can be determined by counting encoder output pulses.
File:VW Kanalinspektionsfahrwagen.jpg
=Motion platforms=
Incremental encoders are used to control motion platforms in aircraft simulators and amusement rides.
File:VW Hexapod general Anim.gif
=Robotics=
Incremental encoders are extensively used in robotics, to control the position and speed of mechanical components.
File:Robocup 2016 Leipzig - SIEMENS Robot.ogv
=PCB mount=
Some, rotary encoders are designed to be mounted on circuit boards. These typically have a knob attached to the shaft, and are used as hand-operated controls in electronic equipment.
=CMM=
Linear encoders are used when extremely high accuracy is required, because they eliminate errors caused by mechanical backlash. Common applications include position monitoring in coordinate measuring machines.
=Steppers=
and precise, high-resolution position control in steppers, used in semiconductor fabrication.
File:VW Autostep i-line stepper.jpg
References
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