CN108827351A - A kind of rotary encoder and its measurement method - Google Patents
A kind of rotary encoder and its measurement method Download PDFInfo
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- CN108827351A CN108827351A CN201810689467.XA CN201810689467A CN108827351A CN 108827351 A CN108827351 A CN 108827351A CN 201810689467 A CN201810689467 A CN 201810689467A CN 108827351 A CN108827351 A CN 108827351A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/3473—Circular or rotary encoders
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Abstract
This application discloses a kind of rotary encoder and its measurement methods, code-disc including circular ring shape, the first absolute code channel, increment code channel and the second absolute code channel being disposed in parallel on code-disc and the composite reading head for reading code channel location information；The present invention is carved with the first absolute code channel on code-disc surface, increment code channel and the second absolute code channel, cooperate composite reading head using the first absolute code channel, it realizes and utilizes the first absolute code channel and composite reading head under high speed operation mode, the code channel location information of high speed is obtained in the case where guaranteeing certain precision, cooperate composite reading head using increment code channel and the second absolute code channel, realize the code channel location information of the code channel location information that the second absolute code channel feedback is obtained under high precision mode and increment code channel and the second absolute code channel feedback signal difference compensation, obtain the code channel location information of high-accuracy high-resolution, realize that single rotary encoder is provided simultaneously with the function to high speed operation mode and high precision mode measurement.
Description
Technical field
The present invention relates to photoelectric measurement field, in particular to a kind of rotary encoder and its measurement method.
Background technique
With the development of encoder measuring technique, absolute position encoder technology is introduced in encoder, and exhausted formula rotation is compiled
Code device may include two code channels：Absolute code channel and increment code channel；Absolute code channel is by the light transmission of regular length or lighttight
Groove rearranges in measurement direction, does not have periodicity in measurement length, and the groove of fixed quantity constitutes a representative
The coding of absolute position；Increment code channel is made of periodic groove, and the period is usually 20 μm；For absolute type rotary coding
Device obtains absolute location information by reading position coding when usually powering on for the first time, can then carry out to increment code channel
It counts, segment to carry out position calculating, absolute code channel intermittent can carry out relatively examining, without participating in position letter each time
In the acquisition of breath, the acquisition real-time of location information is thus drastically reduced, i.e., exhausted formula rotary encoder can be short
Location information is acquired in time, the requirement of real-time accuracy position acquisition is but not achieved, meanwhile, it is less than in code-disc diameter
When certain threshold value, since reading head focal length is constant, imaging definition can decline, i.e., resolution ratio does not reach requirement.
It include two code channels on its code-disc of more code channel encoders, in the case where maximum measures Zhou Changwei W, one of code
The period in road is W/n, and the period of another code channel is W/ (n-1), and wherein n is positive integer.For same perimeter W, n is bigger,
The absolute location information resolution ratio so obtained is higher, but the noise due to being limited to electronic circuit introducing, the value of n by
To certain restrictions, therefore the maximum measurement length and resolution ratio of more code channel encoders, there are restricting relation, resolution ratio to be made reaches
The diameter of certain precision, code-disc increases with it, and needs a plurality of periodical code channel to cooperate because completing Absolute position measurement,
Therefore its illuminating area, detector receiving area are larger, to the performance of product, such as maximum operating speed and acceleration, assembly
There is certain influence.
Therefore, it is necessary to the rotary encoders that one kind can meet high speed operation mode and high precision mode simultaneously.
Summary of the invention
In view of this, can meet simultaneously the purpose of the present invention is to provide a kind of rotary encoder and its measurement method
The job requirement of high speed operation mode and high precision mode.Its concrete scheme is as follows：
A kind of rotary encoder, code-disc including circular ring shape, the first absolute code channel being disposed in parallel on the code-disc, increasing
Measure code channel and the second absolute code channel and the composite reading head for reading code channel location information.
Optionally, the composite reading head includes single-code channel electro-optical imaging sensors, single-code channel light source module, dual track light
Electrical image sensor and dual track light source module；
The single-code channel electro-optical imaging sensors, for obtaining the single-code channel location information；
The dual track electro-optical imaging sensors, for obtaining the dual track location information.
Optionally, the single-code channel light source module includes first light source module, is located at immediately below the first light source module
The first lens, the first reflective mirror immediately below first lens and parallel with first reflective mirror first semi-transparent
Mirror；
The first light source module, for emitting light to first lens；
First lens refract to first reflective mirror for the light to be become parallel rays；
First reflective mirror, for the parallel rays to be reflected into first pellicle mirror；
First pellicle mirror, for the parallel rays to be reflected into the described first absolute code channel, absolutely by described first
The single-code channel electro-optical imaging sensors is irradiated back to the light of code channel reflection.
