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AEDB-9340-W-13-B Datasheet(PDF) 2 Page - AVAGO TECHNOLOGIES LIMITED |
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AEDB-9340-W-13-B Datasheet(HTML) 2 Page - AVAGO TECHNOLOGIES LIMITED |
2 / 15 page 2 Theory of Operation The AEDB-9340 optical encoder is a emitter-detector module. Coupled with codewheel, these modules trans- late the rotary motion of a shaft into six-channel digital output. The modules contain a single Light Emitting Diode (LED) as light source. The light is collimated into a parallel beam by means polycarbonate lens located directly over the LED. Opposite the emitter is a detector IC. This IC consists of multiple sets of photo detectors and signal processing circuitry necessary to produce digital waveforms output. The codewheel rotates between the emitter and detec- tor, causing the light beam to be interrupted by pattern of spaces and bars on the codewheel. The Photodiodes that detect these interruptions are arranged in a pattern that corresponds to the radius and design of the codewheel. These detectors are also spaced in such away that light period on one pair of detectors corresponds to dark period on adjacent pair of detectors. The photodiode outputs are then fed through the signal processing circuitry resulting in A, A, B, B, I, and I. Comparators receive these signals and produce the final outputs for channels A and B. Due to this integrated phasing technique, the digital output of channel A is in quadrature with that of channel B (90 degrees out of phase). The commutation feedback (U, V, W) signals are generated based on the codewheel design. Definitions Cycles (N): The number of electrical cycles per revolution (CPR). Note: CPR refers to the raw signal from encoder, that is the cycles before 4x decode. One Cycle: 360 electrical degrees ( °e). One Shaft Rotation: 360 mechanical degrees. Cycle Error (D C): An indication of cycle uniformity. The difference between an observed shaft angle which gives rise to one electrical cycle, and the nominal angular increment of 1/N of a revolution. Pulse Width (P): The number of electrical degrees that an output is high during 1 cycle. This value is nominally 180 °e or 1/2 cycle. Pulse Width Error (D P): The deviation, in electrical degrees, of the pulse width from its ideal value of 180 °e. State Width (S): The numbers of electrical degrees between transitions in the output of channel A and the neighboring transition in the output of channel B. There are 4 states per cycle, each nominally 90 °e. State Width Error (D S): The deviation, in electrical degrees, of each state width from its ideal value of 90 °e. Commutation Accuracy (D I): The deviation, in mechanical degrees, after shaft rotates passing the reference point (Index channel) to the first Channel-U pulse. The measurement from middle of Channel-I to rising edge of Channel-U. Phase (f): The numbers of electrical degrees between the center of the high state of channel A and the center of the high state of channel B. This value is nominally 90 °e for quadrature output. This value is nominally 90 °e for quadrature output. Phase Error (Df ): The deviation of the phase from its ideal value of 90 °e. Direction of Rotation: When the codewheel rotates in the clockwise direction viewing from top of the module (direction from pin U to B), channel A will lead channel B. If the codewheel rotates in the opposite direction (direction from pin B to U), channel B will lead channel A. Optical Radius (Rop): The distance from the codewheel’s center of rotation to the optical center (O.C.) of the encoder module. Index Pulse Width (Po): The number of electrical degrees that an index is high with reference to channel A or channel B during one full shaft rotation. |
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