CN107367289A - A kind of multi-turn absolute value encoder and its method of work - Google Patents

A kind of multi-turn absolute value encoder and its method of work Download PDF

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Publication number
CN107367289A
CN107367289A CN201710678148.4A CN201710678148A CN107367289A CN 107367289 A CN107367289 A CN 107367289A CN 201710678148 A CN201710678148 A CN 201710678148A CN 107367289 A CN107367289 A CN 107367289A
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power
absolute value
rotor
position information
value encoder
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CN107367289B (en
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崔昊天
闫巡戈
朱威
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Cloudminds Shanghai Robotics Co Ltd
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Silver Honest (beijing) Technology Co Ltd
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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
    • G01D5/34776—Absolute encoders with analogue or digital scales
    • G01D5/34792—Absolute encoders with analogue or digital scales with only digital scales or both digital and incremental scales

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

The invention discloses a kind of multi-turn absolute value encoder, including：Detection module, powered operation module and power-off operational module；Ink stick is detected, carries out electro-detection and outage detection, when detecting electric, the work of powered operation module；When detecting power-off, power-off operational module work；Powered operation module, including individual pen absolute value encoder and single-chip microcomputer, single-chip microcomputer gather the rotor position information of motor by individual pen absolute value encoder；Operational module, including conventional coders and low-power scm are powered off, low-power scm gathers the rotor position information of motor by conventional coders.The multi-turn absolute value encoder uses the design combination advanced algorithm of low-cost and high-performance, realizes low-cost and high-precision, compact, measures range is unrestricted, being capable of continuous much time using in the case where being powered without external power source.The invention also discloses the method for work of multi-turn absolute value encoder.

Description

A kind of multi-turn absolute value encoder and its method of work
Technical field
The present invention relates to encoder techniques, in particular it relates to a kind of multi-turn absolute value encoder and its method of work.
Background technology
Encoder is the device for angular displacement or straight-line displacement being converted into electric signal, and the former is referred to as code-disc, and the latter is referred to as code Chi.Rotary encoder is that a kind of measurement motor shaft position or the device of motor axle rotary speed, rotary encoder are broadly divided into two Major class, absolute type encoder and incremental encoder.
Absolute type encoder, the absolute position of rotor can be recorded, motor still can be recorded after system cut-off The positional information of axle, after system electrification, the positional information of current motor axle can be directly read out.Incremental encoder, note The change in location of rotor is recorded, displacement is converted into periodic electric signal, then this electric signal is transformed into count pulse, The size of displacement is represented with the number of pulse.
At present, multi-turn absolute value encoder is mostly optical profile type multi-turn absolute value encoder, containing mechanical gear group, cost compared with Height, volume is larger, is unfavorable for integrated, miniaturization, due to recording the number of turns using mechanical gear group, so measures range is limited. Optical profile type multi-turn absolute value encoder using grating encoder because utilizing optical detecting method so higher to environmental requirement, in dust It can be penetrated into particle under adverse circumstances and easily cause failure under optical path, and light is formed with photoelectric code disk and mechanical gear Its detection number of turns range of formula multi-turn absolute value encoder is limited.
Traditional electronic type encoder after a power failure, because power consumption is high, when can not be long in the case where encoder rotates Between count.Photo-electric multi-turn absolute value encoder uses grating encoder, and photoelectric code disk and mechanical gear group are very fragile, so head-on collision Hit and shake very sensitive, it is easy to cause the broken of code-disc and mechanical gear group in use, influence service life.
Therefore, a kind of low-cost and high-precision is designed, technology range is unrestricted, low in energy consumption, and the multi-turn of service life length is absolute It is worth encoder, is the technical problem that those skilled in the art continue to solve.
The content of the invention
It is an object of the invention to provide a kind of multi-turn absolute value encoder, the multi-turn absolute value encoder low cost are high-precision Degree, counting range is unrestricted, low in energy consumption, service life length.Present invention also offers a kind of work of multi-turn absolute value encoder Method.
