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编码器

编码器常用术语

发布日期:2022-10-09 点击率:466

1. Absolute Encoder:Type of encoder providing a unique binary word for each position.

绝对值编码器:一种为每个位置提供唯一二进制编码的编码器

 

 

 

2.Incremental Encoder:A type of encoder signal providing logic states "0" and "1" alternately for each successive cycle of resolution.

增量型编码器:在分辨率范围内每个连续循环内交替给出逻辑信号 "0" 和 "1"的编码器

 

3.Absolute Waveform:A binary output waveform which provides a unique parallel word code pattern for every position increment of the encoder shaft, corresponding to the resolution of the encoder. Typical parallel waveforms are Gray Code, Natural Binary, and Binary Coded Decimal.

绝对值波形:对应编码器的分辨率,为编码器轴每个位置增量都提供唯一的并行代码的二进制输出波形。典型的并行代码波形有格雷码、自然二进制码和二进制编码的十进制码。

 

4.Incremental Waveform:Two series of square wave cycles offset by 90 degrees whose period is determined by the resolution and rotational speed of the encoder. Typically a once-per-revolution index pulse as well as the inverse of the index and data lines are also part of the standard waveform of an incremental encoder.

增量型波形两个偏移90度的系列方波,方波周期取决于编码器的分辨率和旋转速度。通常,每周一次的INDEX脉冲,以及INDEX信号的反转及数据线也是增量型编码器标准信号的一部分。

 

5.Accuracy:This is the deviation between the actual position and the theoretical position of each bit edge. The base accuracy of an encoder is traceable to the encoding disc. Accuracy is different from and is not directly related to resolution.
精度是指每位边缘实际位置值与理论值之间的偏差。编码器的基本精度取决于编码光盘。精度与分辨率不是同一个概念,并且与分辨率没有直接关系。

 

6.Index:A single, separate output on an incremental encoder providing one count per revolution. This is often gated to one or both of the count channels, so that the index maintains the same relationship with the count channels on every revolution.

索引:在增量型编码器上每转给出一个单一独立输出信号。Index信号通常是一个或两个计数通道的起始点,因此在没转上它与计数通道都保持同一位置关系。

 

7.Angular Resolution:The resolution of a rotary encoder expressed as a portion of a circle (i.e. a resolution of 360 cycles per turn, is the same thing as an angular resolution of 1 degree)

角分辨率:旋转编码器的分辨率也可以解释为一个圆周上的等分数(比如:每圈360等分的分辨率与角分辨率为1度是同样的概念)。

 

8.Interpolation:An electronic multiplication technique for increasing encoder resolution. Certain interpolation techniques can also increase the encoder bandwidth. See also, Edge Detection.

插补:一种增加编码器分辨率的电子倍增技术。某些插值技术还可以提高编码器的带宽。也可以参考:边缘检测。

 

9.Bandwidth:The upper usable frequency range of operation for an encoder. Usually determined by the encoder resolution, type of output driver, the type and impedance of the cable, and the type of output receiver.

带宽:是指编码器工作允许的最高可用频率范围。通常取决于编码器的分辨率,输出驱动的类型,电缆的类型和阻抗以及输出接收器的种类。

 

10.Binary Coded Decimal:Decimal number represented in natural binary. For example, 360 would be represented as the 12-bit binary number 0011 0110 0000.

二进制编码的十进制自然二进制表示的十进制数。例如,360将表示为12位二进制数00110110 0000。

 

11.Bit:In incremental encoders a bit refers to 1 quantum of data or 1 increment of digital code. In absolute encoders a bit refers to the number of tracks which normally equate to the power of 2 of the final resolution, e.g., 8 bits equals 2 to the 8th power (256 positions), 12 bits equals 2 to the 12th power (4096 positions), etc.

:在增量型编码器中,一位是指数据的一单位或者数值编码的一个增量。在绝对值编码器中,位是指通道的数目,通常等于2的指数(指数值为最大分辨率值),如:8位就等于2的8次方(256个位置),12位等于2的12次方(4096个位置)等等。

 

12.Line Count:This is often used to mean resolution. It refers to the number of lines that are contained in the code pattern of the code disk on an incremental encoder.

行数:通常用来表示分辨率。它是指在增量型编码器码盘编码模式所含有的行的数目。

 

13.Line Driver:A type of encoder output. This is the general term used for a differential output driver intended for use with a differential receiver. Line drivers can be used to source or sink current, have a low output impedance and, when used with a differential receiver, have a high noise immunity, even when used with particularly long cable runs.

