编码器的基本定义是：一种机械运动传感器，它能根据机械运动产生数字信号。编码器能够为运动控制系统用户提供有关位置、速度和/或方向的信息。

The basic definition of an encoder is a sensor of mechanical motion which generates digital signals in response to motion. Encoders are able to provide motion control system users with information concerning position, velocity and/or direction.

增量式旋转编码器利用光学原理，通过一个透明圆盘来检测位置/速度。该圆盘包含等间距的不透明区域，用于确定运动状态。发光二极管发出的光穿过玻璃圆盘，并被光电探测器检测到。这使得编码器在旋转时产生一系列等间距的脉冲。增量式旋转编码器的输出以每转脉冲数来衡量，用于跟踪位置或确定速度。

Incremental rotary encoders utilize optical light to detect position/velocity via a transparent disk which contains opaque sections that are equally spaced to determine movement. A light emitting diode is used to pass through the glass disk and is detected by a photo detector. This causes the encoder to generate a train of equally spaced pulses as it rotates. The output of incremental rotary encoders is measured in pulses per revolution which is used to keep track of position or determine speed.

绝对式编码器包含与增量式编码器类似的组件。它们都采用光电探测器和LED光源，但与增量式编码器使用带有等间距线条的圆盘不同，绝对式编码器使用带有同心圆图案的圆盘。

An absolute encoder contains components similar to those found in incremental encoders. They implement a photodetector and LED light source, but instead of a disk with evenly spaced lines, an absolute encoder uses a disk with concentric circle patterns.

绝对式编码器在光电探测器和编码器盘之间使用一个固定的掩模。

Absolute encoders utilize a stationary mask in between the photo detector and the encoder disk.

换向编码器包含与增量编码器相同的基本组件，但增加了位于磁盘外缘的换向磁道，用于U/V/W输出。

A commutation encoder contains the same fundamental components as incremental encoders but with the addition of commutation tracks alongside the outer edge of the disk for U/V/W output.

换向编码器的工作原理与增量式光电编码器相同，都是利用光信号和带槽的编码器盘来跟踪位置。

编码器盘的外圈包含换向轨道，这些轨道向控制器提供电机磁极的精确位置信息，以便控制器能够向电机提供正确的输入信号。编码器的换向轨道读取电机位置，并指示控制器如何向电机提供高效且合适的电流以驱动其旋转。U/V/W 的换向输出可以是差分输出或集电极开路输出（取决于制造商）。

Commutation encoders operate the same way incremental optical encoders do, tracking position using optical light and a slotted encoder disk.

The outer part of the encoder disk includes commutation tracks which provide a controller with information on the exact position of the motor poles, so that the proper controller input can be supplied to the motor. The commutation tracks of the encoder read the motor position and instruct the controller as to how to provide efficient and proper current to the motor to cause rotation. Commutation output for U/V/W can be in the form of differential output or open-collector (manufacturer dependent).

磁性编码器是一种旋转编码器，它利用传感器来识别旋转磁化轮或环产生的磁场变化。

Magnetic encoders are a type of rotary encoder that use sensors to identify changes in magnetic fields from a rotating magnetized wheel or ring.

转子随轴旋转，其圆周上均匀分布着交替的南北极。传感器检测这些位置的微小变化（N>>S 和 S>>N）。检测磁场变化的方法有很多，但编码器中主要使用的两种类型是霍尔效应和磁阻。霍尔效应传感器通过检测电子在磁场中偏转引起的电压变化来工作。磁阻传感器则检测由磁场引起的电阻变化。

The rotor turns with the shaft and contains alternating evenly spaced north and south poles around its circumference. The sensor detects these small shifts in the position N>>S and S>>N. There are many methods of detecting magnetic field changes, but the two primary types used in encoders are Hall Effect and Magneto resistive. Hall Effect sensors work by detecting a change in voltage by magnetic deflection of electrons. Magneto resistive sensors detect a change in resistance caused by a magnetic field.

磁编码器由三个主要部件组成：磁盘、传感器和信号调理电路。磁盘表面带磁，边缘带有磁极。传感器检测磁盘旋转时磁场的变化，并将此信息转换为数字信号。信号调理电路对信号进行倍频、分频或插值处理，以生成所需的输出。

A magnetic encoder consists of three main components: the disk, the sensors, and the conditioning circuit. The disk is magnetized and includes poles around its edge. Sensors identify changes in the magnetic field as the disk rotates, converting this information to a digital signal. The conditioning circuit multiples, divides, or interpolates the signal to generate the required output.

该传感器产生并处理霍尔效应信号，生成与光学编码器类似的正交信号。输出信号通过测量芯片表面的磁通量分布生成。输出精度取决于集成电路相对于目标磁体的径向位置。芯片表面应与磁体平行，以确保磁体与传感器之间的气隙在整个传感器表面上保持一致。

The sensor produces and processes Hall-Effect signals producing a quadrature signal as is common with optical encoders. The output is generated by measuring magnetic flux distributions across the surface of the chip. The output accuracy is dependent on the radial placement of the IC with respect to the target magnet. The chip face should be parallel to the magnet so the magnet to sensor air gap is consistent across the sensor face.