In order to realize above-mentioned technical purpose, the invention provides a kind of multi-turn absolute value encoder, including：Detection module, Powered operation module and power-off operational module；
Detection module, electro-detection and outage detection are carried out, when detecting electric, the work of powered operation module；Detect power-off When, power-off operational module work；
Powered operation module, including individual pen absolute value encoder and single-chip microcomputer, the single-chip microcomputer are compiled by the individual pen absolute value The rotor position information of code device collection motor；
Operational module, including conventional coders and low-power scm are powered off, the low-power scm passes through the common volume The rotor position information of code device collection motor.
Optionally, when detecting electric, the single-chip microcomputer starts, and reads the multi-turn absolute position of last time power-cut time storage Information；And the multi-turn relative position information after the motor power-off of low-power scm storage is read, it is described low after the completion of reading Power consumption single-chip microcomputer enters resting state；Single-chip microcomputer also read upper electric moment, the list of rotor by individual pen absolute value encoder Enclose absolute location information；
When detecting power-off, the rotor position information of the single-chip microcomputer storage power-cut time motor, meanwhile, the low-power consumption monolithic Machine enters low power operation pattern from park mode, and in off-position, motor is read in real time by the conventional coders Rotor position information, by algorithm, the multi-turn relative position information of rotor is converted into, and is stored in the low-power consumption list In memory inside piece machine.
Optionally, the rotor multi-turn absolute position for the motor that the single-chip microcomputer can store according to last time power-cut time is believed The rotor multi-turn relative position information of motor and the individual pen absolute position of rotor after the power-off that breath, low-power scm store Information, obtains the multi-turn absolute position information of rotor, and by the multi-turn absolute position information by data signal or Analog signal output.
Optionally, the individual pen absolute value encoder and the conventional coders share code-disc.
Optionally, the conventional coders are orthogonal encoder.
Present invention also offers a kind of method of work of multi-turn absolute value encoder, comprise the following steps：
Step S1, carry out electro-detection and outage detection；When detecting electric, into step S2；When detecting power-off, into step Rapid S3；
Step S2, individual pen absolute value encoder and single-chip microcomputer work, the single-chip microcomputer are adopted by the individual pen absolute value encoder Collect the rotor position information of motor；
Step S3, conventional coders and low-power scm work, the low-power scm are adopted by the conventional coders Collect the rotor position information of motor.
Optionally, in step S2, judge whether to power off, if power-off, the motor of the single-chip microcomputer storage power-cut time turns Sub- positional information, and enter step S3.
Optionally, in step S3, judge whether to be powered, if be powered, into step S4, meanwhile, the low-power consumption list Piece machine enters resting state；
Step S4, the single-chip microcomputer start, and read the rotor position information of the motor of last time power-cut time storage, read low-power consumption Rotor multi-turn relative position information after the motor power-off of single-chip microcomputer storage；Single-chip microcomputer is also read by individual pen absolute value encoder Upper electric moment, the individual pen absolute location information of rotor；Into step S2.
Optionally, the rotor multi-turn absolute position for the motor that the single-chip microcomputer can store according to last time power-cut time is believed The individual pen of rotor multi-turn relative position information and upper electric moment rotor after the motor power-off that breath, low-power scm store Absolute location information, obtain the multi-turn absolute position information of rotor.
Optionally, the multi-turn absolute position information of rotor is passed through into data signal or analog signal output.
Multi-turn absolute value encoder provided by the invention, detection module carry out electro-detection and outage detection, detected When electric, the work of powered operation module；When detecting power-off, power-off operational module work；Powered operation module, including individual pen are absolute It is worth encoder and single-chip microcomputer, the single-chip microcomputer gathers the rotor position information of motor by the individual pen absolute value encoder；It is disconnected Electric operational module, including conventional coders and low-power scm, the low-power scm are adopted by the conventional coders Collect the rotor position information of motor.
