Digitalencoder
Digitalencoder
Magnetic encoders use a combination of permanent magnets and magnetic sensors to detect movement and
position. A typical construction uses magnets placed around the edge of a rotor disc attached to a shaft and
positioned so the sensor detects changes in the magnetic field as the alternating poles of the magnet pass over
it. The simplest configuration would have a single magnet, with its north and south poles on opposite edges of
the rotor, and a single sensor. Such a device would produce a sine wave output with a frequency equal to the
rotational speed of the shaft. With a second sensor, set 90° apart from the first and therefore generating a
cosine output, it becomes possible to not only detect the direction of rotation but also to interpolate the
absolute position of the shaft from the sine and cosine signals . For incremental encoders, the sinusoidal
outputs from the sensors are converted to square waves so the resulting quadrature waveforms can only be
encoded to one of four possible angular positions. Greater resolution is achieved by increasing the number of
magnetic poles around the rotor and by having more sensors. For example, 1024 positions (or 10-bit
resolution) can be achieved with four sensors and 128 poles.
Resolution is limited by the size of the magnetized spot and complicated by interaction between magnetized
spots on adjacent tracks. Magnetic encoders overcome the basic speed limitation of contact encoders and
offer greater longevity by eliminating physical contact between disc and sensor. Also, magnetic encoders
function well in environments hostile to contact types where any of the magnetic scanning techniques can be
successfully employed. However, high ambient fluxes or radiation densities can destroy the disc pattern or
inhibit saturated core operation. Greater precaution against mutual electromagnetic interference is required
when magnetic encoders are included in the system.
CAPACITIVE ENCODER
The basic principle behind capacitive encoders is that they
detect changes in capacitance using a high-frequency reference
signal. This is accomplished with the three main parts—a
stationary transmitter, a rotor, and a stationary receiver.
(Capacitive encoders can also be provided in a “two-part”
configuration, with a rotor and a combined
transmitter/receiver.) The rotor is etched with a sinusoidal
pattern, and as it rotates, this pattern modulates the high-
frequency signal of the transmitter in a predictable way.
The receiver disk reads the modulations, and on-board electronics translate them into increments of rotary
motion. The electronics also produce quadrature signals for incremental encoding, with resolution ranging
from 48 to 2,048 pulses per revolution (PPR). Although capacitive devices are not generally available as
standard hardware, up to 19-bit, single turn units have been produced. Theoretically, the capacitive technique
can be used to accomplish any of the encoding tasks performed by the contact, optical, or magnetic type.
However, practical problems of design, manufacture, and operation have limited the use of capacitive
detection.
ABSOLUTE AND INCREMENTAL ENCODERS
Rotary encoders track speed and position. Absolute and incremental encoders both do this, but operate
differently and have different methods of implementation. Rotary incremental encoders work by generating a
series of pulses during movement. The encoder disc (sporting marks or slots) attaches to a power-
transmission shaft, and a stationary pickup device mounts nearby. When the shaft and disc turn, the pickup
tracks the motion to output the relative position. Such encoders generally supply square-wave signals in two
channels that are offset from each other by 90° — in other words, out of phase by 90°. Each increment of
rotation spurs an output signal. Note that rotary incremental encoders begin counting from zero each time
the encoder powers up, and electronics store the data in an external buffer or counter. This is true regardless
of where the shaft actually is radially. As such, incremental encoders must always come back to a reference
point. This must occur both when the machine initially starts and whenever something interrupts its power
supply. Here, battery backups can help eliminate the need for re-homing after shutdowns.
Incremental encoders are generally simpler and cheaper than absolute encoders. Absolute encoders have an
encoder disc (sporting marks or slots) on a power-transmission shaft and a stationary pickup, but the disc
marks output a unique code for each shaft position. Absolute encoders are either single-turn or multi turn
encoders. Single turn absolute encoders can verify position within a single turn of the encoder shaft. This
makes them useful for short travel situations. In contrast, multiple-turn absolute encoders are better for more
complex or longer positioning situations. Encoders are generally termed as absolute encoders by the number
of their output bits, which correlates to the number of the disc’s tracks—and the maximum rotary angle the
encoder registers. Absolute rotary encoders have the advantage of non-volatile memory. That is, they do not
lose track of positioning even when power fails. So even if something moves the machine shaft when power is
off, an absolute encoder keeps track of the rotary-position change when the machine powers on again.
Usually, electronics store this information as binary code, ideally Gray binary code. Absolute rotary encoders
can operate point-to-point as well. They are useful in situations where safety is a concern, because they
position whenever machines power on. Immunity to electoral noise is another benefit. It must be noted that
absolute rotary encoders are generally more expensive than incremental encoders. However, the cost of
absolute encoders has steadily decreased over the last decade, and that’s driven steady increase of their use.