CN102624375A - Signal processing device compatible with multiple kinds of interfaces of encoders and rotary transformers - Google Patents
Signal processing device compatible with multiple kinds of interfaces of encoders and rotary transformers Download PDFInfo
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Abstract
The invention discloses a signal processing device compatible with multiple kinds of interfaces of encoders and rotary transformers. The signal processing device at least comprises an input interface module, a signal conditioning circuit, an FPGA (Field Programmable Gate Array) circuit module and a signal output interface module, wherein the input interface module, the signal conditioning circuit, the FPGA circuit module and the signal output interface module are sequentially connected. The signal processing device can be compatible with all kinds of traditional incremental encoders, absolute type encoders and rotary transformers in the market. The invention can realize that signals of more than one encoder and rotary transformer can be simultaneously processed and one or more signal processing results are output without replacing the signal processing device of a detection element interface, is suitable for detection and processing of position, speed and angle signals of different types of mechanical movement parts, is convenient for filed debugging of technicians, is convenient for use, is good in practicability, and has better actual application value and market competitiveness.
Description
Technical field
The present invention relates to fields such as Digit Control Machine Tool, robot and servo control technique, a kind of interface signal processing unit when being specially adapted to detect the multiple encoder that the position, speed, angle signal of different actuators uses with compatibility with resolver.
Background technology
In fields such as Digit Control Machine Tool, robot and servo control technique; The detecting unit of Position Control, speed control or angle control system is indispensable part; Its detected position, speed or angle information improve movement velocity, precision and the efficient of equipment as the feedback signal of closed-loop control.
The detecting unit of Position Control, speed control or angle control system mainly adopts following three kinds of elements in the market: incremental encoder, absolute type encoder and resolver.The incremental encoder volume is little, price is low, precision is high, response speed is fast, stable performance, is widely used in fields such as radar, electro-optic theodolite, ground control's appearance, robot, Digit Control Machine Tool, SERVO CONTROL; Absolute type encoder is by definitely unique, the strong interference immunity in each position of mechanical location decision; Be convenient to memory and preservation; Can directly read absolute location information, not have accumulated error, the reliability of data is high; Be widely used in angle, linear measure longimetry and positioning control in the various industrial systems, like required precisions such as Digit Control Machine Tool and robots than higher occasion.Resolver is a kind of accurate angle, position, speed detector, be applicable to all occasions, particularly high temperature of using rotary encoders, severe cold, humidity, at a high speed, rotary encoder such as high vibrations can't operate as normal occasion.Because the above characteristics of resolver, instead of optical photoelectric coder fully is widely used in the angle, position detecting system in fields such as servo-control system, robot system, machine tool, automobile, electric power, Aero-Space, boats and ships, building.
For realizing compatibility to incremental encoder and absolute type encoder; Patent of invention 200810162067.X proposes a kind of AC servo driver of compatible with multiple encoder interfaces, the driver compatible incremental encoder of ability and the absolute type encoder that are proposed in this invention; Utility model patent 201020575348.0 has proposed the multiple position feedback of a kind of compatibility and has supported the AC servo driver of multiple bus protocol.But these patents all do not relate to the solution to the resolver compatibling problem.And in the fields such as Digit Control Machine Tool, robot and servo control technique; In order to satisfy control system to precision, speed, performance and environment requirement; The detecting unit of Position Control, speed control or angle control system will use different detecting element, and this just needs the signal processing apparatus of the multiple incremental encoder of a kind of compatibility of design, absolute type encoder and resolver interface.
Summary of the invention
The objective of the invention is to overcome the deficiency of above-mentioned prior art; The signal processing apparatus of compatible with multiple encoder and resolver interface is provided; To realize that multiple incremental encoder, absolute type encoder and resolver are connected with external motion control unit; Be convenient to technical staff's field adjustable, improve the practicality and the market competitiveness of signal processing apparatus.
Technical scheme of the present invention is summarized as follows:
The signal processing apparatus of compatible with multiple encoder and resolver interface; At least comprise signal input interface module 1, signal conditioning circuit module 2, FPGA circuit module 3; Signal output interface module 4; It is characterized in that: this device can be handled the signal of more than one encoders and resolver simultaneously, and through parameter configuration, the result of one or more signal processing is exported in selection; Signal input interface module 1 output links to each other with signal conditioning circuit module 2 inputs, and signal conditioning circuit module 2 outputs link to each other with FPGA circuit module 3 input pins, and FPGA circuit module 3 output pins link to each other with signal output interface module 4; The said signal of handling more than one encoders and resolver simultaneously is meant all compound modes of multiple encoder and signals of rotating transformer.