When the multi-turn absolute value encoder works, during externally fed, the work of individual pen absolute value encoder, its data gathered Recorded by single-chip microcomputer；During the power-off of outside, conventional coders work, its single-chip microcomputer of data transfer gathered to low-power consumption；Again During energization, by the data of single-chip microcomputer and low-power scm record, current multi-turn absolute position information can be calculated.Should Multi-turn absolute value encoder uses the design combination advanced algorithm of low-cost and high-performance, and optimization improves the property of encoder Can, low-cost and high-precision is realized, compact, measures range is unrestricted, can connect in the case where being powered without external power source Continuous much time using.
Brief description of the drawings
Accompanying drawing is for providing a further understanding of the present invention, and a part for constitution instruction, with following tool Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.
Fig. 1 is a kind of flow chart of embodiment of method of work of multi-turn absolute value encoder provided by the present invention；
Fig. 2 is the flow chart of the method for work another embodiment of multi-turn absolute value encoder provided by the present invention.
Embodiment
The embodiment of the present invention is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explain the present invention, and is not intended to limit the invention.
In a kind of specific embodiment, the invention provides a kind of multi-turn absolute value encoder, including：Detect mould Block, powered operation module and power-off operational module；
Detection module, electro-detection and outage detection are carried out, when detecting electric, the work of powered operation module；Detect power-off When, power-off operational module work；
Powered operation module, including individual pen absolute value encoder and single-chip microcomputer, the single-chip microcomputer are compiled by the individual pen absolute value The rotor position information of code device collection motor；
Operational module, including conventional coders and low-power scm are powered off, the low-power scm passes through the common volume The rotor position information of code device collection motor.
When the multi-turn absolute value encoder works, during externally fed, the work of individual pen absolute value encoder, its data gathered Recorded by single-chip microcomputer；During the power-off of outside, conventional coders work, its single-chip microcomputer of data transfer gathered to low-power consumption；Again During energization, by the data of single-chip microcomputer and low-power scm record, current multi-turn absolute position information can be calculated.
When powered operation module works, the rotor position information for the motor that single-chip microcomputer obtains, it is absolute multi-turn can be converted into Positional information；When powering off operational module work, the rotor position information for the motor that low-power scm obtains, after power-off Multi-turn relative position information.
The multi-turn absolute value encoder uses the design combination advanced algorithm of low-cost and high-performance, and optimization improves volume The performance of code device, realizes low-cost and high-precision, compact, measures range is unrestricted, in situation about being powered without external power source Under being capable of continuous much time using.
In further specific embodiment, when detecting electric, the single-chip microcomputer starts, and reads last time power-cut time and deposits The multi-turn absolute position information of storage；And the multi-turn relative position information after the motor power-off of low-power scm storage is read, After the completion of reading, the low-power scm enters resting state；Single-chip microcomputer also reads upper electricity by individual pen absolute value encoder Moment, the individual pen absolute location information of rotor；
When detecting power-off, the rotor position information of the single-chip microcomputer storage power-cut time motor, meanwhile, the low-power consumption monolithic Machine enters low power operation pattern from park mode, and in off-position, motor is read in real time by the conventional coders Rotor position information, by algorithm, the multi-turn relative position information of rotor is converted into, and is stored in the low-power consumption list In memory inside piece machine.
It should be noted that：
Multi-turn absolute position information is to be initialized as the first time with encoder or enter electricity after line home position is reset by software The position of machine rotor is as initial position, initial position value 0, with the rotor that currently reads relative to initial position Difference, as multi-turn absolute position；
After multi-turn relative position information is system cut-off, low-power scm from park mode enter low power mode of operation when Carve, the position of rotor, as initial position, initial position value 0, with the rotor that currently reads relative to initial Position difference is as multi-turn relative position；
Individual pen absolute position is the position of the rotor obtained by individual pen absolute value encoder.
On encoder after electricity, single-chip microcomputer starts, and reads the multi-turn absolute position information stored during last time power-off, and motor turns Sub- positional information can be converted to multi-turn absolute position information；Also read the rotor after the motor power-off of low-power scm storage To the rotor position information that conventional coders obtain during current upper electricity after the power-off of positional information, i.e. last time, i.e., multi-turn is with respect to position Confidence ceases；The individual pen absolute position information of also upper electric moment rotor, motor are started working.
