CN107017886B - Four-reading-head digital signal decoder of steel ring encoder - Google Patents
Four-reading-head digital signal decoder of steel ring encoder Download PDFInfo
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- CN107017886B CN107017886B CN201710136187.1A CN201710136187A CN107017886B CN 107017886 B CN107017886 B CN 107017886B CN 201710136187 A CN201710136187 A CN 201710136187A CN 107017886 B CN107017886 B CN 107017886B
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/22—Analogue/digital converters pattern-reading type
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- H—ELECTRICITY
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Abstract
The utility model provides a four reading head digital signal decoders of steel ring encoder, relates to high accuracy encoder signal processing field, has solved the problem that the structure flexibility that current decoder exists is poor, the program portability is weak, can't compatible multiple agreement, can't eliminate the angle measurement error. In the invention, a microprocessor unit reads an encoder protocol parameter from an EEPROM and writes the encoder protocol parameter into a logic processor unit, the logic processor unit selects an encoder reading head interface and a decoding mode according to the encoder protocol parameter, simultaneously acquires encoder data of an encoder reading head corresponding to the encoder reading head and decodes the encoder data, the microprocessor unit reads the decoded encoder data and performs mean value processing on the encoder data to obtain synthesized encoder data, and the microprocessor unit sends the synthesized encoder data to a servo controller and sends the encoder data and the synthesized encoder data to a liquid crystal display screen for real-time display. The invention has flexible protocol, strong program portability, high angle measurement precision and strong universality.
Description
Technical Field
The invention relates to the technical field of high-precision encoder signal processing, in particular to a four-reading-head digital signal decoder of a steel ring encoder.
Background
With the development of precision machinery, the requirement on the position positioning precision of a mechanical system is higher and higher, and the position positioning precision is closely related to a control algorithm and also depends on the feedback precision of a position sensor. For example, in a large-aperture telescope control system (the control system comprises a servo controller, a liquid crystal display screen, and a steel ring encoder (an incremental encoder, an absolute encoder, and the like)), in order to improve the tracking accuracy of a space target, a large-diameter steel ring encoder is generally adopted as a position sensor, and large reading errors are caused by eccentricity in the mechanical installation process of the steel ring encoder.
An encoder is a device that compiles, converts, and/or formats signals or data into a form of signals that can be communicated, transmitted, and stored. Encoders convert angular or linear displacements, called codewheels, into electrical signals, called coderulers. Classified according to the operating principle, encoders are classified into an incremental type and an absolute type. The incremental encoder converts displacement into periodic electrical signals, converts the electrical signals into counting pulses, and expresses the magnitude of the displacement by the number of the pulses. Each position of the absolute encoder corresponds to a certain digital code, so that its representation is only dependent on the start and end positions of the measurement, and not on the intermediate course of the measurement.
At present, most of decoders for processing signals of encoders are integrated with a servo controller, and the structure flexibility of a circuit is poor and the portability of a decoding program is not strong; and current decoder is all to single reading head, and can't compatible multiple encoder agreement, and the angle measurement error that this kind of single reading head decoder can't effectively eliminate mechanical installation and bring, just also can't solve the high accuracy angle measurement problem of major diameter steel ring encoder.
Disclosure of Invention
The invention provides a four-reading-head digital signal decoder of a steel ring encoder, which aims to solve the problems of poor structure flexibility, poor program portability, incapability of being compatible with various protocols and incapability of eliminating angle measurement errors of the existing decoder and meets the requirement of high-precision position detection of the steel ring encoder of a large-caliber telescope.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the invention discloses a four-reading-head digital signal decoder of a steel ring encoder, which comprises:
the micro processor unit is connected with the servo controller through a UART serial port and an RS422 interface and receives encoder protocol parameters of the servo controller;
through I2C bus and parameter storage interface and microprocessorThe microprocessor unit solidifies the encoder protocol parameters in the EEPROM;
the system comprises a logic processor unit connected with a micro processor unit through an address bus and a data bus, wherein the micro processor unit reads encoder protocol parameters from an EEPROM and writes the encoder protocol parameters into the logic processor unit;
the logic processor unit is connected with the incremental encoder reading head through the incremental encoder reading head interface;
the logic processor unit is connected with the absolute type encoder reading head through the absolute type encoder reading head interface;
the logic processor unit selects an encoder reading head interface and a decoding mode corresponding to the logic processor unit according to the encoder protocol parameters, simultaneously acquires encoder data of the encoder reading head corresponding to the logic processor unit and decodes the encoder data, and the micro processor unit reads the decoded encoder data and performs mean value processing on the encoder data to obtain synthesized encoder data;
the micro processor unit is connected with the liquid crystal display screen through a UART serial port and an RS232 interface, sends the synthetic encoder data to the servo controller, and simultaneously sends the encoder data and the synthetic encoder data to the liquid crystal display screen for real-time display.
