A transmission algorithm applicable to incremental and absolute encoder and its implementation

Abstract

A data transmission algorithm applicable to incremental and absolute encoders is presented and implemented on FPGA-based six axis robot experimental platform. When the industrial computer (IPC) requests synchronous position, the absolute position data is transmitted, while the incremental data is transmitted in the other case to reduce the bus load. In addition, the servo control units assign absolute value data and upload tasks to the various control cycles finely, thus avoiding interference with normal servo control beats. Experimental results shown that the servo control units can read the multi-axis absolute encoders data and achieve the precise positioning of the robot system, further improving the performance of the robot system and reducing the cost.