Post on 02-Oct-2021
DC Motor with Shaft Encoder
ElectronicsDC Motor with Shaft Encoder
Terry Sturtevant
Wilfrid Laurier University
November 1, 2018
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoders
Incremental rotary encodingtwo channels
As long as you know the initial position, you can update if you cansense changes.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoders
Incremental rotary encoding
two channels
As long as you know the initial position, you can update if you cansense changes.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoders
Incremental rotary encodingtwo channels
As long as you know the initial position, you can update if you cansense changes.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoders
Incremental rotary encodingtwo channels
As long as you know the initial position, you can update if you cansense changes.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
There are 30 teeth, so the encoder has 12◦ resolution.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Here’s how it fits in the case.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
There’s no electrical connection between motor and shaft encoder.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Here are the two parts identified.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Here are the motor connections.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Here are the shaft encoder connections.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
There is not even a common ground.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder wheelTwo sensors will allow determination of rotation speed andangle
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder wheel
Two sensors will allow determination of rotation speed andangle
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder wheelTwo sensors will allow determination of rotation speed andangle
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Counter-clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Counter-clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Counter-clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
AB
Counter-clockwise
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing11
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing01
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing01
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing01
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing00
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing00
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing10
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing10
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing10
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Shaft encoder timing11
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Speed of rotation from frequency of either channel
Angle of rotation from combination
Here’s an example from an actual motor.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Speed of rotation from frequency of either channelAngle of rotation from combination
Here’s an example from an actual motor.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Speed of rotation from frequency of either channelAngle of rotation from combination
Here’s an example from an actual motor.
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
00
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
10
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
11
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
01
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
00
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
01
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
11
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
10
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
One direction
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Other direction
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 5 divisions
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
�� ��Period is 5 divisionsTime scale is 500µS per division
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 5 divisions → 2500µS = 2.5mSTime scale is 500µS per division
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 5 divisions → 2500µS = 2.5mS30 slots per revolution × 2.5mS
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 2.5mS30 slots per revolution × 2.5mS → 75ms per revolution
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 2.5mS × 30 → 75ms per revolution75/1000 seconds per revolution → 13.33 rev./second
Terry Sturtevant Electronics DC Motor with Shaft Encoder
DC Motor with Shaft Encoder Shaft encoders
Period is 2.5mS × 30 → 75ms per revolution75/1000 seconds per revolution → 13.33 rev./second× 60 → 800 RPM
Terry Sturtevant Electronics DC Motor with Shaft Encoder