Further, the logic processor unit internally comprises an encoder protocol module and an encoder decoding module; the encoder protocol module is compatible with various encoder protocols and comprises a BissC protocol module, an Endat2.2 protocol module, an SSI protocol module and an incremental encoder frequency doubling and counting module, wherein the number of each protocol module is 4; the encoder decoding module decodes the collected encoder data for reading by the micro processor unit.
Further, the sampling frequency of the encoder data is the same as the transmission frequency of the synthesized encoder data.
Furthermore, the sampling frequency of the encoder data is 0.1 kHz-2 kHz.
Further, a specific method for obtaining the synthesized encoder data by performing mean processing on the decoded encoder data is as follows: the method comprises the steps of firstly carrying out synthetic data processing on encoder data of two groups of diametrically-mounted steel ring encoder reading heads, respectively obtaining two preliminary synthetic encoder data, wherein the two preliminary synthetic encoder data have a 90-degree difference, and then carrying out synthetic data processing on the two preliminary synthetic encoder data having a 90-degree difference to obtain final synthetic encoder data.
Furthermore, a specific method for carrying out synthetic data processing on encoder data of the radial-mounted steel ring encoder reading head comprises the following steps: the steel ring encoder reading head A, B is installed in a radial mode, the steel ring is supposed to rotate anticlockwise, and if the angle of the reading head A, B meets the requirement that b > a, the resultant angle theta is (a + b)/2; if the angle of the readhead A, B satisfies B < a, the resultant angle θ is ((a + B)/2+180 °) to 360 °, where a is the angle of readhead a and B is the angle of readhead B.
Furthermore, a specific method for processing the synthesized data for two preliminary synthesized encoder data with a 90 ° difference is as follows: mounting a steel ring encoder reading head C, D at 90 degrees, assuming that a steel ring rotates anticlockwise, and if the angle of the reading head C, D meets d > c, the resultant angle θ is (c + d)/2; if the angle of the readhead C, D satisfies D < C, the resultant angle θ is ((C + D)/2+180 °) to 360 °, where C is the angle of readhead C and D is the angle of readhead D.
Furthermore, the microprocessor unit is a C8051F120 chip; the logic processor unit adopts an EP4CE22E144 chip.
Further, the RS422 interface selects a MAX3077E chip for realizing serial port communication between the microprocessor unit and the servo controller; the RS232 interface selects an SP3220 chip and is used for realizing serial port communication between the microprocessor unit and the liquid crystal display screen; the EEPROM adopts an AT24C04 chip for storing the protocol parameters of the encoder.
Furthermore, 4 absolute encoder reading head interfaces are all selected from LTC1520 chips; MAX3077E chips are used for 4 incremental encoder reading head interfaces.
The invention has the beneficial effects that:
1. the invention realizes the encoder data decoding of 4 reading heads of the steel ring encoder, can process and synthesize data through the encoder data mean value, effectively reduces the reading error caused by eccentricity in the mechanical installation process of the steel ring encoder, and improves the angle measurement precision of the large-diameter steel ring encoder.
2. The decoder of the invention has the advantages of more flexible circuit structure, compatibility with various encoder protocols, strong portability of decoding programs, high angle measurement precision and strong universality, and is suitable for a precision tracking control system of a large-caliber telescope.
3. In order to improve the position detection precision, an installation mode that 4 reading heads are uniformly distributed is adopted, and the position detection error caused in the mechanical installation process is eliminated by carrying out mean value processing on the data of the 4 reading heads. Therefore, the decoder of the invention has important significance for improving the tracking accuracy of the large-aperture telescope.
