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Definitions
Note: Refer to Figure 2
Count (N): The number of bar and window pairs or counts
per revolution (CPR) of the codewheel. Or the number of
lines per inch of the codestrip (LPI)
1 shaft Rotation = 360 degrees
= N cycles
1 cycle (c) = 360 electrical degree, equivalent to 1 bar and
window pair.
Pulse Width (P): The number of electrical degrees that an
output is high during one cycle, nominally 180
°e or 1/2
a cycle.
Pulse Width Error (
ΔP): The deviation in electrical degrees of
the pulse width from its ideal value of 180
°e.
State Width (S): The number of electrical degrees between
a transition in the output of channel A and the neigh-
boring transition in the output of channel B. There are 4
states per cycle, each nominally 90
°e.
State Width Error (
ΔS): The deviation in electrical degrees of
each state width from its ideal value of 90
°e.
Phase (
φ): The number of electrical degrees between the
center of the high state on channel A and the center of
the high state on channel B. This value is nominally 90
°e
for quadrature output.
Phase Error (
Δφ): The deviation in electrical degrees of the
phase from its ideal value of 90
°e.
Direction of Rotation: When the codewheel rotates in the
counter-clockwise direction (as viewed from the encoder
end of the motor), channel A will lead channel B. If the
codewheel rotates in the clockwise direction, 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.
Angular Misalignment Error (EA): Angular misalignment of
the sensor in relation to then tangential direction. This
applies for both rotary and linear motion.
Mounting Position (RM): Distance from Motor Shaft center of
rotation to center of Alignment Tab receiving hole.
Theory of Operation
A HEDS-973X is a C-shaped emitter/detector module.
Coupled with a codewheel, it translates rotary motion
into a two-channel digital output; coupled with a
codestrip, it translates linear motion into digital outputs.
As seen in Figure 1, the module contains a single Light
Emitting Diode (LED) as its light source. The light is col-
limated into parallel beam by means of a single lens
located directly over the LED. Opposite the emitter is
the integrated detector circuit. This IC consists of photo-
detectors and a signal processing circuitry necessary to
produce the digital waveforms.
The codewheel/codestrip moves between the emitter
and detector, causing the light beam to be interrupted
by the pattern of spaces and bars on the codewheel/
codestrip. The photodiodes, which detect these interrup-
tions, are arranged in a pattern that corresponds to the
radius and count density of the codewheel/ codestrip.
These photodiodes are also spaced such that a light
period on one pair of detectors corresponds to a dark
period on the adjacent pairs of detectors. The photodiode
outputs are fed through the signal processing circuitry.
Two comparators receive these signal and produce the
final outputs for Channels A and B. Due to this integrated
phasing technique the output of channel A is in quadra-
ture with Channel B (90 degrees out of phase).
Output Waveforms
Figure 2.
P
C
ROTATION
ф
CHANNEL A
CHANNEL B
S1
S4
S2
S3


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