Said signal input interface module 1 comprises incremental encoder signal input interface 11 at least, absolute type encoder signal input interface 12, signals of rotating transformer input interface 13.
Said signal conditioning circuit module 2 comprises incremental encoder signal conditioning circuit 21 at least, absolute type encoder signal conditioning circuit 22, signals of rotating transformer modulate circuit 23.
Said FPGA circuit module 3 comprises incremental encoder signal processing unit 31 at least; Absolute type encoder signal processing unit 32; Signals of rotating transformer processing unit 33; Signal output unit 34, and, adopt the programming of Verilog HDL hardware description language to realize the logic function of each unit according to the characteristics and the data format of encoder and rotary encoder output signal; Said absolute type encoder signal processing unit 32 comprises the river absolute type encoder signal processing unit 321 that rubs at least, Heidenhain absolute type encoder signal processing unit 322.
Said signal output interface module 4 comprises parallel signal output interface 41 and serial signal output interface 42.
Said incremental encoder signal conditioning circuit 21 comprises difference single-ended signal change-over circuit 211, photoelectric isolating circuit 212, reverse Schmidt trigger 213; Incremental encoder signal input interface 11 outputs link to each other with the input of difference single-ended signal change-over circuit 211; The output of difference single-ended signal change-over circuit 211 links to each other with the input of photoelectric isolating circuit 212; The output of photoelectric isolating circuit 212 links to each other with the input of reverse Schmidt trigger 213, and the output of reverse Schmidt trigger 213 links to each other with incremental encoder signal processing 31 inputs.
Said absolute type encoder signal input interface 12 comprises the river absolute type encoder signal input interface 121 that rubs at least, Heidenhain absolute type encoder signal input interface 122.
Said absolute type encoder signal conditioning circuit 22 comprises the river absolute type encoder signal conditioning circuit 221 that rubs at least, Heidenhain absolute type encoder signal conditioning circuit 222.
The said river absolute type encoder signal conditioning circuit 221 that rubs comprises difference single-ended signal change-over circuit 2211 more, photoelectric isolating circuit 2212, reverse Schmidt trigger 2213; The river absolute type encoder signal input interface 121 that rubs links to each other with an end of difference single-ended signal change-over circuit 2211 more; The other end of difference single-ended signal change-over circuit 2211 links to each other with an end of photoelectric isolating circuit 2212; The other end of photoelectric isolating circuit 2212 links to each other with an end of reverse Schmidt trigger 2213, and the other end of reverse Schmidt trigger 2213 links to each other with an end of the river absolute type encoder signal processing unit 321 that rubs more.
Said Heidenhain absolute type encoder signal conditioning circuit 222 comprises RS485 transceiving chip 2221, photoelectric isolating circuit 2222, reverse Schmidt trigger 2223; One end of RS485 transceiving chip 2221 links to each other with Heidenhain absolute type encoder signal input interface 122; The other end of RS485 transceiving chip 2221 links to each other with an end of photoelectric isolating circuit 2222; The other end of photoelectric isolating circuit 2222 links to each other with an end of reverse Schmidt trigger 2223, and the other end of reverse Schmidt trigger 2223 links to each other with an end of Heidenhain absolute type encoder signal processing unit 322.
Said signals of rotating transformer modulate circuit 23 comprises differential linearity amplifier 231, comparator 232, photoelectric isolating circuit 233, sampling hold circuit 234, A/D converter 235; The input termination signals of rotating transformer input interface 13 of differential linearity amplifier 231; The output of differential linearity amplifier 231 links to each other with the input of comparator 232 with sampling hold circuit 234 respectively; The output of comparator 232 links to each other with the input of photoelectric isolating circuit 233; The output of sampling hold circuit 234 links to each other with the input of A/D converter 235, and the output of photoelectric isolating circuit 233 and A/D converter 235 links to each other with the input of signals of rotating transformer processing unit 33 respectively.