Drawings
Fig. 1 is a block diagram of a four-reading head digital signal decoder of a steel ring encoder according to the present invention.
Fig. 2 is a schematic view of the installation mode of 4 reading heads of the steel ring encoder.
Fig. 3 is a schematic diagram of data processing when the steel ring encoder reading head is installed in a radial mode (the angle of the reading head A, B satisfies b > a).
FIG. 4 is a schematic view of data processing when the steel ring encoder reading head is installed in a radial mode (the angle of the reading head A, B satisfies b < a).
Fig. 5 is a data processing schematic diagram when the steel ring encoder reading head is installed at 90 degrees (the angle of the reading head C, D satisfies d > c).
FIG. 6 is a schematic view of data processing when the steel ring encoder reading head is installed at 90 ° (the angle of the reading head C, D satisfies d < c).
In the figure: 1-1, steel ring, 1-2, code wheel zero position, 1-3, synthetic angular position, 1-4, correct synthetic angular position, 1-5, incorrect synthetic angular position, A-D and reading head.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the four-reading head digital signal decoder of the steel ring encoder of the present invention mainly comprises a microprocessor unit, a peripheral interface unit, a logic processor unit, an encoder interface unit and an EEPROM (electrically erasable and programmable read only memory). The micro processor unit is respectively connected with the peripheral interface unit and the logic processor unit, and the logic processor unit is connected with the encoder interface unit.
The peripheral interface unit comprises an RS422 interface, an RS232 interface and a parameter storage interface. The RS422 interface is used for realizing serial communication between the microprocessor unit and the servo controller, the RS232 interface is used for realizing serial communication between the microprocessor unit and the liquid crystal display screen, and the parameter storage interface is used for realizing communication between the microprocessor unit and the EEPROM.
The encoder interface unit comprises 4 incremental encoder reading head interfaces (a first incremental encoder reading head interface, a second incremental encoder reading head interface, a third incremental encoder reading head interface and a fourth incremental encoder reading head interface) and 4 absolute encoder reading head interfaces (a first absolute encoder reading head interface, a second absolute encoder reading head interface, a third absolute encoder reading head interface and a fourth absolute encoder reading head interface). The incremental encoder reading head interface is used for realizing communication between the logic processor unit and the incremental encoder reading head and simultaneously is used for realizing conversion from differential signals to TTL signals. The absolute encoder reading head interface is used for realizing communication between the logic processor unit and the absolute encoder reading head and simultaneously is used for realizing conversion from differential signals to TTL signals. Signals of the incremental encoder reading head and the absolute encoder reading head are transmitted and received in a differential signal mode.
The large-aperture telescope control system is provided with 4 incremental encoders and 4 absolute encoders. When data of the incremental encoder needs to be acquired, 4 incremental encoder reading head interfaces correspond to 4 incremental encoder reading heads, and incremental encoder data are acquired; when the data of the absolute encoder needs to be collected, 4 absolute encoder reading head interfaces correspond to 4 absolute encoder reading heads, and the data of the absolute encoder are collected. The data acquisition of the 4 incremental encoders and the data acquisition of the 4 absolute encoders are not performed simultaneously, but the data acquisition of the 4 incremental encoders is performed simultaneously, and the data acquisition of the 4 absolute encoders is also performed simultaneously.
The micro processor unit is connected with the servo controller through a UART serial port and an RS422 interface and is connected with the servo controller through an I2The C bus and the parameter storage interface are connected to an EEPROM (electrically erasable and programmable read only memory). The microprocessor unit receives encoder protocol parameters from the servo controller through a UART serial port and an RS422 interface, and the microprocessor unit receives encoder protocol parameters from the servo controller through an I2The C bus and the parameter storage interface solidify the encoder protocol parameters in the EEPROM.
The micro-processor unit is connected with the logic processor unit through an address bus and a data bus. Micro-processor unit pass through I2The C bus and the parameter storage interface read the encoder protocol parameters stored in the EEPROM and write the encoder protocol parameters into the logic processor unit through the address bus and the data bus.
The logic processor unit is connected with the 4 incremental encoder reading heads through a digital interface and an incremental encoder reading head interface, and the digital interface, the incremental encoder reading head interface and the incremental encoder reading heads are in one-to-one correspondence; the logic processor unit is connected with the 4 absolute type encoder reading heads through a digital interface and an absolute type encoder reading head interface, and the digital interface, the absolute type encoder reading head interface and the absolute type encoder reading heads are in one-to-one correspondence.