• 密封失效导致污染物进入

• 光盘在振动或冲击下可能破碎

• 轴承故障

磁性装置的设计有效消除了前两种故障模式，并有助于减少轴承故障。磁性编码器不会因污染而产生误差，因为其传感器检测的是转子内部磁场的变化，而油、灰尘和水不会影响这些磁场。

霍尔效应传感器的成本通常低于磁阻传感器，但精度也较低。这意味着，当霍尔效应传感器用于编码器时，由于传感器自身变化，会产生更大的信号“抖动”或误差。

• Seal failures which permit the entry of contaminants

• The optical disk may shatter during vibration or impact

• Bearing failures

Magnetic devices designed effectively eliminate the first two failure modes and offer an opportunity to reduce bearing failures as well. Magnetic encoders do not make errors due to contamination because their sensors detect variations in magnetic fields imbedded in the rotor and oil, dirt and water do not affect these magnetic fields.

Hall-Effect sensors generally have lower cost and are less precise than magnetic resistive sensors. This means that Hall-Effect sensors, when used in an encoder produce more "jitter", or error in the signal caused by sensor variations.

线性编码器是一种与标尺相连的传感器、换能器或读取头，用于编码位置信息。传感器读取标尺上的读数，并将位置信息转换为模拟或数字信号，最终转换为数字读数。运动状态通过位置随时间的变化来确定。光学和磁性线性编码器都采用这种工作原理。然而，它们的物理特性决定了它们之间的差异。

A linear encoder is a sensor, transducer or reading-head linked to a scale that encodes position. The sensor reads the scale and converts position into an analog or digital signal that is transformed into a digital readout. Movement is determined from changes in position with time. Both optical and magnetic linear encoder types function using this type of method. However, it is their physical properties which make them different.

光源和透镜产生一束平行光束，该光束穿过扫描光栅的四个窗口。这四个扫描窗口彼此错位90度。光束随后穿过玻璃标尺，并由光电传感器检测。当扫描单元移动时，标尺会对检测到的光束进行变换。光电传感器检测到的光束产生正弦波输出。线性编码器系统将变换后的信号组合起来，生成两个对称但相位差为90度的正弦波输出。当扫描光栅上的第五个图案与标尺上的相同图案对齐时，就会产生参考信号。

The light source and lens produce a parallel beam of light which pass through four windows of the scanning reticle. The four scanning windows are shifted 90 degrees apart. The light then passes through the glass scale and is detected by photosensors. The scale then transforms the detected light beam when the scanning unit moves. The detection of the light by the photosensor produces sinusoidal wave outputs. The linear encoder system then combines the shifted signals to create two sinusoidal outputs which are symmetrical but 90 degrees out of phase from each other. A reference signal is created when a fifth pattern on the scanning reticle becomes aligned with an identical pattern on the scale.

磁性线性编码器系统使用磁传感器读头和磁性标尺，为 A 通道和 B 通道生成 TTL 或模拟输出。当磁传感器沿磁性标尺移动时，它会检测磁场的变化并输出信号。该输出信号的频率与测量速度和传感器的位移成正比。由于线性编码器检测的是磁场的变化，因此光线、油污、灰尘和碎屑的干扰不会影响此类系统；因此，它们在恶劣环境下具有很高的可靠性。

A magnetic linear encoder system uses a magnetic sensor readhead and a magnetic scale to produce TTL or analog output for channels A and B. As the magnetic sensor passes along the magnetic scale, the sensor detects the change in magnetic field and outputs a signal. This output signal frequency is proportional to the measuring speed and the displacement of the sensor. Since a linear encoder detects change in the magnetic field, the interference of light, oil, dust, and debris have no effect on this type of system; therefore they offer high reliability in harsh environments.

磁性线性编码器的关键部件包括扫描单元、传感器、换能器或读头，以及用于编码位置的透射式或反射式光栅尺。线性编码器的光栅尺通常由玻璃制成，并安装在支架上。扫描单元包含光源、光电管和另一块称为扫描光罩的玻璃片。线性编码器能够将运动转换为数字或模拟信号，从而确定位置随时间的变化。

The key components of magnetic linear encoders are a scanning unit, sensor, transducer or readhead, paired with a transmissive or reflective scale, which encodes position. The scale of a linear encoder is generally made of glass and mounted to a support and the scanning unit contains a light source, photocells, and a second glass piece called the scanning reticle. Collectively, the linear encoder is able to convert motion into digital or analog signals to determine the change in position over time.

旋转编码器通过其所安装轴的旋转进行控制。该轴与编码器内部的轮毂接触。编码器的旋转速度取决于与其连接的轴的转速。

线性编码器通过滑块沿线性导轨的直线运动进行控制。编码器的运行速度即为滑块的运行速度。

A rotary encoder is controlled through the rotation the shaft it is mounted to. The shaft comes into contact with a hub inside of the encoder. The speed at which the encoder rotates depends on the speed of the shaft the encoder is connected to.

Linear encoders are controlled through the linear motion of the block as it moves along the linear guide rail. The speed at which the encoder travels will be the speed at which the block travels.

