LINEAR ENCODERS ISKRA

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Different types of linear encoders by used technology:

LINEAR ENCODERS

MAGNETIC

OPTOELECTRONIC

MAGNETIC BAND Features: Long length Low accuracy Low resolution Low repetability Excellent for hard enviroment (dust, liquids, ) Used in: Wood & Stone cutting machine;
Iskra TELA d.d.

NON-MAGNETIC BAND Features: Long length Low accuracy Low resolution High repetability Excellent for hard enviroment (dust, liquids, ) Used in: Wood & Stone cutting machine;
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METAL TAPE: Features: Long length Good accuracy Low resolution High repetability Sensitive to dust, Used in: Machine tool;

GLASS SCALE Features: Length to 3m High accuracy High resolution High repetability Sensitive to dust, Used in: Machine tool; Semiconductor industry

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Different types of optoelectronic linear encoders by application:

Optoelectronic glass linear encoders

DRO linear encoders For use on manualy controlled machine tool; Retro fitting of old machine tool

NC linear encoders: For use on NC controlled machine tool; For new builded machine, and for retrofitting .

Features: Good accuracy; Good interpolation error Good reliability;

Features: High accuracy Low interpoaltion error High reliability

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Optoelectronic linear encoders theory of operation (scanning):

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9D/4 3D/2 3D/4

INDEX PLATE

=INTERVAL

B RI

B
GLASS SCALE

Ia SI
OUTPUT SIGNALS

Ia Iri

A DS
OUTPUT SIGNALS

B RI

D/4=r

=RESOLUTION

Optoelectronic linear encoders theory of operation (interpolation):

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sin(x)

D
sin(x+18)

Ia
A

sin(x+36) sin(x+54) sin(x+72) cos(x) cos(x+18)

Ib
DIGITISING CIRCUIT LOGIC CIRCUIT

A B

cos(x+36) cos(x+54)

RI

D/I =OUTPUT PERIOD D/I/4=r =RESOLUTION I=5

cos(x+72) -sin(x)

Optoelectronic linear encoders functional structure (DRO encoders):

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GLASS SCALE

D
LIGHT SOURCE

2) DIGITIZED OUTPUT SIGNALS

GLASS SCALE LIGHT SOURCE INDEX PLATE SENSORS OUTPUT RESOLUTION r = D/4 r = D/4

Ia Ib Iri
LIGHT SENSOR

DIGITISED CIRCUIT RS 422 LINE DRIVER

A A B B RI RI

INDEX PLATE

1) SINUSOIDAL CURRENT OUTPUT

GLASS SCALE LIGHT SOURCE INDEX PLATE SENSORS

3) INTERPOLATED AND DIGITIZED OUTPUT SIGNALS

GLASS SCALE LIGHT SOURCE INDEX PLATE SENSORS OUTPUT RESOLUTION: r = (D/4)/int factor int factor=2,5,10
INTERPOLATION

Ia Ib Iri

Ia Ib Iri

CIRCUIT

A A B B RI RI

DIGITISED CIRCUIT RS 422 LINE DRIVER

Optoelectronic linear encoders functional structure (NC encoders):

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1) SINUSOIDAL VOLTAGE OUTPUT (SV)

GLASS SCALE INDEX PLATE SENSORS

a
GLASS SCALE

Ua+ Ua-

LIGHT SOURCE (LED)

AMPLIFIER

D
CONDENSER LENS
LIGHT SOURCE

Ub+ UbUri+ Uri-

ri

2) INTERPOLATED AND DIGITIZED OUTPUT SIGNALS

MIRROR
GLASS SCALE INDEX PLATE SENSORS OUTPUT RESOLUTION: r = (D/4)/int factor int factor=,5,10,50

a
INDEX PLATE LIGHT SENSOR

INTERPOLATION

CIRCUIT

A A B B RI RI

AMPLIFIER

DIGITISED CIRCUIT RS 422 LINE DRIVER

LIGHT SOURCE

ri

Optoelectronic linear encoders Reference Marks Positions:

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1. Standard Reference Marks: TGM111 (every 100mm available), TGM113, 115, 130, 170 (available every 50mm) 2. Distance Coded Reference Marks: TGM131, TGM133, TGM173 20mm maximum traverse for re-establishing absolute position: (TGM131, TGM133, TGM173) 80mm maximum traverse for re-establishing absolute position: (TGM190)
Incremental track

10,02 20

9,98

10,04 20

9,96

10,06 20

9,94

10,08

Reference track

Optoelectronic linear encoders mechanical structure (DRO encoders):

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Optoelectronic linear encoders mechanical structure (NC encoders):

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Optoelectronic linear encoders features ACCURACY:

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 Accumulative accuracy The extreme value of the postion error with reference to their mean value lie within +a um for a position within any max. 1m section of the measuring length. If measuring length is shorter the 1m , extreme value aplies to that measuring length.

