CN113028961B - Linear encoder - Google Patents
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- CN113028961B CN113028961B CN202110218548.3A CN202110218548A CN113028961B CN 113028961 B CN113028961 B CN 113028961B CN 202110218548 A CN202110218548 A CN 202110218548A CN 113028961 B CN113028961 B CN 113028961B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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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
- G01D5/12—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 using electric or magnetic means
- G01D5/244—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/245—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 using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
- G01D5/2451—Incremental encoders
Abstract
The invention discloses a linear encoder, which comprises a first sensing module, a second sensing module and an operation module, wherein when a linear motor moves, the first sensing module senses an ABZ signal in an increment track, then calculates the displacement of the linear motor according to an A signal and a B signal, generates a Z signal at the fixed position of each magnetic pole, and then carries out logic operation on the Z signals and a level signal generated by the second sensing module to obtain a zero point position.
Description
Technical Field
The invention relates to the field of motor motion, in particular to a linear encoder.
Background
In the motion process of the linear motor, the linear encoder plays an important feedback role, wherein the linear motor comprises a magnetic ruler and the linear encoder, when the linear encoder and the magnetic ruler have relative displacement, the linear encoder feeds back displacement information in real time, outputs an ABZ signal, and the rear end calculates an AB signal to obtain the displacement of the linear motor, and the zero position is determined by processing a Z signal so that the motor can realize zero regression action.
Specifically, referring to fig. 1, fig. 1 is a schematic diagram of a magnetic scale in the prior art, the magnetic scale includes an incremental track and a reference track, the incremental track includes a plurality of N poles and S poles that are continuously and alternately arranged, the reference track includes a plurality of N poles and S poles, the linear encoder includes a magnetic sensing module and a switching magnetic sensing module, fig. 2 is a schematic diagram of a linear encoder and a magnetic scale in the prior art, wherein the incremental sensing in the linear encoder moves on the incremental track and outputs an a signal and a B signal with a phase difference of 90 °, the a signal and the B signal are pulse signals, and a specific angle of each magnetic pole on the incremental track is controlled by software to have a Z signal output with a fixed width (about 1/4-1 a phase pulse or B phase pulse width). Referring to fig. 3, fig. 3 is an output waveform diagram of the switch magnetic sensing module in the prior art, wherein when the magnetic field strength sensed by the switch magnetic sensing module reaches a certain value, a high-level signal is output, and the high-level signal and a Z signal are output at a zero point position after passing through an and gate.
In summary, in the prior art, a logic operation is performed on a high-level signal and a Z signal output by a switch magnetic sensing module, so as to determine a zero position. However, in the prior art, the magnetizing error may exist in the magnetizing of the magnetic scale, especially in a small number of magnetic poles of the reference track, referring to fig. 4, fig. 4 is a schematic diagram of the magnetizing error of the magnetic scale in the prior art, for example, the magnetizing error of the magnetic pole in the reference track (the width between two adjacent Z signals (Z1 and Z2) is 1 mm) with a pole pitch of 1mm as a standard pole pitch, that is, the width of the high level signal output by the switching magnetic sensing module is 1.2mm, because the Z signal is output at a specific angle of each magnetic pole, that is, the Z signal is output every 1mm, and 1.2mm >1mm, at this time, after the high level signal and the Z signal are subjected to the and operation, two zero point positions may occur, that is, the zero point is not unique may occur.
In addition, because the magnetic field intensity that the switch magnetic sensing module level jumps corresponds is fixed and the magnetic scale magnetic field decay is violent, when carrying out PCB paster and mechanism installation, the accumulated interval error of magnetic sensing module and magnetic scale leads to very easily that the high level width of switch magnetic sensing module output is less than the magnetic pole width, if the Z signal is comparatively close to the border of the high level signal of switch magnetic sensing module output this moment, the condition that the zero point lost can appear. Referring to fig. 5, fig. 5 is a schematic diagram of the switch magnetic sensor module in the prior art when the high level width of the switch magnetic sensor module is too narrow. The distance between two adjacent Z signals is 1mm, and if the high-level signal output by the switching magnetic sensing module is 0.9mm due to errors, the zero point loss situation may occur.
Disclosure of Invention
The invention aims to provide a linear encoder which can determine a unique zero point and avoid the condition that the zero point is not unique or lost.
In order to solve the above technical problems, the present invention provides a linear encoder, comprising:
the first sensing module moves along with a rotor of the linear motor, is used for moving on an incremental track when the linear motor moves, and generates an ABZ signal, wherein the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module is used for moving on a reference track when the linear motor moves and generating a level signal with adjustable width when passing through a magnetic pole on the reference track, and the width of the level signal corresponds to the width between two adjacent Z signals so as to enable the level signal and the Z signals to determine a unique zero point position after logic operation;
and the operation module is respectively connected with the first sensing module and the second sensing module and is used for carrying out logic operation on the level signal and the Z signal with adjustable width to determine the zero position.