编码器已成为许多需要反馈信息的应用的关键来源。无论应用关注的是速度、方向还是距离，编码器强大的功能都能让用户利用这些信息进行精确控制。随着更高分辨率、更高耐用性和更低成本的出现，编码器已成为越来越多领域的首选技术。如今，编码器的应用无处不在。它们被应用于打印机、自动化设备、医疗扫描仪和科学仪器中。

Encoders have become a vital source for many applications requiring feedback information. Whether an application is concerned with speed, direction or distance, an encoder's vast capabilities allow users to utilize this information for precise control. With the emergence of higher resolutions, ruggedness, and lower costs, encoders have become the preferred technology in more and more areas. Today, encoder applications are all around us. They are used in printers, automation, medical scanners, and scientific equipment.

编码器已成为许多不同行业应用中不可或缺的组件。以下列举部分使用编码器的行业：

• 汽车行业 – 汽车行业使用编码器作为机械运动传感器，用于控制车速。

• 消费电子和办公设备 – 在消费电子行业，编码器广泛应用于办公设备，例如基于PC的扫描设备、打印机和扫描仪。

• 工业 – 在工业应用中，编码器用于贴标机、包装和机床，并配备单轴和多轴电机控制器。编码器也应用于数控机床控制。

• 医疗 – 在医疗行业，编码器用于医疗扫描仪、自动化设备的微观或纳米级运动控制以及分配泵。

• 军事 – 军方也使用编码器来定位天线。

• 科学仪器 – 科学仪器也使用编码器；例如，用于天文望远镜的定位。

Encoders have become an essential component to applications in many different industries. The following is a partial list of industries making use of encoders:

• Automotive – The automotive industry utilize encoders as sensors of mechanical motion may be applied to controlling speed

• Consumer Electronics and Office Equipment – In the consumer electronics industry, encoders are widely used office equipment such as PC-based scanning equipment, printers, and scanners

• Industrial – In industrial applications, encoders are used in labeling machines, packaging and machine tooling with single and multi-axis motor controllers. Encoders can also be found in CNC machine control

• Medical – In the medical industry, encoders are utilized in medical scanners, microscopic or nanoscopic motion control of automated devices and dispensing pumps

• Military – The military also uses encoders in their application of positioning antennae

• Scientific Instruments – Scientific equipment implements encoders; for example, in the positioning of an observatory telescope

编码器可用于需要位置、速度、距离等反馈的应用。以下示例展示了编码器的强大功能和广泛应用：

• 机器人

• 贴标机

• 医疗设备

• 纺织

• 钻孔机

• 电机反馈

• 装配机

• 包装

• X 轴和 Y 轴指示系统

• 打印机

• 测试机

• 数控机床

An encoder can be used in applications requiring feedback of position, velocity, distance, etc. The examples listed below illustrate the vast capabilities and implementations of an encoder:

• Robotics

• Labeling Machines

• Medical Equipment

• Textiles

• Drilling Machines

• Motor Feedback

• Assembly Machines

• Packaging

• X and Y Indication Systems

• Printers

• Testing Machines

• CNC Machines

首先，需要确定最符合需求的编码器类型：

测量哪种类型的运动——旋转运动还是线性运动？编码器将在何种环境下使用？光学旋转编码器更适合洁净环境，避免受到灰尘、油污、碎屑等的影响。如果应用是测量旋转运动，并且应用环境需要考虑这些因素，那么使用更坚固耐用的磁性或电容式编码器可能更合适。

First, you will need to determine the type of encoder that will best suit your requirements:

What type of motion do you intend to measure – rotary or linear? What type of environment will the encoder be used in? Optical rotary encoders are more suited for clean environments where they will not be subjected to dust, oil, debris, etc. If your application is measuring rotary movement and is located in an environment where these factors will need to be considered, you may be better served using a more rugged magnetic or capacitive encoder.

选择合适的光学旋转编码器需要考虑以下几个重要因素：

• 输出功率

• 所需分辨率（CPR）

• 噪声和电缆长度

• 索引通道

• 外壳/底座

输出

输出取决于应用需求。输出形式有两种：增量式和绝对式。增量式输出选项包括：单端/非索引式、单端/索引式、差分/非索引式和差分/索引式。增量式输出为方波。对于需要增量式编码器的应用，输出信号要么为零，要么为电源电压。由于高电平（输入电压值）和低电平（零）信号的切换，增量式编码器的输出始终为方波。绝对式编码器的工作原理与增量式编码器相同，但输出方式不同。绝对式编码器的分辨率以比特为单位。绝对式编码器的输出相对于其位置，以数字字的形式表示。与增量式编码器连续输出脉冲不同，绝对式编码器为每个位置输出一个唯一的比特字。绝对式编码器每转产生 1024 个脉冲，相当于 10 位（2¹⁰ = 1024）。

所需分辨率 (CPR)

增量式编码器的分辨率通常以每转周期数 (CPR) 来表示。每转周期数是指编码器盘每旋转一周所产生的输出脉冲数。例如，分辨率为 1000 的编码器表示编码器每旋转一周产生 1000 个脉冲。