With the work of motor, individual pen absolute value encoder and single-chip microcomputer are started working, and record the anglec of rotation of motor in real time Degree and the number of turns, now conventional coders be then stopped, low-power scm enters Low-power-consumptiodormancy dormancy pattern；When external power source After power-off, single-chip microcomputer instantaneously preserves the rotor position information of power-cut time motor, by algorithm, is converted into the multi-turn of rotor Relative position information, at this moment individual pen absolute value encoder and single-chip microcomputer are stopped, and conventional coders and low-power scm With CB common battery, into mode of operation, upper electricity outside next encoder is waited.
Specifically, the rotor multi-turn absolute position for the motor that the single-chip microcomputer can store according to last time power-cut time is believed The rotor multi-turn relative position information of motor and the individual pen absolute position of rotor after the power-off that breath, low-power scm store Information, obtains the multi-turn absolute position information of rotor, and by the multi-turn absolute position information by data signal or Analog signal output.
In the respective embodiments described above, individual pen absolute value encoder and conventional coders share code-disc.
Individual pen absolute value encoder and conventional coders detect same motor, then the two can share code-disc.
Specifically, the conventional coders are orthogonal encoder, Hall element.
The advantage of the multi-turn absolute value encoder is as follows：
1st, it is integrated, miniaturization
In general photo-electric multi-turn absolute value encoder causes its shared volume due to its photoelectric code disk and mechanical gear group at present It is larger, it is unfavorable for integrated, miniaturization；
The implementation method of the multi-turn absolute value encoder only three chips are integrated into the positive and negative of circuit board, and volume is smaller.
2nd, cost is low, high accuracy
In general photo-electric multi-turn absolute value encoder is because it contains photoelectric code disk and mechanical gear group leads to not use at present Lower cost solution optimizes so cost is high.
Actual multi-turn absolute value encoder used in the implementation method of the multi-turn absolute value encoder is absolute value individual pen The cost of cost+increment counter of magnetic coder, low more of encoder cost trueer than mechanical gear formula absolute value；By Absolute position, the orthogonal component metering number of turns are surveyed in the high-precision magnetic code disk used, plus the later stage using advanced algorithm to data Handled, it is ensured that the high accuracy of multi-turn absolute value encoder.
3rd, low-power consumption
Traditional electronic type encoder after a power failure, because power consumption is high, can not be counted for a long time in the case where encoder rotates Number.
The implementation method of the multi-turn absolute value encoder is powered using single battery, can after outside power outage To continue to record turnning circle, for up to 1 year or so.
4th, measures range is wide
Traditional its structure of photo-electric multi-turn absolute value encoder adds the pattern of mechanical gear group for individual pen absolute value encoder, by In the mechanical gear group that it is used, thus measures range is restricted, can cause super circle, causes to count inaccuracy.
The implementation method of the multi-turn absolute value encoder uses electronic counting pattern, and range ability is unrestricted.
5th, service life is grown
Photo-electric multi-turn absolute value encoder because its to hit and vibrate it is very fragile cause code-disc and mechanical gear group to crush, so as to Influence service life.
The magnetic code disk and Hall element used inside the implementation method of the multi-turn absolute value encoder, these elements are not easy Damage part, it is ensured that the service life time of equipment.
Fig. 1 and Fig. 2 are refer to, Fig. 1, which is that the method for work of multi-turn absolute value encoder provided by the present invention is a kind of, to be implemented The flow chart of mode；Fig. 2 is the stream of the method for work another embodiment of multi-turn absolute value encoder provided by the present invention Cheng Tu.
The invention also discloses a kind of method of work of multi-turn absolute value encoder, comprise the following steps：
Step S1, carry out electro-detection and outage detection；When detecting electric, into step S2；When detecting power-off, into step Rapid S3；
Step S2, individual pen absolute value encoder and single-chip microcomputer work, the single-chip microcomputer are adopted by the individual pen absolute value encoder Collect the rotor position information of motor；
Step S3, conventional coders and low-power scm work, the low-power scm are adopted by the conventional coders Collect the rotor position information of motor.
