Intelligent Motion Systems MDrive34Plus manual Encoder Signals, Differential Encoder

Encoder Signals

Single-End Encoder (Available with Flying Leads Version only)

X	C		Y			2.4	V	Channel A
						0.4 V
Z
						2.4	V	Channel B
						0.4 V
		t1			t2
						2.4	V	Index
						0.4 V
				Po

Rotation:

CW – B Leads A

CCW – A Leads B

Figure D.2: Single-End Encoder Signal Timing

Differential Encoder

	C
X			Y			2.4			V	Channel A +
								0.4 V
						2.4			V	Channel A -
								0.4 V
Z
							2.4		V	Channel B +
								0.4 V
							2.4		V	Channel B -
		t1						0.4 V
					t2
								2.4	V	Index +
								0.4 V
				Po				2.4	V	Index -
								0.4 V

Rotation:

CW – B Leads A

CCW – A Leads B

Figure D.3: Differential Encoder Signal Timing

Note: Rotation is as viewed from the cover side.

(C)One Cycle: 360 electrical degrees (°e)

(X/Y) Symmetry: A measure of the relationship between X and Y, nominally 180°e.

(Z)Quadrature: The phase lag or lead between channels A and B, nominally 90°e. (Po) Index Pulse Width: Nominally 90°e.

Characteristics
Parameter	Symbol	Min	Typ	Max	Units
Cycle Error			3	5.5	°e
Symmetry		130	180	230	°e
Quadrature		40	90	140	°e
Index Pulse Width	Po	60	90	120	°e
Index Rise After CH B or CH A fall	t1	-300	100	250	ns
Index Fall After CH A or CH B rise	t2	70	150	1000	ns

Over recommended operating range. Values are for worst error over a full rotation.

Appendices A-27