噪声和电缆长度

在为任何应用选择合适的编码器时，用户还必须考虑电磁噪声和电缆长度。较长的电缆更容易受到噪声干扰。使用合适的电缆长度对于确保系统正常运行至关重要。建议使用屏蔽双绞线电缆，最好选择低电容值的电缆。电容值的额定值通常以每英尺电容值表示。此评级的重要性在于确保编码器输出清晰的方波脉冲，而不是因噪声干扰而产生的“锯齿状”或“波浪状”脉冲。差分信号最适合需要处理噪声或长距离电缆传输（6英尺以上）的增量式编码器。

索引通道

索引通道是一个可选的输出通道，它提供每转一次的输出脉冲。该脉冲允许用户跟踪位置并建立参考点。当发生断电时，此输出通道对于增量式编码器来说极其重要。在断电情况下，最后一个持续的索引通道可用作重新启动点的参考标记。因此，当发生此类情况时，索引通道在采用增量式编码器的应用中将非常有用。绝对式编码器在断电情况下不会出现位置丢失的问题，因为每个位置都被分配了一个唯一的位配置。

光学编码器外壳和底座选项

外壳和底座选项是根据具体应用需求而考虑的。封闭式外壳选项有助于保护编码器免受灰尘颗粒的侵害。在振动较大的环境中，底座选项至关重要。这些安装选项包括直接粘贴在编码器背面并固定在安装面上的转移胶粘剂，以及用于直接安装的模制耳片。

There are several important criteria involved in selecting the proper optical rotary encoder:

• Output

• Desired Resolution (CPR)

• Noise and Cable Length

• Index Channel

• Cover/Base

Output

The output is dependent on what is required by the application. There are two output forms: incremental and absolute. Incremental output options include: Single-Ended / Non-Indexed, Single-Ended / Indexed, Differential / Non-Indexed, Differential / Indexed Incremental output forms take form of squarewave outputs. For an application requiring an incremental encoder, the output signal is either zero or the supply voltage. The output of an incremental encoder is always a squarewave due to the switching of high (input voltage value) and low (zero) signal value. Absolute encoders operate in the same manner as incremental encoders, but have different output methods. The resolution of an absolute encoder is described in bits. The output of absolute encoders is relative to its position in a form of a digital word. Instead of a continuous flow of pulses as seen by incremental encoders, absolute encoders output a unique word for each position in form of bits. Equivalent to 1,024 pulses per revolution, an absolute encoder is described to have 10 bits (210 = 1024).

Desired Resolution (CPR)

The resolution of incremental encoders is frequently described in terms of cycles per revolution (CPR). Cycles per revolution are the number of output pulses per complete revolution of the encoder disk. For example, an encoder with a resolution of 1,000 means that there are 1,000 pulses generated per complete revolution of the encoder.

Noise and Cable Length

When selecting the proper encoder for any application, the user must also take into account electromagnetic noise and cable length. Longer cable lengths are more susceptible to noise. It is crucial to use proper cable lengths to ensure the system functions correctly. It is recommended to use shielded, twisted-pair cables with preferably low capacitance value. The rating for capacitance value is normally in capacitance per foot. The importance of this rating is for well-defined squarewave pulse outputs from the encoder rather than "jagged" or "saw-toothed" like pulses due to the interference of noise. Differential signals are best for incremental encoders that have to handle noise or long cable runs (6’+).

Index Channel

The index channel is an optional output channel which provides a once per revolution output pulse. This pulse allows for the user to keep track of position and establishes a reference point. This output channel is extremely valuable for incremental encoders when an interruption of power occurs. In instances with a power failure, the last sustained index channel can be used as a reference marker for a restarting point. Therefore, when such an occurrence takes place, an index channel can prove to be quite valuable in applications utilizing incremental encoders. Absolute encoders do not have an issue with losing track of position in power loss situations, because every position is assigned a unique bit configuration.

Optical Encoder Cover and Base Options

Cover and base options are considerations for specific application requirements. Enclosed cover options help protect the encoder from dust particles. Base options play a significant role in large vibration environments. Such mounting options are transfer adhesives which stick directly on the back of the encoder to the mounting surface, molded ears for direct mounting.

在考虑是否在设计中使用磁性旋转编码器时，请确认以下问题：

是否需要无轴承编码器设计？

虽然带轴承的编码器是最常见的解决方案，但对于冲击和振动较大的系统以及高速系统，这些编码器中的轴承可能会受到严重损坏。

空间是否有限？

由于磁性旋转编码器通常设计紧凑，因此它们可能更适合空间有限的应用。例如，机器人应用通常空间有限，但仍然需要精确可靠的电机反馈。

是否存在灰尘、污垢和油渍？

确定应用所需编码器类型的最重要因素之一是系统的使用环境。光学旋转编码器极易受到灰尘和碎屑的侵入。这些颗粒会损坏其光盘，从而降低编码器的精度，甚至可能导致编码器完全失效。坚固耐用的磁性编码器不依赖光盘，因此无需担心灰尘、污垢和油渍的侵入。

When considering your whether to use a magnetic rotary encoder in your design, ask the following questions:

Does your application require a bearingless encoder design?