Said signal output unit 34 is used to deposit the signal processing results of incremental encoder, absolute type encoder and resolver; Through parameter configuration, select the result of one or more signal processing of output to the control register in the signal output unit 34; The result of said more than one signal processing is meant all compound modes of multiple encoder and signals of rotating transformer result; Said parameter configuration is to write the parameter configuration value by external motion control unit through parallel signal output interface 41 or the control register of serial signal output interface 42 in signal output unit 34, accomplishes the parameter configuration process; The mode of signal output comprises parallel signal output and serial output; External motion control unit is the motion control control unit of equipment, can be digital signal processor DSP, single-chip microcomputer, PC, robot control unit, digital control system control unit or the like.
Compared with prior art, beneficial effect of the present invention is:
This signal processing apparatus possesses the signaling interface of incremental encoder, absolute type encoder and resolver, the incremental encoder signaling interface can compatible market on the incremental encoder of existing brand; The absolute type encoder of the compatible multiple popular protocol of absolute type encoder signaling interface; The resolver of the various brands of signals of rotating transformer interface compatibility.The present invention can select one or more encoders and the resolver detecting element as Position Control, speed control or angle control system detecting unit through parameter configuration; Overcome existing apparatus and can only select the shortcoming of a kind of type coding device simultaneously as detecting element; Realized need not changing the signal processing apparatus of detecting element interface, just can handle the signal of more than one encoders and resolver simultaneously, satisfied control system precision, speed, performance and environment requirement; Be convenient to technical staff's field adjustable; Easy to use, practicality is good, has favorable actual application and is worth and the market competitiveness.
Description of drawings
Fig. 1 is the signal processing apparatus structural representation of compatible with multiple encoder and resolver interface;
Fig. 2 is an incremental encoder signal conditioning circuit instance graph;
Fig. 3 is an absolute type encoder signal conditioning circuit instance graph;
Fig. 4 is a signals of rotating transformer modulate circuit instance graph.
Embodiment
Below in conjunction with accompanying drawing the present invention is described further.
In fields such as Digit Control Machine Tool, robot and servo control technique, the detecting unit of Position Control, speed control or angle control system is indispensable part.When the position of detecting different actuators, speed, angle signal, use multiple encoder and resolver.The present invention is a kind of signal processing apparatus with compatible with multiple encoder and resolver interface.This device can be handled more than one the encoder and the signal of resolver simultaneously.The signal processing device interposed structure of compatible with multiple encoder and resolver interface is as shown in Figure 1, and this signal processing apparatus comprises signal input interface module 1 at least, signal conditioning circuit module 2, FPGA circuit module 3, signal output interface module 4; Signal input interface module 1 comprises incremental encoder signal input interface 11 at least, absolute type encoder signal input interface 12, signals of rotating transformer input interface 13; Signal conditioning circuit module 2 comprises incremental encoder signal conditioning circuit 21 at least, absolute type encoder signal conditioning circuit 22, signals of rotating transformer modulate circuit 23; FPGA circuit module 3 comprises incremental encoder signal processing unit 31 at least, absolute type encoder signal processing unit 32, signals of rotating transformer processing unit 33, signal output unit 34; Signal output interface module 4 comprises parallel signal output interface 41 and serial signal output interface 42; Signal input interface module 1 output is corresponding with signal conditioning circuit module 2 inputs to link to each other; Signal conditioning circuit module 2 outputs are corresponding with FPGA circuit module 3 input pins to link to each other, FPGA circuit module 3 output pins and 4 corresponding linking to each other of signal output interface module; This device can be handled more than one the encoder and the signal of resolver simultaneously; And pass through the parameter configuration to the control register of signal output unit 34, the result and the mode of selecting signal to export of one or more signal processing exported in selection.
Incremental encoder signal conditioning circuit instance graph, as shown in Figure 2, this incremental encoder signal conditioning circuit 21 comprises difference single-ended signal change-over circuit 211, photoelectric isolating circuit 212, reverse Schmidt trigger 213; The input of difference single-ended signal change-over circuit 211 links to each other with the output of incremental encoder signal input interface 11; The output of difference single-ended signal change-over circuit 211 links to each other with the input of photoelectric isolating circuit 212; The output of photoelectric isolating circuit 212 links to each other with the input of reverse Schmidt trigger 213, and the output of reverse Schmidt trigger 213 links to each other with the input of incremental encoder signal processing 31.The output signal of incremental encoder is connected to difference single-ended signal change-over circuit 211 and obtains single-ended signal through incremental encoder signal input interface 11, and this single-ended signal is input in the incremental encoder signal processing unit 31 through photoelectric isolating circuit 212 and reverse Schmidt trigger 213.Incremental encoder signal processing unit 31 is realized the processing of digital filtering, sensing, two frequencys multiplication, quadruple, pulse position counting and adaptive speed leveling etc. to the incremental encoder signal.