Optionally, the dual track light source module includes second light source module, is located at immediately below the second light source module
The second lens, the first optical module below second lens and the second optical mode below the lens
Block；
Second lens, the light refraction for emitting the second light source module are two parallel light difference
Emit to first optical module and second optical module；
First optical module and second optical module, be respectively used to expose to light the increment code channel and
The light of the increment code channel and the second absolute code channel is irradiated back the dual track photoelectricity figure by the second absolute code channel
As sensor；
Wherein, first optical module and second optical module include reflective mirror and pellicle mirror.
The invention also discloses a kind of rotary encoder measurement methods, are applied to rotary encoder above-mentioned, including：
When being in high-speed mode, the composite reading head reads the single-code channel location information of the described first absolute code channel；
When being in high precision mode, the composite reading head reads pair of the increment code channel and the second absolute code channel
Code channel location information；
When being in composite mode, the composite reading head reads the first absolute code channel, the increment code channel and described
The multi-code road location information of second absolute code channel.
Optionally, the composite reading head reads the first absolute code channel, the increment code channel and described second absolutely
The process of the multi-code road location information of code channel, including：
The composite reading head reads the single-code channel location information of the described first absolute code channel；
Using the single-code channel location information, the direction of motion, zero message and the amount of bias of the code-disc are obtained；
The composite reading head reads the dual track location information of the increment code channel and the second absolute code channel；
Using the direction of motion, the zero message, the amount of bias and the dual track location information, obtain described
Multi-code road location information.
Optionally, the composite reading head is also used to that it is default to judge whether code-disc revolving speed meets using code channel location information
Threshold value, if it is satisfied, then the composite reading head enter the high-speed mode, if conditions are not met, then the composite reading head into
Enter the high precision mode.
In the present invention, rotary encoder, code-disc including circular ring shape, the first absolute code channel being disposed in parallel on code-disc,
Increment code channel and the second absolute code channel and the composite reading head for reading code channel location information；The present invention scribes on code-disc surface
There are the first absolute code channel, increment code channel and the second absolute code channel, cooperates composite reading head using the first absolute code channel, realize in height
The first absolute code channel and composite reading head are utilized under speed running mode, the code channel position that high speed is obtained in the case where guaranteeing certain precision is believed
Breath cooperates composite reading head using increment code channel and the second absolute code channel, and realization obtains the second absolute code under high precision mode
The code channel location information of the code channel location information and increment code channel of road feedback and the second absolute code channel feedback signal difference compensation, obtains
The code channel location information of high-accuracy high-resolution realizes that single rotary encoder is provided simultaneously with to high speed operation mode and high-precision
The function of mode measurement.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of rotary encoder schematic perspective view provided in an embodiment of the present invention；
Fig. 2 is a kind of code channel structural schematic diagram of rotary encoder provided in an embodiment of the present invention；
Fig. 3 is a kind of high-speed mode operating status schematic diagram of rotary encoder provided in an embodiment of the present invention；
Fig. 4 is a kind of high precision mode operating status schematic diagram of rotary encoder provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Shown in Figure 1 the embodiment of the invention discloses a kind of rotary encoder, code-disc 1 including circular ring shape is set side by side
Set the on code-disc 1 first absolute code channel 10, increment code channel 9 and the second absolute code channel 8 and for reading code channel location information
Composite reading head 2.
Specifically, the first absolute code channel 10 cooperates the formation of composite reading head 2 high-speed rotating suitable for tested rotary part
Absolute rotary encoder, increment code channel 9 and the second absolute code channel 8 cooperate composite reading head 2 to form high-precision dual track volume
Code device, meanwhile, composite reading head 2 can also obtain the first absolute code channel 10, increment code channel 9 and the second absolute code channel 8 simultaneously
Code channel location information；Cooperate three code channels using composite reading head 2, according to needs of production, composite reading head 2 is read accordingly
Code channel location information, realize a rotary encoder can meet simultaneously high-speed cruising and two kinds of High Resolution work
It is required that.
Wherein, code-disc 1 can be metal material annulus, and when work makes rotating motion, and 1 surface of code-disc is carved with first absolutely
Code channel 10, increment code channel 9 and the second absolute code channel 8.Composite reading head 2 is fixed when working, one side equipped with collection head with
1 surface of code-disc is tangent always, and composite reading head 2 is internally integrated two sets of different light source modules and photoelectric sensor module.