While an encoder with bearings is the most common solution, systems with high levels of shock and vibration, as well as high-speed systems, can be hard on the bearings found in these encoders.

Is space limited?

Because magnetic rotary encoders are typically compact in design, they may be more suited to applications where space is limited. For example, robotics applications typically have a limited amount of space available, but still require precise and reliable motor feedback.

Will dust, dirt, and oil be present?

One of the most important factors in determining the type of encoder your application requires is the environment in which the system will be used. Optical rotary encoders are highly susceptible to the ingress of dust and debris. Their optical discs can be damaged by these particles, which can make the encoder less accurate and may even result in the complete failure of the encoder. Ruggedly designed magnetic encoders do not rely on optical discs, so the ingress of dust, dirt, and oils is less of a concern.

要确定哪种磁性旋转编码器最适应用，请确定以下几点：

增量式输出还是绝对式输出？

增量式输出选项包括：单端/非索引式、单端/索引式、差分/非索引式和差分/索引式。增量式输出均为方波输出。对于需要增量式磁性旋转编码器的应用，输出信号要么为零，要么为电源电压。由于高电平（输入电压值）和低电平（零）信号值的切换，增量式编码器的输出始终为方波。

绝对式磁性旋转编码器的工作原理与增量式编码器类似，但输出方式不同。绝对式编码器的分辨率以位为单位，输出相对于其给定位置。与增量式编码器连续输出脉冲不同，绝对式编码器针对每个位置输出一个唯一的信号。绝对式编码器的分辨率为 10 位，而增量式编码器的分辨率为 1024 PPR。

噪声和电缆长度

尽量缩短电缆长度以降低电噪声。使用合适的电缆长度可确保系统正常运行。建议使用低电容值的屏蔽双绞线电缆。

To determine which magnetic rotary encoder is best suited to your application, establish the following:

Incremental or Absolute Output?

Incremental output options include: Single-Ended / Non-Indexed, Single-Ended / Indexed, Differential / Non-Indexed, Differential / Indexed incremental output forms take form of squarewave outputs. For an application requiring an incremental magnetic rotary encoder, the output signal is either zero or the supply voltage. The output of an incremental encoder is always a squarewave due to the switching of high (input voltage value) and low (zero) signal value.

Absolute magnetic rotary encoders operate similarly to incremental encoders, but with different output methods. The resolution of an absolute encoder is expressed in bits, and the output is relative to its given position. Instead of a continuous flow of pulses as with incremental encoders, absolute output has a unique signal for each position. An absolute encoder would be 10 bits, rather than 1,024 PPR as with an incremental encoder.

Noise and Cable Length

Minimize cable lengths to reduce electrical noise. Using proper cable lengths will ensure the system functions correctly. Using shielded, twisted-pair cables with low capacitance value is also recommended.

如何选择磁性线性编码器

磁性线性编码器常用于导轨和滑块等线性元件应用中。但是，当磁尺以环形方式安装时，它们也适用于旋转应用。当磁传感器沿磁性磁尺或磁环移动时，它会检测位移并输出 TTL 信号。输出信号的频率与传感器的测量速度和位移成正比。

选择线性编码器时，请考虑以下因素：

所需的传感器分辨率

分辨率越高，传感器读数的精度就越高。

输出和电源

所需的输出电路是什么？

索引

可选的索引通道，可以是每 5mm 的极距，也可以是每个磁极的独立参考信号。

刻度长度和精度

ENC-MT50 柔性磁性标尺背面带有粘合剂，可轻松粘贴到几乎任何金属、陶瓷和其他表面上。这些标尺耐油、耐化学品和耐碎屑，确保磁传感器读数准确。磁性标尺由交替排列的南北极磁铁组成，磁铁之间的距离固定，称为极距。增量式磁性标尺 ENC-MT50 的总长度应在测量长度两侧各至少超出 10 毫米（0.4 英寸）。标尺长度范围为 100 至 2000 毫米，精度为±8 µm/m.和±35 µm/m.。

How to Select a Magnetic Linear Encoder

Magnetic linear encoders are frequently used in applications with linear components, such as guide rails and blocks. However, they are also suitable for rotary applications when the scale is mounted in a ring formation. As the magnetic sensor travels along the magnetic scale or ring, it detects the displacement and outputs a TTL signal. The frequency of the output signal is proportional to the measuring speed and displacement of the sensor.

Consider the following when selecting a linear encoder:

Desired Sensor Resolution

The higher the resolution, the greater the accuracy of the sensor reading will be.

Output and Power Supply

What is your desired output circuit?

Index

An optional index channel is available, either as an every 5mm pole pitch or a unique reference signal for each pole.

Scale Length and Accuracy

ENC-MT50 flexible magnetic scales have an adhesive backing and can be easily mounted to nearly any metals, ceramics, and other surfaces. These scales are resistant to oil, chemicals, and debris, which ensures an accurate reading by the magnetic sensor. The magnetic scale consists of alternating north and south pole magnets which are placed at fixed distances. This is called the pole pitch. The overall length of the incremental magnetic scale ENC-MT50 should exceed the measuring length by at least 10mm (0.4”) on each side. Scales are available in lengths of 100 to 2000mm, with accuracies of ±8µm/m, ±35µm/m.