Absolute type encoder signal conditioning circuit instance graph; As shown in Figure 3; This absolute type encoder signal input interface 12 comprises the river absolute type encoder signal input interface 121 that rubs at least; Heidenhain absolute type encoder signal input interface 122, absolute type encoder signal conditioning circuit 22 comprise the river absolute type encoder signal conditioning circuit 221 that rubs at least, Heidenhain absolute type encoder signal conditioning circuit 222; Absolute type encoder signal processing unit 32 comprises the river absolute type encoder signal processing unit 321 that rubs at least, Heidenhain absolute type encoder signal processing unit 322.
The said river absolute type encoder signal conditioning circuit 221 that rubs comprises difference single-ended signal change-over circuit 2211 more; Photoelectric isolating circuit 2212; Reverse Schmidt trigger 2213; One end of difference single-ended signal change-over circuit 2211 links to each other with the output of the river absolute type encoder signal input interface 121 that rubs more; The other end of difference single-ended signal change-over circuit 2211 links to each other with an end of photoelectric isolating circuit 2212, and the other end of photoelectric isolating circuit 2212 links to each other with an end of reverse Schmidt trigger 2213, and the other end of reverse Schmidt trigger 2213 links to each other with an end of the river absolute type encoder signal processing unit 321 that rubs more.The output signal of river absolute type encoder of rubbing is connected to difference single-ended signal change-over circuit 2211 and obtains single-ended signal through the river absolute type encoder signal input interface 121 that rubs more more; This single-ended signal is input in the river absolute type encoder signal processing unit 321 that rubs through photoelectric isolating circuit 2212 and reverse Schmidt trigger 2213 more; The river absolute type encoder signal processing unit 321 that rubs is handled signal according to the river absolute type encoder data protocol that rubs more more, thereby obtains positional value and state information.
Said Heidenhain absolute type encoder signal conditioning circuit 222 comprises RS485 transceiving chip 2221, photoelectric isolating circuit 2222, reverse Schmidt trigger 2223; One end of RS485 transceiving chip 2221 links to each other with Heidenhain absolute type encoder signal input interface 122 outputs; The other end of RS485 transceiving chip 2221 links to each other with an end of photoelectric isolating circuit 2222; The other end of photoelectric isolating circuit 2222 links to each other with an end of reverse Schmidt trigger 2223, and the other end of reverse Schmidt trigger 2223 links to each other with an end of Heidenhain absolute value encoder signal processing unit 322.The Heidenhain absolute type encoder is exported signal after receiving the instruction that Heidenhain absolute type encoder signal processing unit 322 sends; This signal is connected to RS485 transceiving chip 2221 and obtains single-ended signal through Heidenhain absolute type encoder signal input interface 121; This single-ended signal is input in the Heidenhain absolute type encoder signal processing unit 322 through photoelectric isolating circuit 2222 and reverse Schmidt trigger 2223; Heidenhain absolute type encoder signal processing unit 322 is handled signal according to Heidenhain absolute type encoder data protocol, thereby obtains positional value and state information.
Signals of rotating transformer modulate circuit instance graph, as shown in Figure 4, this signals of rotating transformer modulate circuit 23 comprises differential linearity amplifier 231; Comparator 232; Photoelectric isolating circuit 233, sampling hold circuit 234, A/D converter 235; The input termination signals of rotating transformer input interface 13 of differential linearity amplifier 231, the output of said differential linearity amplifier 231 links to each other with the input of comparator 232 with sampling hold circuit 234 respectively; The output of said comparator 232 links to each other with the input of photoelectric isolating circuit 233; The output of said sampling hold circuit 234 links to each other with the input of A/D converter 235; The output of said photoelectric isolating circuit 233 and A/D converter 235 links to each other with the input of signals of rotating transformer processing unit 33 respectively.The cosine and sine signal of resolver output; Respectively after differential linearity amplification, sampling maintenance, A/D conversion and the cosine and sine signal of signals of rotating transformer modulate circuit 23 convert square-wave signal, photoelectricity isolation into; The signal of gained is input to signals of rotating transformer processing unit 33 and carries out processing such as sensing segmentation and counting, and exports the result of signal processing by signal output unit 34.