It is shown in Figure 2, have on the first absolute code channel 12, increment code channel 11 and the second absolute code channel 14 on code-disc 13
The reflector block that minimum widith is 30 μm, the light beam that light source irradiates is reflexed to imaging sensor by reflector block by code channel, to make
Imaging sensor obtains code channel location information；Wherein, the reflector block spacing of increment code channel 11 and equal in magnitude, the first absolute code channel
12 and second absolute code channel 14 reflector block spacing and size differ.
Specifically, above-mentioned composite reading head 2 includes single-code channel electro-optical imaging sensors 3, single-code channel light source module 5, dicode
Road electro-optical imaging sensors 4 and dual track light source module 6；
Single-code channel electro-optical imaging sensors 3, for obtaining single-code channel location information；
Dual track electro-optical imaging sensors 4, for obtaining dual track location information；
Single-code channel light source module 5 exposes to the first absolute code channel 10 for providing light source；
Dual track light source module 6 exposes to increment code channel 9 and the second absolute code channel 8 for providing light source respectively.
Specifically, shown in Figure 3, above-mentioned single-code channel light source module 5 includes first light source module 20, is located at first light source
The first lens 21 immediately below module 20, the first reflective mirror 22 immediately below the first lens 21 and flat with the first reflective mirror 22
The first capable pellicle mirror 17；
First light source module 20, for emitting light to the first lens 21；
First lens 21 refract to the first reflective mirror 22 for light to be become parallel rays；
First reflective mirror 22, for parallel rays to be reflected into the first pellicle mirror 17；
First pellicle mirror 17 reflects the first absolute code channel 10 for parallel rays to be reflected into the first absolute code channel 10
Light irradiate receipt code channel electro-optical imaging sensors 19.
Specifically, shown in Figure 4, above-mentioned dual track light source module 6 includes second light source module 28, is located at second light source
The second lens 30 immediately below module 28, the positioned at the first optical module 26 of 30 lower section of the second lens and below lens
Two optical modules 31；
Second lens 30, the light refraction for emitting second light source module 28 are that two parallel light emit respectively
To the first optical module 26 and the second optical module 31；
First optical module 26 and the second optical module 31 are respectively used to that light is exposed to increment code channel 33 and second absolutely
To code channel 32, the light of increment code channel 33 and the second absolute code channel 32 is irradiated back to the first light of dual track electro-optical imaging sensors
Electrical image sensor 27 and the second electro-optical imaging sensors 29；
Wherein, the first optical module 26 and the second optical module 31 include reflective mirror and pellicle mirror, function and solid size
Reflective mirror in road light source module 5 is identical with the function of pellicle mirror.
Further, the course of work of the rotary encoder of the embodiment of the present invention is as follows：
Under high-speed operation mode, the only first absolute code channel 12 and single-code channel electro-optical imaging sensors 19 and single-code channel light
Source module 5 is working, and 2 working principle of composite reading head passes through the first lens as shown in figure 3, first light source module 20 emits light
21 become parallel rays 22, by 23 reflected illumination of the first reflective mirror to the first pellicle mirror 17, parallel rays process is anti-twice
Vertical irradiation is penetrated on the first absolute code channel 12 on 15 surface of code-disc, due to the reflector block effect on code channel, light passes through the again
One pellicle mirror 17 is radiated on single-code channel electro-optical imaging sensors 19；Assuming that work initial position is R0, due on absolute code channel
The size of reflector block is different with interval, has uniqueness, each reflector block represents an absolute location information, in this way when code-disc 15
Revolution is over long distances R1When, the received light signal of single-code channel electro-optical imaging sensors 19 also changes therewith, obtains absolute position
Set Ra=R1-R0, therefore movement position information can be obtained；Location information is obtained by using single absolute code channel feedback, it can be with
The reading of high speed position information is carried out in the case where retaining certain precision.
Under high-precision operating mode, only increment code channel 11 and the second absolute code channel 14 cooperates dual track photoelectric image to pass
Sensor 4 and dual track light source module 6 work, and 2 working principle of composite reading head is as shown in Figure 4, wherein second light source module 28 is penetrated
Two light for being mutually of certain angle are converted to two light parallel to each other by the second lens 30 out, inject the respectively
One optical module 26 and the second optical module 31, are radiated at the increment code channel 33 and second on 25 surface of code-disc after two secondary reflections
On absolute code channel 32, and passes through reflector block reflection, light on increment code channel 33 and the second absolute code channel 32 and be radiated at dicode respectively
On the first electro-optical imaging sensors 27 and the second electro-optical imaging sensors 29 of road electro-optical imaging sensors module.