遵循最佳安装实践可确保反馈回路准确提供数据，从而使系统以最高效率运行。

最佳安装方法取决于所使用的编码器类型：

轴式编码器

轴式编码器使用定心工具通过柔性联轴器将编码器孔与轴对齐，从而安装到电机轴上。该联轴器通过紧定螺钉将编码器轴直接连接到电机轴，从而固定编码器并屏蔽其免受冲击、振动和电磁干扰 (EMI) 的影响，同时补偿轴的不对中，并确保编码器不会在电机轴上移动位置。

空心轴编码器

空心轴编码器的选择和安装过程通常比较简单。通过匹配电机轴和编码器孔径的尺寸，用户可以确保完美配合。空心轴编码器无需联轴器即可直接安装在电机轴上。它们通过柔性系绳或扭矩臂固定在电机端面上，以防止编码器随电机轴一起转动。编码器内部的轴承允许光盘随电机轴独立旋转，不受外壳的影响。

线性编码器

线性编码器用于测量线性运动，而旋转编码器则用于测量旋转运动。

Following mounting best practices ensures that the feedback loop will accurately provide data, enabling the system to perform at maximum efficiency.

The best mounting method depends on the type of encoder being used:

Shaft Encoders

Shaft encoders are mounted to a motor shaft using a centering tool to align the hole of the encoder to the shaft using a flexible coupling. The coupling connects the encoder shaft directly to the motor shaft with set screws, securing the encoder and shielding it from shock, vibration, and electrical noise (EMI), as well as compensating for shaft misalignment and ensuring the encoder does not shift position on the motor shaft.

Hollow-Shaft Encoders

The process of encoder selection and installation is typically simple for hollow-shaft encoders. By matching the sizes of the motor shaft and encoder bore hole diameter, users can ensure a perfect fit. Hollow-shaft encoders are mounted directly to the motor shaft without the use of a coupling. They are affixed to the motor face with a flexible tether or torque arm to prevent the encoder from turning with the motor shaft. Instead, bearings within the encoder allow the optical disc to rotate with the motor shaft independently of the housing.

Linear Encoders

Linear encoders are used to measure linear movement, as opposed to rotary encoders which measure rotary movement.

编码器由于其坚固耐用和可靠性高，几乎不需要维护。但是，建议尽量减少编码器接触灰尘颗粒或碎屑，并且除非设计用于防水，否则应避免受潮，尤其是光学编码器。此外，在冲击和振动的作用下，光学编码器内部的光盘可能会被划伤，导致编码器故障。如果发生这种情况，可能需要更换光盘才能获得准确的读数。

Encoders require very little maintenance due to their ruggedness and reliability. However, it is recommended to minimize an encoder's exposure to dust particles or debris and also, unless designed for exposure to water, moisture, especially for optical encoders. Additionally, under duress of shock and vibrations the discs within optical encoders may become scratched, resulting in encoder failure. If such an event occurs, the disc may need to be replaced to provide accurate readings.

在编码器的操作、维护和维修的各个阶段，必须遵守以下环境和安全注意事项。不遵守这些预防措施将违反编码器设计、制造和预期用途的安全标准。请注意，即使是结构良好的编码器，操作和安装不当也可能造成危险。用户必须注意负载和操作环境。客户最终负责编码器的正确选择、安装和操作。

编码器的使用环境必须符合电气/电子设备的良好通用操作规范。请勿在易燃气体、灰尘、油、蒸汽或潮湿环境中操作光电编码器，因为它们容易受到这些环境因素的损坏，而磁性或电容式编码器则不会。

户外使用时，编码器必须用合适的罩子保护，免受风吹雨淋，同时还要保证足够的空气流通和冷却。潮湿可能导致触电危险和/或系统故障。应充分考虑避免接触任何类型的液体和蒸汽。如果需要特定的IP防护等级，请确认。建议将编码器安装在无冷凝、无灰尘、无电噪声、无振动和无冲击的环境中。

此外，最好在无静电的防护环境中操作编码器。裸露的电路应始终妥善防护和/或封闭，以防止未经授权的人员接触带电电路。通电时切勿进行任何操作。通电时请勿插拔连接器。断电后至少等待5分钟再对编码器进行检查，因为即使断电后，编码器电路内部仍会残留一些电能。

在设计编码器安装系统时，应确保系统内无碎屑，例如切割、钻孔、攻丝和焊接产生的金属碎屑，或任何其他可能与电路接触的异物。未能防止碎屑进入编码器可能会导致损坏和/或触电。

The following environmental and safety considerations must be observed during all phases of operation, service and repair of an encoder. Failure to comply with these precautions violates safety standards of design, manufacture and intended use of an encoder. Please note that even with a well-built encoder, products operated and installed improperly can be hazardous. Precaution must be observed by the user with respect to the load and operating environment. The customer is ultimately responsible for the proper selection, installation, and operation of the encoder.