Preferably, the second sensing module includes:
a sensing element for outputting a sinusoidal voltage signal according to a change in magnetic field strength when moving on the reference track;
the voltage output module is used for outputting a reference voltage value, and the reference voltage value is adjustable;
the first input end is connected with the sensing element, the second input end is connected with the voltage output module, and the comparator is used for comparing the sinusoidal voltage signal with the reference voltage value and outputting a corresponding level signal.
Preferably, the first input end of the comparator is an input negative end, and the second input end of the comparator is an input positive end;
the comparator is specifically configured to output a low-level signal when the voltage of the sinusoidal signal is greater than the reference voltage; and outputting a high-level signal when the voltage of the sinusoidal signal is smaller than the reference voltage.
Preferably, the Z signal is a forward pulse signal;
the operation module is specifically configured to perform logical AND operation on the high-level signal and the Z signal, and determine a position corresponding to the output high-level signal as a zero position.
Preferably, the absolute value of the difference between the width of the high level signal and the width of the magnetic pole in the incremental track is not greater than a preset value.
Preferably, the method further comprises:
the first detection module is connected with the output end of the comparator and is used for detecting the width of the high-level signal output by the comparator;
and the processing module is connected with the first detection module and is used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not more than a preset value, and if not, the processing module is used for controlling the alarm device to send out first alarm information.
Preferably, the method further comprises:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in one direction;
the processing module is also used for judging whether the number of the zero positions is 1, and if not, the processing module is used for controlling the alarm device to send out second alarm information.
Preferably, the voltage output module comprises a power supply module, a first resistance module and a first resistance;
the first end of the first resistor module is connected with the output end of the power module, the second end of the first resistor module is respectively connected with the first end of the first resistor and the second output end of the comparator, the second end of the first resistor is grounded, and the resistance value of the first resistor module is adjustable.
The application provides a linear encoder, including first sensing module, second sensing module and operation module, when linear motor moves, first sensing module can induct the ABZ signal at the increment track, then can calculate linear motor's displacement according to A signal and B signal, and the fixed position of every magnetic pole generates a Z signal, then these Z signals are through doing logical operation with the level signal that the second sensing module produced, obtain the zero point position, and because the width of level signal in this application can be according to the width adjustment between two adjacent Z signals, therefore, can make it and Z signal do after logical operation obtain a unique zero point through adjusting the width of level signal, if when the zero point is lost, increase the width of level signal, or when the zero point is not unique, reduce the width of level signal, make when level signal and Z signal do logical operation, obtain a unique zero point, thereby avoid the condition that the zero point is not unique or zero point is lost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required in the prior art and the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a prior art magnetic scale;
FIG. 2 is a schematic diagram of a linear encoder and a magnetic scale according to the prior art;
FIG. 3 is a diagram showing waveforms of the output of a prior art switching magnetic sensor module;
FIG. 4 is a schematic diagram of a prior art magnetic scale magnetized too wide;
FIG. 5 is a schematic diagram of a prior art switching magnetic sensor module when the high level width of the output is too narrow;
FIG. 6 is a block diagram of a linear encoder according to the present invention;
FIG. 7 is a block diagram of another linear encoder according to the present invention;
FIG. 8 is a voltage waveform diagram of the positive and negative input terminals of a comparator according to the present invention;
fig. 9 is a schematic diagram of a specific implementation of a linear encoder according to the present invention.
Detailed Description
The core of the invention is to provide a linear encoder which can determine a unique zero point and avoid the condition that the zero point is not unique or lost.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 6, fig. 6 is a block diagram illustrating a linear encoder according to the present invention, the linear encoder includes:
the first sensing module 1 moves along with a rotor of the linear motor, is used for moving on an incremental track when the linear motor moves, and generates an ABZ signal, wherein the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module 2 moves along with the rotor of the linear motor, is used for moving on the reference track when the linear motor moves, and generating a level signal with adjustable width when passing through the magnetic poles on the reference track, wherein the width of the level signal corresponds to the width between two adjacent Z signals, so that the level signal and the Z signal determine a unique zero point position after logic operation;
and the operation module is respectively connected with the first sensing module 1 and the second sensing module 2 and is used for carrying out logic operation on the level signal and the Z signal with adjustable width to determine the zero point position.