The logic processor unit internally comprises an encoder protocol module and an encoder decoding module. An encoder protocol module in the logic processor unit reads encoder protocol parameters from the micro processor unit, the logic processor unit selects an encoder reading head interface and a decoding mode corresponding to the encoder protocol parameters according to the encoder protocol parameters, the logic processor unit collects encoder data of the encoder reading head corresponding to the logic processor unit at a certain sampling frequency (0.1 kHz-2 kHz), and then the encoder decoding module decodes the collected encoder data for the micro processor unit to read. And triggering the micro processor unit to interrupt after the data acquisition of the encoder is completed each time, then triggering the micro processor unit to read the encoder data decoded by the encoder decoding module through the data bus, and carrying out mean value processing on the encoder data to obtain the synthetic encoder data.
The micro processor unit is connected with the liquid crystal display screen through a UART serial port and an RS232 interface. The micro processor unit sends the synthetic encoder data to the servo controller through the UART serial port and the RS422 interface, and simultaneously sends the collected encoder data and the synthetic encoder data to the liquid crystal display screen through the UART serial port and the RS232 interface, so that the current position detection data is displayed in real time.
The invention relates to a four-reading-head digital signal decoder of a steel ring encoder, which comprises the following specific working processes: when the system is powered on, the microprocessor unit receives encoder protocol parameters from the servo controller through the UART serial port and the RS422 interface, and the microprocessor unit receives encoder protocol parameters through the I2The bus C and the parameter storage interface solidify the encoder protocol parameters in the EEPROM; the micro processor unit sends the encoder protocol parameters to an encoder protocol module in the logic processor unit through an address bus and a data bus; the logic processor unit selects an encoder reading head interface and a decoding mode corresponding to the encoder reading head according to the encoder protocol module register data, and acquires the encoder data of the encoder reading head corresponding to the logic processor unit at a sampling frequency of 0.1 kHz-2 kHz, wherein the specific acquisition process comprises the following steps: receiving differential signals (+ -A1, + -A2, + -A3, + -A4), + -B (+ -B1, + -B2, + -B3, + -B4), + -Z (+ -Z1, + -Z2, + -Z3, + -Z4) from the incremental encoder readhead via an incremental encoder readhead interface, level-converted to a signal that can be processed by a logic processor unitThe single-ended signal is sent to an encoder decoding module in the logic processor unit, or the logic processor unit sends serial clock signals (+ -M1, + -M2, + -M3, + -M4) to the absolute encoder reading head through an absolute encoder reading head interface and receives serial data signals (+ -S1, + -S2, + -S3, + -S4) from the absolute encoder reading head; then, the encoder data is decoded by an encoder decoding module for being read by the microprocessor unit; triggering the micro processor unit to interrupt after the data acquisition of the encoder is completed each time, then triggering the micro processor unit to read the register data of the decoding module of the encoder through a data bus, and carrying out mean value processing on the data of the encoder to obtain the data of the synthetic encoder; the micro-processor unit sends the synthetic encoder data to the servo controller through the UART serial port and the RS422 interface, the sending frequency of the synthetic encoder data is the same as the sampling frequency of the encoder data, meanwhile, the collected encoder data and the synthetic encoder data are sent to the liquid crystal display screen through the UART serial port and the RS232 interface at the sending frequency of 20Hz, the encoder data and the synthetic encoder data are displayed on the liquid crystal display screen through the RS232 interface, and the encoder data and the synthetic encoder data can be displayed on the liquid crystal display screen in real time through the RS232 interface.
As shown in figure 2, 4 reading heads of the steel ring encoder are arranged in a 90-degree distribution mode, and the installation mode can reduce installation errors as much as possible. The specific method for obtaining the synthetic encoder data by performing mean processing on the decoded encoder data is as follows: the method comprises the steps of firstly carrying out synthetic data processing on encoder data of two groups of diametrically-mounted steel ring encoder reading heads, respectively obtaining two preliminary synthetic encoder data, wherein the two preliminary synthetic encoder data have a 90-degree difference, and then carrying out synthetic data processing on the two preliminary synthetic encoder data having a 90-degree difference to obtain final synthetic encoder data.