The atmosphere in which an encoder is used must be conducive to good general practices of electrical/electronic equipment. Do not operate an optical encoder in the presence of flammable gases, dust, oil, vapor or moisture, as they are susceptible to damage from these environmental factors, whereas magnetic or capacitive types are not.

For outdoor use, the encoder must be protected from the elements by an adequate cover, while still providing adequate air flow and cooling. Moisture may cause an electrical shock hazard and/or induce system breakdown. Due consideration should be given to the avoidance of liquids and vapors of any kind. Contact the factory should your application require specific IP ratings. It is wise to install the encoder in an environment which is free from condensation, dust, electrical noise, vibration and shock.

Additionally, it is preferable to work with encoders in a non-static, protective environment. Exposed circuitry should always be properly guarded and/or enclosed to prevent unauthorized human contact with live circuitry. No work should be performed while power is applied. Don't plug in or unplug the connectors when power is ON. Wait for at least 5 minutes before doing inspection work on the encoder after turning power OFF, because even after the power is turned off, there will still be some electrical energy remaining in the internal circuit of the encoder circuitry.

Plan the installation of the encoder in a system design that is free from debris, such as metal debris from cutting, drilling, tapping, and welding, or any other foreign material that could come in contact with the circuitry. Failure to prevent debris from entering the encoder can result in damage and/or shock.

编码器的寿命取决于多种因素，例如编码器类型、环境暴露和应用方式。限制编码器与电气设备接触、避免温度超过推荐值、避免冷凝、振动和冲击，并按照制造商的说明使用编码器，可以延长编码器的寿命。

The lifetime of an encoder is dependent on various factors such as encoder type, environmental exposure and application use. By limiting the exposure of the encoder to electrical equipment, temperatures above recommended values, condensation, and vibration and shock, and using the encoder as directed by the manufacturer can extend the lifetime of an encoder.

优点

• 高可靠性和高精度

• 低成本反馈

• 高分辨率

• 融合了光学和数字技术

• 可集成到现有应用中

• 体积小巧

缺点

• 易受磁场或无线电干扰（磁编码器）

• 易受直接光源干扰（光学编码器）

• 易受灰尘、油污和污垢污染

Advantages

• Highly reliable and accurate

• Low-cost feedback

• High resolution

• Fuses optical and digital technology

• Can be incorporated into existing applications

• Compact size

Disadvantages

• Subject to magnetic or radio interference (Magnetic Encoders)

• Direct light source interference (Optical Encoders)

• Susceptible to dirt, oil and dust contaminants

编码器 CPR 频率与电机转速（RPM）之间的关系由以下公式给出：

The relationship between the encoder CPR frequency and the speed of the motor (RPM) is given by the following equation:

问题：无输出

解决方案：无输出可能是多种因素造成的。可以采取一些措施来确保编码器正常工作。如果编码器没有机械运动，则不会输出任何信号。要解决此问题，请观察编码器是否在旋转。检查编码器和驱动器/控制器之间的所有接线是否正确，以及是否使用了合适的电源。连接松动或电源不正确都可能导致编码器无法正常工作。最后，确保应用使用了正确的信号类型（例如，开路集电极、上拉、线路驱动或推挽）。如果问题仍然存在，请尽可能交换编码器，以确定是否是编码器本身的问题。

Problem: No output

Solution: No output may be a result of various factors. Steps can be taken to ensure the proper functionality of the encoder. No mechanical movement results in any signal being output from the encoder. To correct this issue, observe if the encoder is rotating. Verify all wring between the encoder and the driver/controller is correct and the appropriate voltage supply is used. Having loose connections or improper voltage supply may not allow the encoder to function properly. Finally, ensure the correct signal type (e.g. open collector, pull-up, line driver or push-pull) is being used for your application. If the problem persists, swap encoders, if possible, to determine if the encoder is the issue.

问题：找不到索引脉冲

解决方案：索引脉冲（或参考标记）是编码器每旋转一周的输出信号，最好使用示波器查找。检查编码器和驱动器/控制器之间的所有接线是否正确，以及是否使用了合适的电源。如果这样还不能解决问题，请尝试降低电机的转速，因为在转速非常高的情况下，驱动器/控制器可能无法识别索引脉冲。

Problem: Unable to find index pulse

Solution: The index pulse, or reference marker, is a once per revolution output of an encoder and is best found using an oscilloscope. Verify all the wiring between the encoder and the driver/controller is correct and the appropriate voltage supply is used. If that does not solve the issue, try lowering the RPM of the motor, as the driver/controller may not be able to identify the index pulse at very high RPM values.

问题：计数输出指示方向错误

解决方法：如果计数输出指示方向错误，请检查接线配置。查看是否有任何接线接反。如果接反，只需交换接线即可。

注意：如果使用了索引，接反接线配置会导致参考对齐方式也发生变化。如果出现这种情况，请对应用进行相应的更改。

Problem: Count output indicates incorrect direction

Solution: If the count output indicates an incorrect direction then check for the wire configuration. See if any wires are reversed. If they are reversed, simply swap wires.