When the multi-turn absolute value encoder works, during externally fed, the work of individual pen absolute value encoder, its data gathered Recorded by single-chip microcomputer；During the power-off of outside, conventional coders work, its caused signal passes to the single-chip microcomputer of low-power consumption；Again During energization, by the data of single-chip microcomputer and low-power scm record, current multi-turn absolute position information can be calculated.
The rotor position information for the motor that single-chip microcomputer obtains, can be converted into multi-turn absolute position information；Low-power consumption monolithic The rotor position information for the motor that machine obtains, equivalent to the multi-turn relative position information after power-off.
The multi-turn absolute value encoder uses the design combination advanced algorithm of low-cost and high-performance, and optimization improves volume The performance of code device, realizes low-cost and high-precision, compact, measures range is unrestricted, in situation about being powered without external power source Under can continuous much time using, extend the service life of encoder.
In the first specific embodiment, in step S2, judge whether to power off, if power-off, the single-chip microcomputer storage The motor rotor position information of power-cut time, and enter step S3.
With the work of motor, individual pen absolute value encoder and single-chip microcomputer are started working, and record the rotor position of motor in real time Confidence ceases；After external power source power-off, single-chip microcomputer instantaneously preserves the multi-turn absolute position information of current rotor, at this moment Individual pen absolute value encoder and single-chip microcomputer are stopped, and conventional coders and low-power scm have shared battery, enter Enter low power mode of operation, obtain the rotor position information of motor, by algorithm, be converted into the multi-turn relative position of rotor Information, and be saved in the memory of low-power scm.
In second of specific embodiment, in step S3, judge whether to be powered, if be powered, into step S4, together When, the low-power scm enters resting state；
Step S4, the single-chip microcomputer start, and read the rotor position information of the motor of last time power-cut time storage, read low-power consumption Rotor multi-turn relative position information after the motor power-off of single-chip microcomputer storage；Single-chip microcomputer is also read by individual pen absolute value encoder Upper electric moment, the individual pen absolute location information of rotor；Into step S2.
Further, the rotor multi-turn absolute position for the motor that the single-chip microcomputer can store according to last time power-cut time is believed The individual pen of rotor multi-turn relative position information and upper electric moment rotor after the motor power-off that breath, low-power scm store Absolute location information, obtain the multi-turn absolute position information of rotor.
Preferably, the multi-turn absolute position information of rotor is passed through into data signal or analog signal output.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses Mode, but the invention is not limited in this.For those skilled in the art, the essence of the present invention is not being departed from In the case of refreshing and essence, various changes and modifications can be made therein, and these variations and modifications are also considered as protection scope of the present invention.

Claims (10)

  1. A kind of 1. multi-turn absolute value encoder, it is characterised in that including：Detection module, powered operation module and power-off Working mould Block；
    Detection module, electro-detection and outage detection are carried out, when detecting electric, the work of powered operation module；Detect power-off When, power-off operational module work；
    Powered operation module, including individual pen absolute value encoder and single-chip microcomputer, the single-chip microcomputer are compiled by the individual pen absolute value The rotor position information of code device collection motor；
    Operational module, including conventional coders and low-power scm are powered off, the low-power scm passes through the common volume The rotor position information of code device collection motor.
  2. 2. multi-turn absolute value encoder as claimed in claim 1, it is characterised in that
    When detecting electric, the single-chip microcomputer starts, and reads the multi-turn absolute position information of last time power-cut time storage；And read Take the multi-turn relative position information after the motor power-off of low-power scm storage, after the completion of reading, the low-power scm Into resting state；Single-chip microcomputer also read upper electric moment, the individual pen absolute position of rotor by individual pen absolute value encoder Information；
    When detecting power-off, the rotor position information of the single-chip microcomputer storage power-cut time motor, meanwhile, the low-power consumption monolithic Machine enters low power operation pattern from park mode, and in off-position, motor is read in real time by the conventional coders Rotor position information, by algorithm, the multi-turn relative position information of rotor is converted into, and is stored in the low-power consumption list In memory inside piece machine.
