HUGO
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Design and Development
Pulsecounter feedback
The encoders, one in each gearbox,
provides a simple square signal for further processing
in the control system. Its impulses can be counted for
exact positioning and determining speed. Channels A
and B pick up phase shifted signals, which are compared
with one another to determine the rotation direction.
A "home" pulse with index channel I is used
as a reference point for precise determination of rotation
angle.
The line driver produces theese complementary
signals,
A - Ainv
B - Binv
I - Iinv
which help to eliminate interference
on long signal lines.
In addition, an electronic driver is installed in the
encoder that improves signal quality by steeper signal
edges.
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