The data processing method when the steel ring encoder reading head A, B is installed in a radial mode comprises the following steps: as shown in fig. 3, assuming that steel ring 1-1 rotates counterclockwise, if the angle of the reading head A, B satisfies b > a, the resultant angle θ is (a + b)/2, the correct resultant angular position is located at 1-4 in the figure, and 1-2 in the figure is zero position of the code wheel; as shown in fig. 4, if the angle of the readhead A, B satisfies b < a, the resultant angle θ is ((a + b)/2+180 °) to-360 °, the correct resultant angular position is at 1-4 in the figure, the incorrect resultant angular position is at 1-5 in the figure, and 1-2 in the figure is the zero position of the code wheel; in fig. 3 and 4, a is the angle of the reading head a, B is the angle of the reading head B, and 360 degrees is operated to ensure that theta is in the range of 0-360 degrees.
The data processing method when the steel ring encoder reading head C, D is installed at 90 degrees comprises the following steps: as shown in fig. 5, assuming that steel ring 1-1 rotates counterclockwise, if the angle of the reading head C, D satisfies d > c, the resultant angle θ is (c + d)/2, the correct resultant angular position is located at 1-4 in the figure, and 1-2 in the figure is zero position of the code wheel; as shown in fig. 6, if the angle of the readhead C, D satisfies d < c, the resultant angle θ is ((c + d)/2+180 °) to-360 °, the correct resultant angular position is at 1-4 in the figure, the incorrect resultant angular position is at 1-5 in the figure, and 1-2 in the figure is the zero position of the code wheel; in fig. 5 and 6, C is the angle of the readhead C and D is the angle of the readhead D, and-360 is operated to ensure that θ is in the range 0 ° to 360 °.
In this embodiment, the RS422 interface uses a MAX3077E chip, which mainly realizes serial communication between the microprocessor unit and the servo controller.
In this embodiment, the RS232 interface is an SP3220 chip, which mainly realizes serial communication between the microprocessor unit and the liquid crystal display.
In this embodiment, the EEPROM selects an AT24C04 chip for storing the encoder protocol parameters, and the microprocessor unit reads the encoder protocol parameters therein and sends them to the encoder protocol module inside the logic processor unit when the system is powered on.
In this embodiment, the microprocessor unit is an MCU, and a C8051F120 chip is selected.
In this embodiment, the logic processor unit is an FPGA, and an EP4CE22E144 chip is selected.
In this embodiment, the encoder protocol module in the logic processor unit is compatible with a plurality of encoder protocols, the encoder protocol module mainly includes a BissC protocol module, an endat2.2 protocol module, an SSI protocol module, and an incremental encoder frequency doubling and counting module, and the number of each protocol module is 4.
In this embodiment, all the 4 absolute encoder reading head interfaces adopt LTC1520 chips, and the main function of the LTC1520 chips is to convert a differential signal into a TTL signal. The signals of the absolute type encoder reading head are sent and received in a differential mode, and the differential signal mode of the absolute type encoder reading head is as follows: m (± M1, ± M2, ± M3, ± M4), ± S (± S1, ± S2, ± S3, ± S4), where M is a serial clock signal and S is a serial data signal.
In this embodiment, the 4 incremental encoder reading head interfaces all use MAX3077E chips, and the main function of the incremental encoder reading head interfaces is to convert a differential signal into a TTL signal. The signals of the incremental encoder reading head are sent and received in a differential mode, and the differential signals of the incremental encoder reading head are in the form of: + -A (+ -A1, + -A2, + -A3, + -A4), + -B (+ -B1, + -B2, + -B3, + -B4), + -Z (+ -Z1, + -Z2, + -Z3, + -Z4).