Each signal processing unit in the FPGA circuit module 3 is accomplished Signal Processing according to the data characteristics of corresponding encoded device and signals of rotating transformer; Signal output unit 34 is used to deposit the signal processing results of incremental encoder, absolute type encoder and resolver; And through parameter configuration to the control register in the signal output unit 34; Select any one process result in output increment formula encoder, the river absolute type encoder that rubs, Heidenhain absolute type encoder and the signals of rotating transformer result more; Or the result of any two kinds signal processing; Or the result of any three kinds of signal processing or whole signal, and can signal processing results be exported with the mode of parallel signal output or serial output; Parameter configuration is to write the parameter configuration value by external motion control unit through parallel signal output interface 41 or the control register of serial signal output interface 42 in signal output unit 34, accomplishes the parameter configuration process.The parameter configuration value: the control register of establishing in the signal output unit 34 is the n position; N >=6; The selected wherein way of output of 2 results that are used for control increment formula encoder, rub river absolute type encoder, Heidenhain absolute type encoder and signals of rotating transformer respectively more; Select any 4 results that are used for control increment formula encoder, rub river absolute type encoder, Heidenhain absolute type encoder and signals of rotating transformer respectively in the residue whether to export more; When certain position is changed to " 1 " (high level); Signal processing results by this control can be exported, and when certain position is changed to " 0 " (low level), cannot be exported by the signal processing results of this control.When if 2 of these of control and treatment result's the way of output are changed to " 10 ", the result of signal processing can only be with parallel way of output output, if these 2 when being changed to " 01 "; The result of signal processing can only export with serial output mode; If these 2 when being changed to " 11 ", the result of signal processing both can also can export with serial output mode with parallel way of output output; If these 2 when being changed to " 00 ", the output of inhibit signal process result; The above-mentioned regulation that just provides a kind of parameter configuration value of situation, the user can confirm according to the demand oneself of oneself.External motion control unit is the motion control control unit of equipment, can be digital signal processor DSP, single-chip microcomputer, PC, robot control unit, digital control system control unit or the like.
In this specification, should be pointed out that above embodiment only is the more representational example of the present invention.Obviously, the present invention is not limited to above-mentioned specific embodiment, can also make various modifications, conversion and distortion.Therefore, specification and accompanying drawing are regarded in an illustrative, rather than a restrictive.Every foundation technical spirit of the present invention all should be thought to belong to protection scope of the present invention to any simple modification, equivalent variations and modification that above embodiment did.
Claims (12)
1. the signal processing apparatus of compatible with multiple encoder and resolver interface; At least comprise signal input interface module (1), signal conditioning circuit module (2), FPGA circuit module (3); Signal output interface module (4); It is characterized in that: this device can be handled the signal of more than one encoders and resolver simultaneously, and through parameter configuration, the result of one or more signal processing is exported in selection; Signal input interface module (1) output links to each other with signal conditioning circuit module (2) input; Signal conditioning circuit module (2) output links to each other with FPGA circuit module (3) input pin, and FPGA circuit module (3) output pin links to each other with signal output interface module (4); The said signal of handling more than one encoders and resolver simultaneously is meant all compound modes of multiple encoder and signals of rotating transformer.
2. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface; It is characterized in that: said signal input interface module (1) comprises incremental encoder signal input interface (11) at least; Absolute type encoder signal input interface (12), signals of rotating transformer input interface (13).
3. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface; It is characterized in that: said signal conditioning circuit module (2) comprises incremental encoder signal conditioning circuit (21) at least; Absolute type encoder signal conditioning circuit (22), signals of rotating transformer modulate circuit (23).
4. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface; It is characterized in that: said FPGA circuit module (3) comprises incremental encoder signal processing unit (31) at least; Absolute type encoder signal processing unit (32); Signals of rotating transformer processing unit (33); Signal output unit (34), and, adopt the programming of Verilog HDL hardware description language to realize the logic function of each unit according to the characteristics and the data format of encoder and rotary encoder output signal; Said absolute type encoder signal processing unit (32) comprises the river absolute type encoder signal processing unit (321) that rubs at least, Heidenhain absolute type encoder signal processing unit (322).
