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Author Topic: Robot encoder signals  (Read 645 times)

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Offline jdoleckiTopic starter

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Robot encoder signals
« on: November 24, 2023, 05:07:30 pm »
My Scorbot robot arm has encoders on each axis.

The documation say it uses a phototransistor.

The encoder is connected to 5v dc with a 39 ohm resistor to limit current.

I have the a/b outputs connected to my scope.

The robot manual says “ a clean square wave”
So I’m not understanding why my signal looks the way it does and how to fix it.
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Offline rstofer

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Re: Robot encoder signals
« Reply #1 on: November 24, 2023, 05:13:06 pm »
Is your scope set for DC Coupling?
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Offline BeBuLamar

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Re: Robot encoder signals
« Reply #2 on: November 24, 2023, 05:15:46 pm »
Do you have the brand and model number of the encoder. It should be a quadrature encoder with A, B pulses plus the Z pulse.
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Offline jdoleckiTopic starter

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Re: Robot encoder signals
« Reply #3 on: November 24, 2023, 05:27:16 pm »
Yes sir
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Offline jdoleckiTopic starter

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Re: Robot encoder signals
« Reply #4 on: November 24, 2023, 05:27:53 pm »
Added data sheet
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Offline jdoleckiTopic starter

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Re: Robot encoder signals
« Reply #5 on: November 24, 2023, 05:29:27 pm »
Data sheet
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Offline jdoleckiTopic starter

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Re: Robot encoder signals
« Reply #6 on: November 24, 2023, 05:32:13 pm »
Pic of unit
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Offline MarkT

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Re: Robot encoder signals
« Reply #7 on: November 24, 2023, 09:40:34 pm »
That variant is open-collector NPN output so the outputs must have pull-up resistors for it to work at all.

How have you wired it exactly?
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