线性输出:编码器输出的一种方式。它是一个通用术语,用于描述为满足差动接收而采用的差动输出驱动器。当采用差动接收器时,线性输出可以采用源电流或灌电流方式,它有低的输出阻抗,有高的抗干扰能力,特别是电缆特别长的时候。

 

14.Complement:The inverse of a digital signal. When a data channel transitions from the HI state to the LO state, it’s complement will transition from LO to HI. Complementary output signals, when used with a differential receiver can utilize common mode noise rejection (CMNR) to reduce noise susceptibility.

互补输出:数字信号的反值。当数据通道传输从高电平状态变化到低电平状态,补充信号就会从电平状态变为高电平状态。当采用差动接收器时,互补输出信号可以利用共模噪声抑制(CMNR)来降低噪声干扰。

 

15.Natural Binary Code:A common absolute encoder output format, it is constructed so the code counts up using natural sequence of binary counting. Example, the counting goes 000, 001, 010, 011, 100, and so on. The drawbacks to using this code sequence is that at several count positions, the code will have transitions on multiple bits simultaneously. Because of the normal variations caused by gate delays, line impedances, and other factors, the actual transitions don't occur simultaneously. Reading data during one of these times could result in an erroneous reading. Control systems can overcome this issue by taking multiple readings.

自然二进制码:绝对值编码器常用的一种输出格式。基于它的构造,计数采用二进制计数的自然顺序。例如,从000,001,010,011,100计数等等。使用这种代码顺序计数的缺点是,在几个计数位置,代码同时在多个位转换。因为门延迟,线路阻抗,以及其他因素所造成的变化,实际的转换会不同时出现。读取数据,可能会导致错误的读数。控制系统通过采取多次读数的方式可以克服这个问题。

 

16.Open Collector:A type of encoder output driver that utilizes an NPN transistor. Electrically it is a current sink and requires a pull-up resistor from the supply voltage to the signal high line. This resistor can be internal or external to the encoder.

集电极开路:采用NPN晶体管作为编码器输出驱动器。电气上,它是灌电流型式,需要在电源电压和信号线之间采用一个上拉电阻。这个电阻可以安装在编码器内部或外部。

 

17.Edge Detection:Also called quadrature detection. A technique used in incremental quadrature encoders whereby the controller counts the edge transitions on the encoder signals. Counting the transitions on a single channel doubles the resolution (two transitions for every cycle). Counting transitions on two channels in quadrature results in four times the base resolution.

边缘检测:也叫正交检测。是增量正交编码器采用的一种技术,这种技术是在编码器信号边缘转换时,控制器计数。单通道的计数值是分辨率的两倍(每一个循环会有两次变化)。两通道的计数值是分辨率的4倍。

 

18.Parallel Absolute Output:Each bit of the data word is output in parallel on a separate data line. For example, an 8-bit parallel output would have eight distinct data lines. Together these eight lines are capable of representing up to 256 unique positions. Resolution for absolute encoders is expressed in bits and counts, where each successive bit increases the resolution by a factor of two. 10 bits = 210 = 1,024 counts per revolution.

并行绝对值输出数据的每个位是在一根独立的数据线上并行输出。例如:8位并行输出就会有8根数据线。8根数据线一起可以代表256个唯一的位置。绝对值编码器的分辨率可以用位和计数来说明,每个连续位的增加是分辨率提升2倍。10位= 210 = 1024计数/每圈.

 

19.PPR:Pulses per Revolution (see Resolution).

PPR:每圈的脉冲数。

 

20.Gray Code:A common absolute encoder output format based on binary counting, but it avoids the multiple transition problem entirely, It differs from Natural Binary in that only one bit can transition at a time.

格雷码:绝对值编码器基于二进制计数的一种通用输出格式,但它完全避免了多输出问题,它也区别于自然二进制码只能输出一位的情况。

 

Quadrature:Two incremental output channels that are deliberately out of phase by 90 electrical degrees. The relationship between the two channels is set within the encoder. A typical quadrature relationship would be described as: A leads B for counterclockwise (CCW) rotation of the input shaft. Quadrature allows for discrimination between direction of movement (CW versus CCW), error detection in high vibration environments and higher resolution by using edge detection.

Hysteresis:A dead band purposely introduced in the encoder electronics. This helps to prevent transition ambiguities if the system happens to dither on a transition.

Repeatability:The deviation of the actual encoder position produced between subsequent identical code readings. The ability to repeat exact bit placements. Repeatability is unrelated to resolution and is usually 4 to 10 times better than accuracy.

Resolution:The number of bits or words contained in the complete code. For incremental and tachometer encoders, resolution is defined as cycles per revolution. For absolute single turn encoders, it is called counts per turn. Multiturn encoders are specified as positions per turn of the input shaft and the number of turns of the internal gear ratio. Resolution is not the same as accuracy.

Serial Synchronous Interface (SSI):SSI is a means to transmit encoder position information on a single pair of conductors instead of one conductor per bit. A clock pulse train from a controller tells the encoder when to send out data bits: one bit of position data is transmitted to the controller per one clock pulse received by the sensor.