Considering that the zero point determining method in the prior art may occur that the zero point is not unique due to over wide magnetizing or the zero point is lost due to over narrow high level width of the output of the switch magnetic sensing module.
The applicant considers that zero point loss or the uncertainty of the width of the zero point, which is basically the high level, occurs in the prior art, that is, the excessively wide width of the high level may cause the zero point to be non-unique, and the excessively narrow width of the high level may cause the zero point to be lost, so the design idea of the application is to design a module for generating the level signal, and the width of the level signal is adjustable, specifically, the width between two adjacent Z signals is adjusted according to the width, so that after the Z signals and the level signal are subjected to logic operation, a unique zero point position can be obtained.
Based on this, the linear encoder in the present application includes a first sensing module 1, a second sensing module 2 and an operation module, specifically, please refer to fig. 1 and 2, a magnetic scale is disposed on a linear motor, the magnetic scale is divided into an incremental track and a reference track, the linear encoder is disposed on a mover of the linear motor, when the linear motor moves, the first sensing module 1 and the second sensing module 2 move on the magnetic scale, wherein the first sensing module 1 moves on the incremental track, and each period senses a plurality of AB signals and a Z signal, wherein the AB signals are pulse signals, the number of pulses of the AB signals is 1/4 of the resolution of the linear encoder, the displacement of the linear motor can be determined according to the AB signals, and since the Z signals are output at a fixed angle of each magnetic pole, the widths of two adjacent Z signals are fixed, which is equivalent to the magnetic pole widths. In addition, the method and the device generate a level signal with adjustable width, and the width of the level signal is adjusted according to the width between two adjacent Z signals, so that after the Z signals and the level signal are subjected to logic operation, a unique zero point position can be obtained.
It should be noted that, if the standard pole pitch is 1mm, that is, the width between two Z signals is 1mm, the width of the level signal in the present application is generally set to about 1mm, for example, 0.99mm or 0.98mm, so that when the level signal and the Z signal perform logic operation, only one Z signal is in the width corresponding to the level width, thereby realizing the uniqueness of the zero point position. Furthermore, the specific composition of the second sensor module 2 in the present application is not limited herein.
In summary, the linear encoder in the present application can determine the unique zero position, and can avoid the situation that the zero is not unique or the zero is lost.
Based on the above embodiments:
referring to fig. 7, fig. 7 is a block diagram illustrating a structure of another linear encoder according to the present invention.
As a preferred embodiment, the second sensing module 2 comprises:
a sensing element 22 for outputting a sinusoidal voltage signal according to a change in magnetic field strength while moving on a reference track;
the voltage output module 21 is used for outputting a reference voltage value, and the reference voltage value is adjustable;
the first input end is connected with the sensing element 22, and the second input end is connected with the comparator 23 of the voltage output module 21, and the comparator is used for comparing the sinusoidal voltage signal with the reference voltage value and outputting a corresponding level signal.
The present application is directed to a specific implementation manner of the second sensing module 2, specifically, the second sensing module includes a sensing element 22 capable of generating a sinusoidal voltage signal according to a magnetic field strength change, a voltage output module 21 capable of outputting an adjustable reference voltage value, and a comparator 23, and compares the sinusoidal voltage signal with the reference voltage value to output a level signal with a certain width. Specifically, the width of the level signal output from the comparator 23 is further adjusted by adjusting the reference voltage value.
For example, the magnetizing width of the magnetic scale is too wide to make the level signal corresponding to the output voltage value corresponding to the reference voltage value corresponding at the time too wide, so that two Z signals are corresponding in the width of the level signal, thereby generating the situation that the zero point is not unique, at this time, the width of the level signal output by the comparator 23 can be reduced by adjusting the reference voltage value, so that only one Z signal is corresponding in the width range of the level signal, thereby realizing the zero point position uniqueness.
In summary, the second sensing module 2 in the present application may implement that when the linear motor moves, that is, when the second sensing module 2 moves on the reference track and passes through the magnetic poles on the reference track, a level signal with an adjustable width is generated, where the width of the level signal corresponds to the width between two adjacent Z signals, so that the level signal and the Z signal determine a unique zero position after performing a logic operation
As a preferred embodiment, the first input terminal of the comparator 23 is the negative input terminal, and the second input terminal of the comparator 23 is the positive input terminal;
the comparator 23 is specifically configured to output a low-level signal when the voltage of the sinusoidal signal is greater than the reference voltage; when the voltage of the sinusoidal signal is smaller than the reference voltage, a high level signal is output.