POSITION ERROR

+a -a Measuring length or 1m

Type DRO NC

Availble grades of a 5um; 10um 3um; 5um

Permissible change of postion error +5um/50mm +3um/50mm

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 Interpolation accuracy The position error within one signal period .

Interpolation error

POSITION ERROR

+a -a Measuring length

+IE -IE

Type DRO NC

Max Interpoaltion error + 1um + 0,4 um

Signals

Average Interpoaltion error + 0,5 um + 0,2 um

Return error
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Difference between positioning from the difference directions.

Return error

POSITION ERROR

+a -a Measuring length

Return error

Measuring length

Type DRO NC

Max Return error + 3,0 um +1,5 um

Average Return error 1,5 um 0,8 um

Optoelectronic linear encoders features OUTPUT SIGNALS:

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 Output signals SV :
360o C
A/2 A/2 fi

uo

uo

D H

uo G

E F

Marcation Incr. Signal amplitude A, B Incr. Signal DC offset C, D Amplitude unbalance (A+B)/(A+B) Phase shift Fi Reference signal width G Reference signal ampl E Ref. Signal peak H position Ref. Sign. Secondary F amplitude

Unit V V %
o o

V
o

Nominal 1 0 0 90 360 0,5 135 -0,5

Tolerances + 0,2 +0,03 + 10 + 10 +90 +0,25 +45 +0,25

LINEAR ENCODER 47Ohm A+ A/2 A/2 fi 47ohm

SUBSEQUENT ELECTRONIC C1 R2 120 Ohm R2 2x220pF C1 R1 + R1 Ua uo

A 22 pF
A-

R1 = 10kOhm R2 = 10kOhm C1 =10pF C2 = 220pF U0 = 2,5 + 0,5 V Ua = (A+ - A-)* (R1/R2) -3dB limit cca 450kHz

Output signals SI : H
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360o

Marcation Incr. Signal amplitude A, B Incr. Signal DC offset C, D Amplitude unbalance (A+B)/(A+B) Phase shift Fi Reference signal width G Reference signal ampl E Ref. Signal peak H position Ref. Sign. Secondary F amplitude

Unit uA uA %
o o

uA
o

Nominal 11 0 0 90 360 5 135 -5

Tolerances +3 +0,3 + 10 + 10 +90 +3 +45 +3

uA

LINEAR ENCODER

SUBSEQUENT ELECTRONIC C1 R1 + 2x220pF C1 R1 Ua uo

IaI a+

R1 = 56kOhm R2 = 56kOhm C1 = 27pF C2 = 220pF U0 = 2,5 + 0,5 V Ua = 2*Ia*R1 -3dB limit cca 60kHz

Output signals DS (RS 422-A EIA):

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Signal levels

Transition times Rise and fall time B Maximum load current

B RI RI E*
LINEAR ENCODER A A

ns mA

HIGH IMPENDANCE STATE

Unit V

Nominal UH > 2,5V at IH = -20 mA UL < 0,5V at IL = 20 mA <50 20

SUBSEQUENT ELECTRONIC

Zo

R1 R2 E R1 Line reciever: DS26LS32C Z0 = 120 Ohm R1 = 5,1kOhm R2 = 1,8 kOhm

Optoelectronic linear encoders features DEGREE OF PROTECTION:

IP 53 (IEC 529) IP 64 (IEC 529) if encoder is pressurized

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1) Connection on linear scale body:

2) Connection on reading head:

Compressed air requirements: Item Pressure range Filteration grade Working fluid Working fluid temperature

Specifications 20 to 200kPa Air filter 5um; Mist separator: 0,3um Air 20oC

Optoelectronic linear encoders features ELECTRICAL CONNECTION:

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 Sensor lines
SUBSEQUENT ELECTRONIC LINEAR ENCODER

5V

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Optoelectronic linear encoders features DEFINED THERMAL BEHAVIOR:

Reason of temperature influence on wrong measurment can be different thermal expansion between Scale Aluminimum housing (alfa = 25 ppm/k) and base plate made from Cast Iron (alfa = 11 ppm/K)
At 20 oC Screw Scale Screw At 30 oC

Due to different thermal expansion scale's Al body expand more than Base plate. Because Scale is rigidly fixed on both ends it became Scale bended. Bending of the scale cause Abbe error.

Base plate Base plate

This problem is solved by usage of fixture mechanism which compensate different thermal expansion coeficient (availible on TGM 173 and TGM 133 whith mounting bar).
Connected to scale Connected to base plate

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Optoelectronic linear encoders ACCURACY CONSIDERATIONS : Abbe error

Lcutter

d Approximation:
Lscale

Lcutter - Lscale = d* 2h / Lo

h Lo

Examples: h =0,2mm; Lo= 620mm

d (mm) 50 100 200 400 Lcutter - Lscale (um) 32 64,5 129 258

Examples: h =0,05mm; Lo= 620mm

d (mm) 50 100 200 400 Lcutter - Lscale (um) 8 16 32 64

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