5. the signal processing apparatus of compatible with multiple encoder according to claim 1 and resolver interface is characterized in that: said signal output interface module (4) comprises parallel signal output interface (41) and serial signal output interface (42).
6. according to the signal processing apparatus of claim 1 or 3 described compatible with multiple encoder and resolver interface; It is characterized in that: said incremental encoder signal conditioning circuit (21) comprises difference single-ended signal change-over circuit (211); Photoelectric isolating circuit (212), reverse Schmidt trigger (213); The output of incremental encoder signal input interface (11) links to each other with the input of difference single-ended signal change-over circuit (211); The output of difference single-ended signal change-over circuit (211) links to each other with the input of photoelectric isolating circuit (212); The output of photoelectric isolating circuit (212) links to each other with the input of reverse Schmidt trigger (213), and the output of reverse Schmidt trigger (213) links to each other with the input of incremental encoder signal processing unit (31).
7. the signal processing apparatus of compatible with multiple encoder according to claim 1 and 2 and resolver interface is characterized in that: said absolute type encoder signal input interface (12) comprises the river absolute type encoder signal input interface that rubs at least
(121), Heidenhain absolute type encoder signal input interface (122).
8. according to the signal processing apparatus of claim 1 or 3 described compatible with multiple encoder and resolver interface; It is characterized in that: said absolute type encoder signal conditioning circuit (22) comprises the river absolute type encoder signal conditioning circuit (221) that rubs at least, Heidenhain absolute type encoder signal conditioning circuit (222).
9. according to the signal processing apparatus of claim 1,3 or 8 described compatible with multiple encoder and resolver interface; It is characterized in that: the said river absolute type encoder signal conditioning circuits (221) that rub comprise difference single-ended signal change-over circuit (2211) more; Photoelectric isolating circuit (2212), reverse Schmidt trigger (2213); The river absolute type encoder signal input interface (121) that rubs links to each other with an end of difference single-ended signal change-over circuit (2211) more; The other end of difference single-ended signal change-over circuit (2211) links to each other with an end of photoelectric isolating circuit (2212); The other end of photoelectric isolating circuit (2212) links to each other with an end of reverse Schmidt trigger (2213), and the other end of reverse Schmidt trigger (2213) links to each other with an end of the river absolute type encoder signal processing unit (321) that rubs more.
10. according to the signal processing apparatus of claim 1,3 or 8 described compatible with multiple encoder and resolver interface; It is characterized in that: said Heidenhain absolute type encoder signal conditioning circuit (222) comprises RS485 transceiving chip (2221); Photoelectric isolating circuit (2222), reverse Schmidt trigger (2223); One end of RS485 transceiving chip (2221) links to each other with Heidenhain absolute type encoder signal input interface (122); The other end of RS485 transceiving chip (2221) links to each other with an end of photoelectric isolating circuit (2222); The other end of photoelectric isolating circuit (2222) links to each other with an end of reverse Schmidt trigger (2223), and reverse Schmidt trigger (2223) other end links to each other with an end of Heidenhain absolute type encoder signal processing unit (322).
11. signal processing apparatus according to claim 1 or 3 described compatible with multiple encoder and resolver interface; It is characterized in that: said signals of rotating transformer modulate circuit (23) comprises differential linearity amplifier (231); Comparator (232); Photoelectric isolating circuit (233), sampling hold circuit (234), A/D converter (235); The input termination signals of rotating transformer input interface (13) of differential linearity amplifier (231); The output of differential linearity amplifier (231) links to each other with the input of comparator (232) with sampling hold circuit (234) respectively; The output of comparator (232) links to each other with the input of photoelectric isolating circuit (233); The output of sampling hold circuit (234) links to each other with the input of A/D converter (235), and the output of photoelectric isolating circuit (233) and A/D converter (235) links to each other with the input of signals of rotating transformer processing unit (33) respectively.
12. signal processing apparatus according to claim 1,4 or 5 described compatible with multiple encoder and resolver interface; It is characterized in that: said signal output unit (34) is used to deposit the signal processing results of incremental encoder, absolute type encoder and resolver; Through parameter configuration, select the result of one or more signal processing of output to the control register in the signal output unit (34); The result of said more than one signal processing is all compound modes of multiple encoder and signals of rotating transformer result; Said parameter configuration is to write the parameter configuration value by external motion control unit through parallel signal output interface (41) or the control register of serial signal output interface (42) in signal output unit (34), accomplishes the parameter configuration process.
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