Specifically, in the present application, an output end of the sensing element 22 is connected to an input negative end of the comparator 23, an output end of the voltage output module 21 is connected to an input positive end of the comparator 23, and referring to fig. 8, fig. 8 is a voltage waveform diagram of the input positive end and the input negative end of the comparator provided by the present invention, wherein when a voltage value of a sinusoidal voltage signal output by the voltage output module 21 is greater than a reference voltage value, a low-level signal is output, and when a voltage value of a sinusoidal voltage signal output by the voltage output module 21 is less than the reference voltage value, a high-level signal is output.
In summary, the level signal with adjustable output width can be realized by the connection mode in the embodiment, and the realization mode is simple.
As a preferred embodiment, the Z signal is a forward pulse signal;
the operation module is specifically configured to perform logical AND operation on the high-level signal and the Z signal, and determine a position corresponding to the output high-level signal as a zero position.
Specifically, when the Z signal in the present application is a forward pulse signal, the operation module performs logical and operation on the level signal with adjustable width and the Z signal, that is, the position corresponding to the detected Z signal is the zero position in the width range of the high level signal. The width of the high level signal is generally adjusted to be the same as the width between two adjacent Z signals, for example, if the width between two adjacent Z signals is 1mm, the width of the high level signal is set to be 1mm, referring to fig. 8, the width of the output high level signal can be adjusted by adjusting the reference voltage value, so that only one Z signal is in the width range, thereby obtaining a zero point position.
It should be noted that, at this time, only one unique zero position can be obtained after all the high level signals output by the second sensing module 2 and the Z signal are logically operated. That is, only one unique zero position can be obtained after the sensor element 22 is combined with the number of magnetic poles on the reference track and the reference voltage value, and the number of magnetic poles on the specific reference track, the specific implementation of the sensor element 22, and the specific value of the reference voltage value are not particularly limited herein.
In addition, referring to fig. 9, fig. 9 is a schematic diagram of a specific implementation of a linear encoder according to the present invention, the operation module in the present application may be, but not limited to, an and gate, that is, the output end of the comparator 23 and the output end of the Z signal are both connected to the input end of the and gate, and when a high level signal and a Z signal are input to the input end of the and gate at the same time, the and gate outputs a high level, and the position corresponding to the high level is the zero point position.
In summary, the operation module in this embodiment may implement a function of determining the zero position, and implement simple logic and easy operation.
As a preferred embodiment, the absolute value of the difference between the width of the high level signal and the width of the magnetic pole in the incremental track is not greater than a preset value.
Considering that the magnetizing errors of the PCB patch and the mechanism installation or the magnetic ruler are likely to cause the fine adjustment of the width of the level signal output by the second sensing module 2, for the purpose of infrequently adjusting the width of the level signal, the application allows certain errors to exist between the width of the high level signal and the width of the magnetic pole in the incremental track, namely the absolute value of the difference value of the high level signal and the magnetic pole is not larger than a preset value. The width of the magnetic pole is the width between two adjacent Z signals.
Specifically, when the magnetic pole width is 1mm, the width of the high level signal is usually set to 0.99mm or 0.98mm.
In summary, by the method in this embodiment, frequent adjustment of the width of the level signal can be avoided on the premise of ensuring a certain accuracy.
As a preferred embodiment, further comprising:
the first detection module is connected with the output end of the comparator 23 and is used for detecting the width of the high-level signal output by the comparator 23;
and the processing module is connected with the first detection module and is used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not larger than a preset value, and if not, the processing module is used for controlling the alarm device to send out first alarm information.
The present embodiment aims to provide a basis for adjusting the level width, specifically, the first detection module detects the width of the high level signal output by the comparator 23, and when the absolute value of the difference between the width of the high level signal and the width of the magnetic pole in the incremental track is not smaller than a preset value, controls to send out the first alarm information to remind the staff to adjust the width of the high level signal in time so as to ensure the uniqueness of the zero point position, and the same type of product only needs to adjust a small amount of prototypes to determine the reference voltage value of the required comparator.
In summary, by the method in this embodiment, a worker can know the width of the high-level signal in time and adjust the signal in time when the signal does not meet the requirement, so as to ensure the accuracy of the zero position.
As a preferred embodiment, further comprising:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in one direction;
the processing module is also used for judging whether the number of the zero positions is 1, and if not, the alarm device is controlled to send out second alarm information.
Considering that there may be some reason, for example, the width of the level signal is not adjusted in time by the staff, at this time, the situation that the zero point is not unique or the zero point is lost may occur, based on this, the present application also sets the number of the zero point positions detected by the second detection module, so that the linear motor continuously moves in one direction through the preset zero point, when the Z signal is a forward pulse signal and performs and operation with the high level signal, the number of the zero point positions detected by the second detection module is the number of the high level signal output by the detection operation module, when the Z signal is not unique or lost, the second alarm information is sent to remind the staff to process in time, further ensuring the accuracy of the zero point positions,
as a preferred embodiment, the voltage output module 21 includes a power module, a first resistor module and a first resistor;
the first end of the first resistor module is connected with the output end of the power module, the second end of the first resistor module is connected with the first end of the first resistor and the second output end of the comparator 23 respectively, the second end of the first resistor is grounded, and the resistance value of the first resistor module is adjustable.
