CHAPTER
7
Position and Limit Devices
This chapter describes the various elements in the SCORBOT-ER IX which play a
part in the positioning of the robot arm and the limiting of its motion.
•
Encoders
•
End of Travel Switches
•
Hard Stops
•
Home Switches
Encoders
The location and movement of each SCORBOT-ER IX axis is measured by an
electro-optical encoder attached to the motor which drives the axis. The encoder
translates the rotary motion of the motor shaft into a digital signal understood by
the controller.
Figure 7-1 shows the encoder mounted on a
SCORBOT-ER IX motor.
The encoder used on the SCORBOT-ER IX
contains a single light emitting diode (LED)
as its light source. Opposite the LED is a
light detector integrated circuit. This IC
contains several sets of photodetectors and
the circuitry for producing a digital signal. A
perforated, rotating disk is located between
the emitter and detector IC.
Figure 7-1:
SCORBOT-ER IX Encoder
User’s Manual 7 - 1 SCORBOT-ER IX
9603
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