ABSOLUTE ELECTROMAGNETIC POSITION ENCODER

Abstract

An absolute electromagnetic position encoder comprises a readhead and an absolute scale. The readhead comprises field generation and detection configuration and a readhead processor. The absolute scale comprises an active periodic signal pattern, an active absolute signal pattern, and timing and activation circuitry connected to the active signal pattern. During an energy transfer cycle, the timing and activation circuitry is configured to receive and store energy from the readhead. During a first signal generating cycle, the timing and activation circuitry is configured to drive the periodic spatially modulated signal generating element in order to generate first cycle spatially periodic signals in the first cycle field detector. During a second signal generating cycle, the timing and activation circuitry is configured to drive the first spatially modulated signal generating element in order to provide at least one corresponding second cycle signal in the readhead. The readhead processor is configured to determine an absolute position of the readhead relative to the absolute scale based on at least the second cycle signal and the first cycle spatially periodic signals.

Description

BACKGROUND

Technical Field

The present disclosure relates generally to precision metrology and, more particularly, to linear and rotary absolute electromagnetic position encoders.

Description of the Related Art

Position encoders (more particularly, induced current encoders) typically have a readhead that is movable relative to a scale member, and includes one or more transducers comprising a field generator (e.g., an excitation winding) and a field detector (e.g., receiver winding(s)). Typical absolute position encoders employ multiple parallel scale tracks juxtaposed with parallel sets of field generators and field detectors in the readhead to determine an absolute position.

U.S. Pat. No. 6,329,813, which is commonly assigned and hereby incorporated herein by reference in its entirety, discloses an absolute position encoder transducer employing multiple parallel scale tracks for determining an absolute position. While the '813 patent provides a high accuracy configuration, in some applications it is desirable to provide an absolute position encoder transducer which employs a more compact single scale track and a readhead comprising a set composed of a field detector and a field generator to determine an absolute position while further providing stronger position signals, a larger gap between the scale track and readhead, and/or lower power consumption.

BRIEF SUMMARY

This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This summary is not intended to identify key features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

An absolute electromagnetic position encoder is provided. The absolute electromagnetic position encoder comprises a readhead and an absolute scale extending along a measuring axis of the position encoder. The readhead comprises a field generation and detection configuration and a readhead processor connected to the field generation and detection configuration, and is configured to operate the field generation and detection configuration as a field generator to provide an energy transfer cycle, and to operate the field generation and detection configuration as a first cycle field detector to provide a first signal generating cycle and to operate the field generation and detection configuration as a second cycle field detector to provide a second signal generating cycle. The readhead is movable relative to the absolute scale along the measuring axis. The absolute scale comprises an active periodic signal pattern comprising a periodic spatially modulated signal generating element that extends along the measuring axis and has a first wavelength and is configured to generate a corresponding periodic spatially modulated field that couples to the readhead to generate spatially periodic signals in the first cycle field detector as a function of readhead position relative to the absolute scale along the measuring axis, and an active absolute signal pattern comprising at least a first spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the second cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic spatially modulated signal generating element. The absolute scale further comprises timing and activation circuitry connected to the active absolute signal pattern and the active periodic signal pattern. The absolute electromagnetic position encoder comprises an energy transfer cycle configuration that is used to provide an energy transfer cycle wherein, during the energy transfer cycle, the readhead processor is configured to energize a winding of the field generation and detection configuration to operate as a field generator and generate an energy transfer cycle field, and at least one of the signal generating elements of the absolute scale couples to the energy transfer cycle field and provides energy to the timing and activation circuitry, and the timing and activation circuitry is configured to receive and store energy during the energy transfer cycle. The absolute electromagnetic position encoder comprises a first signal cycle configuration that is used to provide a first signal generating cycle wherein, during the first signal generating cycle, the timing and activation circuitry is configured to drive the periodic spatially modulated signal generating element to generate a corresponding periodic spatially modulated first cycle field, and the first cycle field detector couples to the periodic spatially modulated first cycle field to generate first cycle spatially periodic signals in the first cycle field detector. The absolute electromagnetic position encoder comprises a second signal cycle configuration that is used to provide a second signal generating cycle wherein, during the second signal generating cycle, the timing and activation circuitry is configured to drive the first spatially modulated signal generating element to generate a corresponding spatially modulated second cycle field, and the second cycle field detector couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor, and during the second signal generating cycle the readhead processor is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range. The readhead processor is further configured to determine an absolute position of the readhead relative to the absolute scale based on at least the second cycle signal and the first cycle spatially periodic signals.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A, 1B and 1C are schematic diagrams of portions of a first implementation of an absolute electromagnetic position encoder;

FIG. 2 is a schematic diagram of a portion of a second implementation of an absolute electromagnetic position encoder;

FIG. 3 is a schematic diagram of a third implementation of an absolute electromagnetic position encoder;

FIG. 4 is a timing diagram showing operations of the absolute electromagnetic position encoder of FIGS. 1A, 1B and 1C;

FIGS. 5A and 5B show a flow diagram illustrating one exemplary implementation of a routine for operating an absolute electromagnetic position encoder;

FIGS. 6A, 6B and 6C are schematic diagrams of portions of a fourth implementation of an absolute electromagnetic position encoder;

FIGS. 7A, 7B and 7C are schematic diagrams of portions of an absolute electromagnetic position encoder; and

FIGS. 8A and 8B show a flow diagram illustrating one exemplary implementation of a routine for operating an absolute electromagnetic position encoder.