Specifically, the voltage output module 21 in the present application is formed by a power module and a voltage dividing resistor (i.e. a first resistor module and a first resistor), and the reference voltage value output by the voltage output module 21 can be changed by adjusting the ratio of the first resistor module to the first resistor, i.e. the resistance value of the first resistor module.
The first resistor module in the present application may be a sliding resistor, that is, a tap of the sliding resistor, or a welding resistor, that is, by changing the number and the resistance of the welding resistors, the position of the line corresponding to the reference voltage value in fig. 8 may be moved up and down, so as to change the high level width output by the comparator 23, and the implementation manner of the first resistor module is not particularly limited herein.
In summary, the function of outputting the adjustable reference voltage value can be realized by the mode in the embodiment, and the implementation mode is simple and easy to operate.
The position of the stable zero point is determined by the relative positions of the reference track of the magnetic scale, the position of the linear sensor chip 11, and the sensor element 22. The Z signal can be located at the center of the high level signal output from the comparator 23 by moving the relative positions of the three. The change of the relative positions of the three is equivalent to the movement of the Z signal in the width range of the high-level signal, so that the Z signal is positioned at the center of the high level, thereby preventing the non-unique situation of the zero signal and allowing larger patch mounting errors.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. A linear encoder, comprising:
the first sensing module moves along with a rotor of the linear motor, is used for moving on an incremental track when the linear motor moves, and generates an ABZ signal, wherein the ABZ signal comprises an A signal, a B signal and a Z signal;
the second sensing module is used for moving on a reference track when the linear motor moves and generating a level signal with adjustable width when passing through a magnetic pole on the reference track, and the width of the level signal corresponds to the width between two adjacent Z signals so as to enable the level signal and the Z signals to determine a unique zero point position after logic operation;
and the operation module is respectively connected with the first sensing module and the second sensing module and is used for carrying out logic operation on the level signal and the Z signal with adjustable width to determine the zero position.
2. The linear encoder of claim 1, wherein the second sensing module comprises:
a sensing element for outputting a sinusoidal voltage signal according to a change in magnetic field strength when moving on the reference track;
the voltage output module is used for outputting a reference voltage value, and the reference voltage value is adjustable;
the first input end is connected with the sensing element, the second input end is connected with the voltage output module, and the comparator is used for comparing the sinusoidal voltage signal with the reference voltage value and outputting a corresponding level signal.
3. The linear encoder of claim 2, wherein a first input of the comparator is an input negative terminal and a second input of the comparator is an input positive terminal;
the comparator is specifically configured to output a low-level signal when the voltage of the sinusoidal voltage signal is greater than the reference voltage; and outputting a high-level signal when the voltage of the sinusoidal voltage signal is smaller than the reference voltage.
4. A linear encoder according to claim 3, wherein the Z signal is a forward pulse signal;
the operation module is specifically configured to perform logical AND operation on the high-level signal and the Z signal, and determine a position corresponding to the output high-level signal as a zero position.
5. The linear encoder of claim 4, wherein an absolute value of a difference between a width of the high level signal and a width of a magnetic pole in the incremental track is not greater than a preset value.
6. The linear encoder of claim 5, further comprising:
the first detection module is connected with the output end of the comparator and is used for detecting the width of the high-level signal output by the comparator;
and the processing module is connected with the first detection module and is used for judging whether the absolute value of the difference value between the width of the high-level signal and the width of the magnetic pole in the incremental track is not more than a preset value, and if not, the processing module is used for controlling the alarm device to send out first alarm information.
7. The linear encoder of claim 6, further comprising:
the second detection module is connected with the output end of the operation module and is used for detecting the number of zero positions when the linear motor continuously moves in one direction;
the processing module is also used for judging whether the number of the zero positions is 1, and if not, the processing module is used for controlling the alarm device to send out second alarm information.
8. The linear encoder of any one of claims 2-7, wherein the voltage output module comprises a power supply module, a first resistance module, and a first resistance;
the first end of the first resistor module is connected with the output end of the power module, the second end of the first resistor module is respectively connected with the first end of the first resistor and the second output end of the comparator, the second end of the first resistor is grounded, and the resistance value of the first resistor module is adjustable.
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