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基本信息：3HAC044516-001/00 ABB 帶編碼器接口的交流電機(jī)

1 編碼器分類

1.1 按監(jiān)測(cè)原理分類

1.1.1 光電編碼器

光電編碼器，是一種通過光電轉(zhuǎn)換將輸出軸上的機(jī)械幾何位移量轉(zhuǎn)換成脈沖或數(shù)字量的傳感器。這是目前應(yīng)用最多的傳感器，光電編碼器是由光源、光碼盤和光敏元件組成。

光柵盤是在一定直徑的圓板上等分地開通若干個(gè)長方形孔。由于光電碼盤與電動(dòng)機(jī)同軸，電動(dòng)機(jī)旋轉(zhuǎn)時(shí)，光柵盤與電動(dòng)機(jī)同速旋轉(zhuǎn)，經(jīng)發(fā)光二極管等電子元件組成的檢測(cè)裝置檢測(cè)輸出若干脈沖信號(hào)，通過計(jì)算每秒光電編碼器輸出脈沖的個(gè)數(shù)就能反映當(dāng)前電動(dòng)機(jī)的轉(zhuǎn)速。

此外，為判斷旋轉(zhuǎn)方向，碼盤還可提供相位相差90°的兩路脈沖信號(hào)。

1.1.2 霍爾編碼器

霍爾編碼器是一種通過磁電轉(zhuǎn)換將輸出軸上的機(jī)械幾何位移量轉(zhuǎn)換成脈沖或數(shù)字量的傳感器。

霍爾編碼器是由霍爾碼盤（磁環(huán)）和霍爾元件組成。

霍爾碼盤是在一定直徑的圓板上等分地布置有不同的磁極。霍爾碼盤與電動(dòng)機(jī)同軸，電動(dòng)機(jī)旋轉(zhuǎn)時(shí)，霍爾元件檢測(cè)輸出若干脈沖信號(hào)，為判斷轉(zhuǎn)向，一般輸出兩組存在一定相位差的方波信號(hào)。

1.2 按輸出信號(hào)分類

1.2.1 增量式編碼器

增量式編碼器是將設(shè)備運(yùn)動(dòng)時(shí)的位移信息變成連續(xù)的脈沖信號(hào)，脈沖個(gè)數(shù)表示位移量的大小。其特點(diǎn)如下：

只有當(dāng)設(shè)備運(yùn)動(dòng)時(shí)才會(huì)輸出信號(hào)。
一般會(huì)輸出通道A和通道B 兩組信號(hào)，并且有90° 的相位差（1/4個(gè)周期），同時(shí)采集這兩組信號(hào)就可以計(jì)算設(shè)備的運(yùn)動(dòng)速度和方向。

如下圖，通道A和通道B的信號(hào)的周期相同，且相位相差1/4個(gè)周期，結(jié)合兩相的信號(hào)值：

當(dāng)B相和A相先是都讀到高電平（1 1），再B讀到高電平，A讀到低電平（1 0），則為順時(shí)針轉(zhuǎn)
當(dāng)B相和A相先是都讀到低電平（0 0），再B讀到高電平，A讀到低電平（1 0），則為逆時(shí)針轉(zhuǎn)
除通道A、通道B 以外，還會(huì)設(shè)置一個(gè)額外的通道Z 信號(hào)，表示編碼器特定的參考位置

如下圖，傳感器轉(zhuǎn)一圈后Z 軸信號(hào)才會(huì)輸出一個(gè)脈沖，在Z軸輸出時(shí)，可以通過將AB通道的計(jì)數(shù)清零，實(shí)現(xiàn)對(duì)碼盤位置的計(jì)算。

增量式編碼器只輸出設(shè)備的位置變化和運(yùn)動(dòng)方向，不會(huì)輸出設(shè)備的位置。

3HAC044516-001/00 1 Encoder classification 1.1 Classification by monitoring principle 1.1.1 Photoelectric encoder The photoelectric encoder is a sensor that converts the mechanical geometric displacement on the output shaft into a pulse or a digital quantity by photoelectric conversion. This is currently the most used sensor, photoelectric encoder is composed of light source, optical code disk and photosensitive elements. The grating disk is a certain diameter of the circular plate on the opening of a number of equal rectangular holes. Because the optical code disc is coaxial with the motor, when the motor is rotating, the grating disc rotates at the same speed as the motor, and the detection device composed of electronic components such as light-emitting diodes detects and outputs several pulse signals, and the current motor speed can be reflected by calculating the number of pulses output by the photoelectric encoder per second. In addition, in order to determine the direction of rotation, the code disk can also provide two pulse signals with a phase difference of 90°. 1.1.2 Hall encoder Hall encoder is a kind of sensor that converts the mechanical geometric displacement on the output shaft into a pulse or a digital amount by magnetoelectric conversion. The Hall encoder is composed of a Hall disk (magnetic ring) and a Hall element. Hall yards are arranged on a circular plate of a certain diameter with different magnetic poles equally divided. The Hall code plate is coaxial with the motor. When the motor is rotating, the Hall element detects and outputs several pulse signals. In order to judge the direction, the square wave signals with certain phase difference are generally output. 1.2 Classification by output signal 1.2.1 Incremental encoder Incremental encoder is to change the displacement information of the device into a continuous pulse signal, and the number of pulses indicates the size of the displacement. Its characteristics are as follows: The signal is only output when the device is in motion. Generally, two sets of signals of channel A and channel B are output, and there is a phase difference of 90° (1/4 cycle), and the speed and direction of the device can be calculated by collecting these two sets of signals at the same time. In the figure below, the signal period of channel A and channel B is the same, and the phase difference is 1/4 cycle, combined with the signal value of the two phases: When phase B and phase A both read A high level (1 1), then B reads a high level, and A reads a low level (10 0), it turns clockwise When phase B and phase A are both read low (0 0), then B reads high, and A reads low (10 0), it is turned counterclockwise In addition to channels A and B, an additional channel Z signal is set to indicate the specific reference position of the encoder As shown in the figure below, the Z-axis signal will output a pulse only after the sensor turns around. When the Z-axis is output, the absolute position of the code disk can be calculated by clearing the count of the AB channel to zero. Incremental encoders only output the position change and direction of motion of the device, and do not output the absolute position of the device.

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