Composite mode is that composite reading head 2 reads the first absolute code channel 10, increment code channel 9 and the second absolute code channel 8 simultaneously
Code channel location information and obtain the Working mould of multi-code road location information using single-code channel location information and dual track location information
Formula, under composite mode, composite reading head 2 obtains the first absolute code channel 10, increment code channel 9 and the second absolute code channel 8 simultaneously
Code channel location information, single-code channel electro-optical imaging sensors 3, single-code channel light source module 5, dual track electro-optical imaging sensors 4 and double
Code channel light source module 6, works at the same time, and finally obtains multi-code road location information.
As shown in Fig. 2, the reflector block on the second absolute code channel 14 has uniqueness, the reflector block on increment code channel 11 has
Periodically, width is equal, and increment code channel 11 intermeshes with the reflector block on the second absolute code channel 14, it is assumed here that starting work
Making position is R '0, when code-disc revolution is over long distances R '1When, since each reflector block represents one on the second absolute code channel 14
A absolute position, therefore theoretically encoder can determine location information by the code channel of the second absolute code channel 14 at this time, but due to
Reflector block itself has width, and reading head focusing may rest on reflector block when movement stops, therefore absolutely only by second
To the distance R ' of the code channel feedback of code channel 142Actual code disc spins week long range R ' will be less than1, there are certain errors, at this time can be with
It is calibrated by the feedback information of increment code channel 11, increment code channel 11 has periodically, and mutually with the second absolute code channel 14
Staggeredly, therefore, each code channel reflector block of increment code channel 11 constitutes one with each reflector block of the second absolute code channel 14 again
More accurate absolute location information, error are smaller；When code-disc rotary work, dual track electro-optical imaging sensors 4 obtains respectively
The location information and increment code channel 11 fed back according to the second absolute code channel 14 and the second absolute code channel 14 feedback signal difference compensation
Location information, just realize the job requirement of high-accuracy high-resolution in this way.
As it can be seen that the embodiment of the present invention is carved with the first absolute code channel 10, increment code channel 9 and second absolutely on 1 surface of code-disc
Code channel 8 cooperates composite reading head 2 using the first absolute code channel 10, realizes and utilize the first absolute code channel under high speed operation mode
10 and composite reading head 2, the code channel location information of high speed is obtained in the case where guaranteeing certain precision, absolutely using increment code channel 9 and second
Composite reading head 2 is cooperated to code channel 8, realizes and obtains the code channel location information that the second absolute code channel 8 is fed back under high precision mode
With the code channel location information of increment code channel 8 and the second absolute 8 feedback signal difference of code channel compensation, the code of high-accuracy high-resolution is obtained
Road location information realizes that single rotary encoder is provided simultaneously with the function to high speed operation mode and high precision mode measurement.
In addition, being applied to rotary coding above-mentioned the embodiment of the invention also discloses a kind of rotary encoder measurement method
Device, including：
When being in high-speed mode, composite reading head reads the single-code channel location information of the first absolute code channel；
When being in high precision mode, composite reading head reads the dual track position letter of increment code channel and the second absolute code channel
Breath；
When being in composite mode, composite reading head reads the more of the first absolute code channel, increment code channel and the second absolute code channel
Code channel location information.
As it can be seen that the embodiment of the present invention reads phase on rotary encoder above-mentioned, according to different mode composite reading heads
The code channel location information for the code channel answered, to realize that single rotary encoder is provided simultaneously with to high speed operation mode and high-precision mould
The function of formula measurement.
Specifically, rotary encoder is in high-speed cruising state when under composite mode, while also needing to guarantee to have higher
Precision, at this point, above-mentioned composite reading head read the first absolute code channel, increment code channel and the second absolute code channel multi-code road position
The process of information can specifically include：
Composite reading head reads the single-code channel location information of the first absolute code channel；
Using single-code channel location information, the direction of motion, zero message and the amount of bias of code-disc are obtained；
The dual track location information of composite reading head reading increment code channel and the second absolute code channel；
Using the direction of motion, zero message, amount of bias and dual track location information, multi-code road location information is obtained.
Specifically, since absolute code channel location information is fixed, it can use the rotation side that absolute code channel judges code-disc
To, it can also be using the start position information of absolute code channel as zero message, foundation is using zero message as the location information of origin
Coordinate system, at the same time it can also calculate amount of bias, so being believed under composite mode using the single-code channel position of the first absolute code channel
Breath provides direction finding function, zero reference and biasing and calculates, and then calibrates to dual track location information, makes up error, thus
It can remain to obtain high-resolution multi-code road location information after code-disc revolving speed is more than the code-disc revolving speed under high precision mode.