Note: If your application is using index, reversing the wire configuration causes the reference alignment to also change. If so, please make the appropriate changes to your application.

问题：编码器不旋转

解决方法：当编码器暴露在开放环境中时，灰尘和碎屑颗粒可能会积聚在轴周围。只需清洁暴露区域，并确保没有物体阻碍编码器旋转即可。

Problem: Encoder is not rotating

Solution: When encoders are exposed in open environments, dust and debris particles may accumulate around the shaft. Simply clean the exposed area and ensure that there are not objects obstructing the encoder from rotating.

问题：噪声干扰

解决方法：为了提高编码器的抗噪声能力，强烈建议不要在附近放置其他电气设备，或将其保持在适当的距离。编码器电缆也应进行屏蔽，并且应使用合适的接地线以最大限度地减少电噪声。

Problem: Noise Interference

Solution: To improve the noise immunity of encoders it is strongly advised that no other electrical equipment be nearby or be kept at a fair distance. Encoder cables should also be shielded and proper wires should be grounded to minimize electrical noise.

问题：输出失真或错误

解决方法：输出失真或错误可能是由多种原因造成的，包括线路连接松动、编码器输出与驱动器/控制器不兼容、电气噪声或对准不当。请检查线路连接、编码器与驱动器/控制器的兼容性以及编码器与轴的对准情况，以解决此问题。

Problem: Distorted or incorrect output

Solution: Distorted or incorrect output can be caused by any combination of loose wiring connections, encoder output not compatible with driver/controller, electrical noise or improper alignment. Check for wire connections, compatibility issues with the encoder and the driver/controller, alignment of the encoder and the shaft to solve this issue.

绝对式编码器──以位配置提供轴位置信息，即使在断电/故障的情况下也能保持或提供绝对位置信息。

Absolute Encoder – provides the shaft position in a bit configuration and is able to maintain or provide absolute position even after instances of power loss/failure.

精度──理论位置与实际位置之间的距离差。

Accuracy – difference in distance between the theoretical and the actual position.

每转周期数 (CPR) ──每转周期数是指编码器盘每旋转一周所产生的输出脉冲数。

Cycles Per Revolution (CPR) – Cycles per revolution are the number of output pulses per complete revolution of the encoder disk.

编码器──是一种机械运动传感器，它能响应运动产生数字信号。

Encoder – is a sensor of mechanical motion that generates digital signals in response to motion.

增量式编码器──一种响应机械运动而产生脉冲序列的装置。该编码器的输出为方波。

Incremental Encoder – device that provides a train of pulses due in response to mechanical motion. The output of this encoder is in form of a squarewave.

索引──一个独立的输出通道，每旋转一周提供一个脉冲。它可用于建立起始位置的参考点或标记。

Index – a separate output channel which provides a single pulse per shaft revolution. It can be used to establish a reference or marker for a starting position.

插值──是一种提高编码器分辨率的方法。该方法允许编码器在不增加盘片和编码器整体尺寸的情况下产生更高分辨率的输出。

Interpolation – is the method of increasing the resolution of an encoder. This method allows for the encoder to produce a higher resolution output without increasing the overall size of the disk and encoder.

线路驱动器──是一个源输出。这意味着，当线路驱动器处于“导通”状态时，它会提供 VCC 电源；当线路驱动器处于“断开”状态时，它会保持悬空状态。线路驱动器应用需要灌电流输入。

Line Driver – is a sourcing output. This means that when in ‘ON' state the line driver will supply VCC and in the ‘OFF' state the driver will float. A sinking input is required for line driver applications.

开集电极输出——为灌电流输出。在“断开”状态下，开集电极接地；在“导通”状态下，开集电极悬空。开集电极应用需要源电流输入。

Open Collector – is a sinking output. In the ‘OFF' state, an open collector will be grounded and in the ‘ON' state, the open collector will float. A sourcing input is required for open collector applications.

每转脉冲数 (PPR)——编码器轴每旋转一周产生的脉冲总数。

Pulses Per Revolution (PPR) – the total number of pulses produced per full revolution of the encoder shaft.

推挽式——是线路驱动器和开集电极的组合。在“断开”状态下，它会接地；在“导通”状态下，它会提供 VCC 电源。

Push-pull – is a combination between a line driver and an open collector. In the ‘OFF' state it will be grounded and in the on ‘ON' state it will supply VCC.

正交编码器——两个输出通道相位差为 90 度（电相位差）。通过相位差，还可以确定旋转方向。

Quadrature Encoder – two output channels which are out of phase by 90 electrical degrees. From the phase difference, the direction of rotation can also be determined.

分辨率——磁盘上的行增量数。增量式编码器的分辨率通常以每分辨率的周期数来表示，而绝对式编码器的分辨率则以比特数来表示。

Resolution – number of line increments on a disk. Resolution for incremental encoders is often referred to as cycles per resolution and for absolute encoders it is in terms of bits.

单通道编码器——只有一个输出通道，用于高速应用。

Single Channel Encoder – has only one output channel and is used in speed applications.

方波——一种重复的波形，对应于高低电平信号。

Squarewave – a repetitive waveform corresponding to high and low signals.