World Academy of Science, Engineering and Technology 61 2012

Angle Analyzer of an Encoder using the

LabVIEW
Hyun-Min Kim, Yun-Seok
Yun Lim, Hyeok-Jin Yun, Jang-Mok Kim and Hee-je Kim

Abstract—As we make progressive products for good works, and

future industries want to get higher speed and resolution from various
developments in the robotics as well as precise control system, the
concept of control feedback is getting more important. Within a range
of industrial developments, the concept is most responsible for the
high reliability of a device. We explain an efficient analyzing method
of a rotary encoder such as an incremental type encoder and absolute
type encoder using the LabVIEW program

Keywords—LabVIEW, PFI Function, Angle analyzer,

Incremental encoder, Absolute encoder

I. INTRODUCTION
Fig. 2 Absolute rotary encoder
T HIS demand for high position control of resolution is
rapidly increasing in the precision manufacturing field.
Especially, in precision rotary machine (stepping and servo
II. SYSTEM DESIGN

motor), high-precision tools, industrial robots, automate guide A. Summary

vehicles are the main applications. Since those machines need We tried to find a method of efficient measurement and
position sensing device and they need the rotary encoder in the analysis from incremental and absolute type rotary encoder in
field. Encoder is composed of shaft and output (converts this paper.
turning angle into electrical signal), and it detects various B. Basic Principle
moving motions. The rotary encoder has many tiny slits on the
Absolute rotary encoder output shows up the order signal
corner of the circular plate. Rotary and fixed slits, between a
from combinations of resolving power (20~212, maximum
transmitter diode and receive diode, make a signal from the
transmitted or blocked light. Two digital signals have a output is 13pcs). During the rotation, encoder applies the
sampling signal of A or B phase [4].
difference of 90˚electric phase [2, 3].

Fig. 1 Incremental rotary encoder

Fig. 3 Basic principle of incremental encoder

Hyun-Min Kim is with the Department of Robotics in Pusan National Each phase has an angle (360/Resolving power) about
University, (phone: 82-10-4559-0130; e-mail: [email protected]). 1pulse. It calculates a number of pulse and angle. But order
Yun-Seok Lim is with Autonics Co. (e-mail: [email protected]).
signal must increase to constant values, and it must be
T. Hyeok-Jin Yun is with the Department of Robotics in Pusan National
University, (e-mail: [email protected]). included in the settings error [1].
Jang-Mok Kim is a professor with the Department of Robotics in Pusan
National University, (e-mail: [email protected]).
Hee-Je Kim is a professor with the Department of Robotics in Pusan
National University, (e-mail: [email protected]).

217
 World Academy of Science, Engineering and Technology 61 2012

for source, PCB for receiving the output of the encoder, AC

Inlet, fuse and connector [5].

Fig. 4 Basic principle of Absolute encoder measuring

C. Experimental Equipment
Fig. 6 Internal components of interface device

Each relay decides test’s power and rated voltage of the

encoder. And it also connects a pull up/down resistors
according to the type of output (NPN/PNP).
D. Control circuit
Each relay decides test’s power and rated voltage of the
encoder. And it also connects a pull up/down resistors
according to the type of output (NPN/PNP).

Fig. 5 Motor & encoder test equipment

TABLE I
EXPERIMENTAL COMPONENTS

Components Product

Meter to detect voltage & current M4Y

A1K-S543W, MD5-
Motor & Motor Driver
HD14 Fig. 7 A variety of relay & switching function part
Measuring Encoder (Absolute Type) EP50S8-1024-3F-N
E. Encoder Analyzer
Standard Encoder (×4=20000 Resolution) E40S-6-5000-3-N-24 Incremental encoder analyzer detects each phase (A, B, Z)
of the output signal and displays the angle, duty, deviation and
5VDC Power Supply SP-0305 accumulation. Absolute encoder analyzer displays thirteen
outputs (1024P/R, BCD output) of the combination of signal.
12VDC Power Supply SPA-050-12

24VDC Power Supply SPA-050-24

AC Inlet, Fuse, A variety of Connector & Control PCB

The motor gives rated voltage and current as output. And

standard encoder makes a pre-scaling four times than input,
5000P/R to 20000P/R, each signal use twenty sampling signal.
And also there are several components such as power supply

218
 World Academy of Science, Engineering and Technology 61 2012

RPM is decided from the combination of frequency and

resolving power of motor drive). DAQmx digital output makes
a signal (ON/OFF) to interface controller that motor and
encoder.
2. Real Measuring Part
Measurement of Absolute encoder is made from Z phase
detection. This part decides a start point of encoder
measurement. The number of Z phase detection is used as
reference points.

Fig. 10 Real measuring part (Absolute type)

Fig. 8 Incremental encoder analyzer 3. Data Arrangement
According to the types of output (BCD, binary, gray), data
is converted to the number of array and saved.

Fig. 11 Code conversion

Data arrangement converts a Boolean code to moderate

code. It eliminates wrong data (very little impact signal, wrong
arrangement impulse) and separates from Final analyzing part.

Fig. 9 Absolute encoder analyzer

There are several things such as resolving power, error

(angle phase difference, duty ratio), direction of rotation (CW,
CCW), source (5, 12, 24V DC), motor speed and number of Z
phase detection in the setting’s value. While the motor rotates,
analyzer calculates the measured data and checks the
distinction ‘PASS or FAIL’ of each phase and also displays a
list of ‘FAIL’ and the reason [6].
F. LabVIEW Program Block Diagram
1. Motor Drive & Various Settings
The counter output function of DAQmx is used in the motor Fig. 12 Data arrangement
driving part. It makes a pulse about input frequency (motor

219
 World Academy of Science, Engineering and Technology 61 2012

4. Data Analyzing III. CONCLUSION

A table is generated regarding angle, deviation, Since complex equipment will be needed, verification field
accumulation and error using incremental and absolute also will be changed by the professionals. In future, feedback
encoder data. system will be a very important factor in the control system of
the robot industry. And an encoder also plays a key part in the
reliability and development of the industry at the same time. It
is meaningful that various industries have high accuracy
encoder through the simple output control.
ACKNOWLEDGMENT
This research was supported by the MKE(The Ministry of
Knowledge Economy), Korea, under the Human Resources
Development Program for robotics support program
supervised by the NIPA(National IT Industry Promotion
Agency) (NIPA-2011-C7000-1001-0009).
REFERENCES
[1] Y. S. LIM, “A study of angle measurement about encoder using
LabVIEW”, Pusan National University, 2011.
[2] National Instruments Corporation. http://www.ni.com
[3] Autonics Encoder R&D center.
[4] David, G.A. and Michael, B.H., “Introduction to Mechatronics and
Fig. 13 Data arrangement Measurement System 3th Ed,” McGraw Hill, pp.322-329, 2006.
[5] J. Akedo, Y. Kato, and H. Kobayashi, “High-Precision detection method
for the reference position in an optical encoder”, Applied optics, vol.32,
no.3, May 1993.
[6] D. Y. Kwak, “Measuring LabVIEW and controlling of computer base”,
Ohm.W.-K. Chen, Linear Networks and Systems (Book style). Belmont,
CA: Wadsworth, 1993, pp. 123–135.

Fig. 14 Data analyzing (Absolute type)

5. Final Analyzing
It compiles an output data table from the analyzing part.
This table judges the final ‘PASS or FAIL’ and marks the
number of several errors. So, user can identify the inspected
items.

Fig. 15 Final analyzing part

220