It should be noted that because zero message can be obtained using the first absolute code channel, so after power-off restarting,
Composite reading head can rapidly enter working according to zero message.
It is to be appreciated that composite reading head, can judge the rotation speed of code-disc after reading code channel location information, because
This, composite reading head can voluntarily judge which kind of operating mode entered.
Specifically, composite reading head, is also used to judge whether code-disc revolving speed meets default threshold using code channel location information
Value, if it is satisfied, then composite reading head enters high-speed mode, if conditions are not met, then composite reading head enters high precision mode.
For example, preset threshold be 1000rpm, composite reading head, by judge current code-disc revolving speed whether be more than
1000rpm, to determine whether into high-speed mode or high precision mode, when the revolving speed of code-disc is less than 1000rpm, then compound reading
Several enter high precision mode, and when the revolving speed of code-disc is more than 1000rpm, then composite reading head enters high-speed mode.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
A kind of rotary encoder provided by the present invention and its measurement method are described in detail above, answered herein
With a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help to manage
Solve method and its core concept of the invention；At the same time, for those skilled in the art, according to the thought of the present invention,
There will be changes in specific embodiment and application range, in conclusion the content of the present specification should not be construed as to this hair
Bright limitation.
Claims (7)
1. a kind of rotary encoder, which is characterized in that code-disc including circular ring shape, first be disposed in parallel on the code-disc are absolutely
Composite reading head to code channel, increment code channel and the second absolute code channel and for reading code channel location information.
2. rotary encoder according to claim 1, which is characterized in that the composite reading head includes single-code channel photoelectricity figure
As sensor, single-code channel light source module, dual track electro-optical imaging sensors and dual track light source module；
The single-code channel electro-optical imaging sensors, for obtaining the single-code channel location information；
The dual track electro-optical imaging sensors, for obtaining the dual track location information.
3. rotary encoder according to claim 2, which is characterized in that the single-code channel light source module includes first light source
Module, the first lens immediately below the first light source module, the first reflective mirror immediately below first lens
First pellicle mirror parallel with first reflective mirror；
The first light source module, for emitting light to first lens；
First lens refract to first reflective mirror for the light to be become parallel rays；
First reflective mirror, for the parallel rays to be reflected into first pellicle mirror；
First pellicle mirror, for the parallel rays to be reflected into the described first absolute code channel, by first absolute code
The light of road reflection irradiates back the single-code channel electro-optical imaging sensors.
4. rotary encoder according to claim 2, which is characterized in that the dual track light source module includes second light source
Module, the second lens immediately below the second light source module, the first optical module below second lens
With the second optical module being located at below the lens；
Second lens, the light refraction for emitting the second light source module are that two parallel light emit respectively
To first optical module and second optical module；
First optical module and second optical module are respectively used to expose to light the increment code channel and described
The light of the increment code channel and the second absolute code channel is irradiated back the dual track photoelectric image and passed by the second absolute code channel
Sensor；
Wherein, first optical module and second optical module include reflective mirror and pellicle mirror.
5. a kind of rotary encoder measurement method, which is characterized in that be applied to such as the described in any item rotations of Claims 1-4
Encoder, including：
When being in high-speed mode, the composite reading head reads the single-code channel location information of the described first absolute code channel；
When being in high precision mode, the composite reading head reads the dual track of the increment code channel and the second absolute code channel
Location information；
When being in composite mode, the composite reading head reads the first absolute code channel, the increment code channel and described second
The multi-code road location information of absolute code channel.
6. rotary encoder measurement method according to claim 5, which is characterized in that described in the composite reading head is read
The process of the multi-code road location information of first absolute code channel, the increment code channel and the second absolute code channel, including：
The composite reading head reads the single-code channel location information of the described first absolute code channel；
Using the single-code channel location information, the direction of motion, zero message and the amount of bias of the code-disc are obtained；
The composite reading head reads the dual track location information of the increment code channel and the second absolute code channel；
Using the direction of motion, the zero message, the amount of bias and the dual track location information, the multi-code is obtained
Road location information.
7. rotary encoder measurement method according to claim 5 or 6, which is characterized in that the composite reading head is also used
In utilizing code channel location information, judge whether code-disc revolving speed meets preset threshold, if it is satisfied, then the composite reading head enters
The high-speed mode, if conditions are not met, then the composite reading head enters the high precision mode.
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