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A four-reading-head digital signal decoder of a steel ring encoder is characterized by comprising:
the micro processor unit is connected with the servo controller through a UART serial port and an RS422 interface and receives encoder protocol parameters of the servo controller;
through I2The bus C and the parameter storage interface are connected with an EEPROM (electrically erasable programmable read-only memory) of the micro-processor unit, and the micro-processor unit solidifies the protocol parameters of the encoder in the EEPROM;
the system comprises a logic processor unit connected with a micro processor unit through an address bus and a data bus, wherein the micro processor unit reads encoder protocol parameters from an EEPROM and writes the encoder protocol parameters into the logic processor unit;
the logic processor unit is connected with the incremental encoder reading head through the incremental encoder reading head interface;
the logic processor unit is connected with the absolute type encoder reading head through the absolute type encoder reading head interface;
the logic processor unit selects an encoder reading head interface and a decoding mode corresponding to the logic processor unit according to the encoder protocol parameters, simultaneously acquires encoder data of the encoder reading head corresponding to the logic processor unit and decodes the encoder data, and the micro processor unit reads the decoded encoder data and performs mean value processing on the encoder data to obtain synthesized encoder data;
the micro processor unit is connected with the liquid crystal display screen through a UART serial port and an RS232 interface, and sends the synthesized encoder data to the servo controller and simultaneously sends the encoder data and the synthesized encoder data to the liquid crystal display screen for real-time display;
the specific method for obtaining the synthetic encoder data by performing mean processing on the decoded encoder data is as follows: firstly, carrying out synthetic data processing on encoder data of two groups of diametrically-mounted steel ring encoder reading heads to respectively obtain two pieces of preliminary synthetic encoder data, wherein the two pieces of preliminary synthetic encoder data have a 90-degree difference, and carrying out synthetic data processing on the two pieces of preliminary synthetic encoder data having a 90-degree difference to obtain final synthetic encoder data;
the specific method for carrying out synthetic data processing on the encoder data of the diametrically-installed steel ring encoder reading head comprises the following steps: the steel ring encoder reading head A, B is installed in a radial mode, the steel ring is supposed to rotate anticlockwise, and if the angle of the reading head A, B meets the requirement that b > a, the resultant angle theta is (a + b)/2; if the angle of the reading head A, B satisfies B < a, the resultant angle θ ═ ((a + B)/2+180 °) -360 °, where a is the angle of reading head a and B is the angle of reading head B;
the specific method for processing the synthetic data aiming at the two preliminary synthetic encoder data with the 90-degree difference comprises the following steps: mounting a steel ring encoder reading head C, D at 90 degrees, assuming that a steel ring rotates anticlockwise, and if the angle of the reading head C, D meets d > c, the resultant angle θ is (c + d)/2; if the angle of the readhead C, D satisfies D < C, the resultant angle θ is ((C + D)/2+180 °) to 360 °, where C is the angle of readhead C and D is the angle of readhead D.
2. The four-reading-head digital signal decoder of the steel ring encoder according to claim 1, wherein the logic processor unit internally comprises an encoder protocol module and an encoder decoding module; the encoder protocol module is compatible with various encoder protocols and comprises a BissC protocol module, an Endat2.2 protocol module, an SSI protocol module and an incremental encoder frequency doubling and counting module, wherein the number of each protocol module is 4; the encoder decoding module decodes the collected encoder data for reading by the micro processor unit.
3. The four-read-head digital signal decoder of an underwire encoder according to claim 1, wherein the sampling frequency of the encoder data is the same as the transmission frequency of the composite encoder data.
4. The four-reading-head digital signal decoder of the steel ring encoder as claimed in claim 1 or 3, wherein the sampling frequency of the encoder data is 0.1 kHz-2 kHz.
5. The four-reading-head digital signal decoder of the steel ring encoder as claimed in claim 1, wherein the microprocessor unit is a C8051F120 chip; the logic processor unit adopts an EP4CE22E144 chip.
6. The four-reading-head digital signal decoder of the steel ring encoder according to claim 1, wherein the RS422 interface selects a MAX3077E chip for realizing serial port communication between the microprocessor unit and the servo controller; the RS232 interface selects an SP3220 chip and is used for realizing serial port communication between the microprocessor unit and the liquid crystal display screen; the EEPROM adopts an AT24C04 chip for storing the protocol parameters of the encoder.
7. The four-reading-head digital signal decoder of the steel ring encoder as claimed in claim 1, wherein 4 absolute encoder reading head interfaces are all LTC1520 chips; MAX3077E chips are used for 4 incremental encoder reading head interfaces.
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| CN107017886A (en) | 2017-08-04 |
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