Incremental Encoder

Purpose

Generate quadrature encoder signals on digital outputs.

Description

The Incremental Encoder takes a rotational angle \(\theta\) as input and generates quadrature encoder signals with an optional index pulse on selected digital outputs of the RT Box. During an offline simulation the pulses are available on the outputs.

The RT Box contains two independent Incremental Encoder units.

Parameters

General

Line pairs: Defines the amount of pairs of black and white lines and therefore the encoder resolution. For every line pair, 4 state transitions at A, B per revolution can be seen. The index pulse at I is set once per revolution when the angle crosses 0.
Coding in forward direction: Defines the A,B state sequence in forward direction.
Output when \(\mathbf{\theta}=0\): Specifies the value of signals \(A\) and \(B\) when the input angle \(\theta\) is zero and an index pulse is generated.
Offline implementation: With the setting Continuous \(\theta\) and \(\omega\) are made available in for offline simulation. With the setting Quadrature Encoded the quadrature signals \(A\), \(B\) and \(I\) are made available as a vectorized signal.

Output

Digital encoder output [A] or [A, /A]: Indices of the digital outputs for signal \(A\). If the signal is differential the value must be a vector with two elements where the second element specifies the output for the differential signal \(\bar{A}\). For single-ended outputs the value must be a scalar or a vector with one element.
Digital encoder output [B] or [B, /B]: Indices of the digital outputs for signal \(B\). If the signal is differential the value must be a vector with two elements where the second element specifies the output for the differential signal \(\bar{B}\). For single-ended outputs the value must be a scalar or a vector with one element.
Digital index output [I] or [I, /I]: Indices of the digital outputs for index signal \(I\). If the signal is differential the value must be a vector with two elements where the second element specifies the output for the differential signal \(\bar{I}\). For single-ended outputs the value must be a scalar or a vector with one element. If the index signal output is not needed the value must be an empty vector.

Inputs

\(\theta\): The rotational angle or rotor position, in rad.