Transition:Change of state of the digital word. This occurs at the bit or word edge.

 

输出相

增量型式的输出信号数。包括1相型(A相)、2相型(A相、B相)、3相(A相、B相、Z相)。Z相输出1次即输出1次原点用的信号。

输出相位差

轴旋转时,将A相、B相各信号相互间上升或下降中的时间偏移量与信号1周期时间的比,或者用电气角表示信号1周期为360°。

A相、B相用电气角表示为90°的相位差。

CW

即顺时针旋转(Clock Wise)的方向。从轴侧面观察为向右旋转,在这个旋转方向中,通常增量型为A相比B相先进行相位输出,绝对型为代码增加方向。

CW方向反旋转时为CCW(Counter Clock Wise)

输出功效比

使轴以固定速旋转时输出的平均脉冲周期时间与1周期的H位时间的比。

最高响应频率

响应信号所得到的最大信号频率。

上升时间、下降时间

输出脉冲的10~90%的时间。

输出电路

(1)开路集电极输出

以输出电路的晶体管发射极为共通型,以集电极为开放式的输出电路。

(2)电压输出

以输出电路的晶体管的发射极为共通型,在集电极与电源间插入电阻,并输出因电压而变化的集电极的输出电路。

(3)线路驱动器输出

本输出方式采用高速、长距离输送用的专用IC方式,是依据RS422-A规格的数据传送方式。信号以差动的2信号输出,因此抗干扰能力强。接受线路驱动器输出的信号时,可使用称为线路接

(4)补码输出

输出上具备NPN和PNP2种输出晶体管的输出电路。根据输出信号的「H」、「L」,2个输出晶体管交互进行「ON」、「OFF」动作。使用时,请在正极电源、OV上进行上拉、下降后再使用。补码输出,包括输出电流的流出、流入两个动作,其特征为信号的上、下降速度快,可延长代码的长距离。可与开路集电极输入机器(NPN、PNP)连接。

启动转矩

旋转式编码器的轴旋转启动时必须的旋转力矩。通常旋转时,一般取比本值低的值。轴为防水用密封设计时,启动转矩的值较高。

惯性力矩

表示旋转式编码器的旋转启动、停止时的惯性力的大小。

轴容许力

是加在轴上的负载负重的容许量。径向以直角方向对轴增加负重,而轴向以轴方向增加负重。两者都为轴旋转时容许负重,该负重的大小对轴承的寿命产生影响。

动作环境温度

是满足规格的环境温度,也是接触外界温度与旋转式编码器的相关零件的温度容许值。

保存环境温度

在断电状态下,不会引起功能劣化的环境温度,也是接触外界温度及与旋转式编码器的相关零件的温度容许值。

保护构造

保护构造的标准是为了防止外部的异物侵入旋转式编码器内。根据IEC60529规格、JEM规格的规定,用IP□□表示。

绝对代码

(1)二进制代码

本代码为纯2进制代码,用2n表示。可通过位置的转换变换复数的位有。

(2)格雷码

转换位置时,只有1位发生变化的代码。 旋转式编码器的代码板为格雷码。

(3)余格雷码

是用格雷码表示36、360、720等2n以外的分辨率时 的代码。格雷码的性质为 :将格雷码的最上位从“0”切换至“1” 时起,当数值小的一方和数值大的一方分别只取相同区域时,在该范围内从代码的结束与开始进行转换时,只改变1位信号。根据这种性质,可按格雷码进行任意的偶数分辨率设定。 但此时,代码的起始不是从0位置开始,而是从中途的代码开始,所以实际使用时,需要进行代码转换处理,转换至由0位置起的代码后再使用。二进10进制代码(Binary Coded Decimal Code)。是分别用2进符号表示10进制各位的代码。

串行传送

对应同时输出多位数据的通常并联传送,可采用由一个传送线进行系列化输出数据的形式,目的是节省连线,在接受信号侧则变换成并联信号后使用。

中空轴型(空心轴型)

旋转轴为中空轴形状,通过将驱动侧的轴直接与中空孔连接,可节省轴方向的空间。

以板簧为缓冲,吸收驱动轴的振动等

金属盘

编码器的旋转板(盘)是用金属制成的,与玻璃旋转板(盘)相比,更强化了耐冲击性。但受到狭缝加工的制约,不能应用于高分辨率。

伺服装置

编码器的安装方法之一是:用伺服装置用配件,压住编码器的法兰部后固定的方法。在临时固定的状态下,可进行编码器旋转方向的位置调节,所以适用于需要与编码器的原点相吻合的情况。

→ 第1118、1119页

绝对代码表

10进制

二进制

格雷

格雷

余留
14符号

BCD

10

1






























































































































































































































































 




















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