  3. 3. multi-turn absolute value encoder as claimed in claim 2, it is characterised in that the single-chip microcomputer can power off according to last time The rotor multi-turn phase of motor after the rotor multi-turn absolute position information of the motor of moment storage, the power-off of low-power scm storage To positional information and the individual pen absolute location information of rotor, the multi-turn absolute position information of rotor is obtained, and by institute State multi-turn absolute position information and pass through data signal or analog signal output.
  4. 4. the multi-turn absolute value encoder as described in any one of claims 1 to 3, it is characterised in that the individual pen absolute value is compiled Code device and the conventional coders share code-disc.
  5. 5. multi-turn absolute value encoder as claimed in claim 4, it is characterised in that the conventional coders are orthogonal coding Device.
  6. 6. a kind of method of work of multi-turn absolute value encoder, it is characterised in that comprise the following steps：
    S1, carry out electro-detection and outage detection；When detecting electric, into step S2；When detecting power-off, into step S3；
    S2, individual pen absolute value encoder and single-chip microcomputer work, the single-chip microcomputer gather electricity by the individual pen absolute value encoder The rotor position information of machine；
    S3, conventional coders and low-power scm work, the low-power scm gather electricity by the conventional coders The rotor position information of machine.
  7. 7. the method for work of multi-turn absolute value encoder as claimed in claim 6, it is characterised in that in step S2, judgement is No power-off, if power-off, the motor rotor position information of the single-chip microcomputer storage power-cut time, and enter step S3.
  8. 8. the method for work of multi-turn absolute value encoder as claimed in claim 6, it is characterised in that in step S3, judgement is No energization, if be powered, into step S4, meanwhile, the low-power scm enters resting state；
    S4, the single-chip microcomputer start, and read the rotor position information of the motor of last time power-cut time storage, read low-power consumption monolithic Rotor multi-turn relative position information after the motor power-off of machine storage；Single-chip microcomputer also reads upper electricity by individual pen absolute value encoder Moment, the individual pen absolute location information of rotor；Into step S2.
  9. 9. the method for work of multi-turn absolute value encoder as claimed in claim 8, it is characterised in that the single-chip microcomputer being capable of root After being powered off according to the motor of the rotor multi-turn absolute position information of the motor of last time power-cut time storage, low-power scm storage The individual pen absolute location information of rotor multi-turn relative position information and upper electric moment rotor, the multi-turn for obtaining rotor are exhausted To positional information.
  10. 10. the method for work of multi-turn absolute value encoder as claimed in claim 9, it is characterised in that by the more of rotor Circle absolute location information passes through data signal or analog signal output.
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CN107941247A (en) * 2017-12-18 2018-04-20 嘉兴市锐鹰传感技术有限公司 A kind of passive wake-up formula encoder and method of work
CN108844558A (en) * 2018-06-29 2018-11-20 上海共久电气有限公司 A method of realizing that de-energized is remembered using individual pen absolute value encoder
CN109556638A (en) * 2018-12-24 2019-04-02 前沿驱动（北京）技术有限公司 Multi-turn absolute value encoder, coding method, controller and storage medium
CN110440848A (en) * 2019-08-21 2019-11-12 浙江禾川科技股份有限公司 A kind of measurement method of magnetic coder, device and equipment
CN112378425A (en) * 2020-11-03 2021-02-19 通用电气（武汉）自动化有限公司 Initial value setting method and device for multi-turn absolute value encoder and storage medium
CN113029205A (en) * 2021-03-09 2021-06-25 长沙市日业电气有限公司 Electromagnetic absolute value multi-ring encoder never losing position
CN113847934A (en) * 2021-09-24 2021-12-28 深圳市灵犀自动化技术有限公司 Position determination method and device of hybrid encoder
CN114018296A (en) * 2021-10-11 2022-02-08 珠海市大然机器人科技有限公司 Servo motor control method
CN114061627A (en) * 2021-11-01 2022-02-18 之江实验室 Electronic multi-turn absolute value encoder system, device and working method
CN114323079A (en) * 2021-12-31 2022-04-12 重庆诺柏恩自动化技术有限公司 Accumulative error-free gear encoder

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