DETAILED DESCRIPTION

FIGS. 1A, 1B and 1C are schematic diagrams of portions of a first implementation of an absolute electromagnetic position encoder 100. The absolute electromagnetic position encoder 100 comprises a readhead 110 (shown in FIG. 1A), and an absolute scale 120 (shown in FIGS. 1B and 1C) extending along a measuring axis MA of the absolute electromagnetic position encoder 100. The readhead 110 comprises a spatially modulated signal coupling configuration 111, which comprises a field generator 112 and a field detector 113, and a readhead processor 114 configured to provide a first signal generating cycle and a second signal generating cycle. The readhead 110 is movable relative to the absolute scale 120 along the measuring axis MA. The absolute scale 120 comprises a passive signal pattern 130 (shown in FIG. 1B) comprising a periodic pattern of signal modulating elements 131 distributed periodically at a first wavelength λ₁ along the measuring axis MA and configured to modulate a field coupling between the field generator 112 and the field detector 113 to generate spatially periodic signals in the field detector 113 as a function of a readhead position X relative to the absolute scale 120 along the measuring axis MA, and an active signal pattern 140 (shown in FIG. 1C) comprising a first spatially modulated signal generating element 141 and a second spatially modulated signal generating element 142. The first spatially modulated signal generating element 141 is configured to generate a corresponding spatially modulated field that couples to the readhead 110 to provide at least one corresponding signal in the readhead 110 that exhibits a unique relationship with the spatially periodic signals for each unique readhead position X relative to the absolute scale 120 within a first absolute range AR1 that exceeds the first wavelength λ₁ of the periodic pattern of signal modulating elements 131. The second spatially modulated signal generating element 142 is configured to generate a corresponding spatially modulated field that couples to the readhead 110 to provide a unique corresponding signal in the readhead 110 for each unique readhead position X relative to the absolute scale within an absolute range AR including the first absolute range AR1. The absolute scale 120 further comprises a timing and activation circuit 143 connected to the active signal pattern 140.

The passive signal pattern 130 and the active signal pattern 140 may be arranged along a single track in a stacked configuration such that the readhead 110 may receive signals from both.

The absolute electromagnetic position encoder 100 comprises a first signal cycle configuration that is used to provide a first signal generating cycle wherein, during the first signal generating cycle the readhead processor 114 is configured to energize the field generator 112 to generate a first cycle field and generate first cycle spatially periodic signals in the field detector 113 based on the passive signal pattern 130 modulating the field coupling between the field generator 112 and the field detector 113. At least the first signal generating element 141 (and in some implementations, the second spatially modulated signal generating element 142) of the active signal pattern 140 couples to the first cycle field and provides energy to the timing and activation circuit 143. The timing and activation circuit 143 is configured to receive and store energy during the first signal cycle.

The absolute electromagnetic position encoder 100 comprises a second signal cycle configuration that is used to provide a second signal generating cycle wherein, during the second signal generating cycle, the timing and activation circuit 143 is configured to drive the first spatially modulated signal generating element 141 to generate a corresponding spatially modulated second cycle field, and at least one of the field generator 112 and the field detector 113 couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor 114, and during the second signal generating cycle the readhead processor 114 is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead 110 that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within the first absolute range AR1.

The absolute electromagnetic position encoder 100 comprises a third signal cycle configuration that is used to provide a third signal generating cycle wherein, during the third signal generating cycle, the timing and activation circuit 143 is configured to drive the second spatially modulated signal generating element 142 to generate a corresponding spatially modulated third cycle field. At least one of the field generator 112 and the field detector 113 couples to the spatially modulated third cycle field and provides a corresponding third cycle input to the readhead processor 114. During the third signal generating cycle the readhead processor 114 is configured to receive the third cycle input and provide a corresponding third cycle signal indicative of a unique position within the absolute range AR including the first absolute range AR1.

The readhead processor 114 is further configured to determine an absolute position X of the readhead 110 relative to the absolute scale 120 based on at least the second cycle signal, the third cycle signal and the first cycle spatially periodic signals.

The absolute electromagnetic position encoder 100, or a similar encoder configured according to the principles disclosed herein, may provide the advantage of a more compact single scale track absolute scale configuration, stronger position signals, a larger gap between the absolute scale and readhead, and/or lower power consumption.

It should be appreciated that while the active signal pattern 140 comprises the first spatially modulated signal generating element 141 and the second spatially modulated signal generating element 142, an absolute electromagnetic position encoder may be constructed according to the principles disclosed herein with only one spatially modulated signal generating element (e.g., the first spatially modulated signal generating element 141).

In some implementations, the readhead processor 114 may be configured to determine a value A for the second cycle signal and a value B for the third cycle signal, and the readhead processor 114 may be configured to determine a processed signal (A−B)/(A+B) which is indicative of a unique position in the first absolute range.

In some implementations, generating the second cycle periodic signal may be initiated after generating the first cycle periodic signals, and generating the third cycle periodic signal may be initiated after generating the first cycle periodic signals.

In some implementations such as that shown in FIG. 1B, the first spatially modulated signal generating element 141 and the second spatially modulated signal generating element 142 have substantially the same shape, but the shape of one is flipped relative to the other about the measuring axis MA and an axis perpendicular to the measuring axis MA.

In some implementations, during the second signal generating cycle, the field generator 112 may couple to the spatially modulated second cycle field and provide a corresponding second cycle input to the readhead processor 114. In some implementations, during the third signal generating cycle, the field generator 112 may couple to the spatially modulated third cycle field and provide a corresponding third cycle input to the readhead processor 114. In alternative implementations, during the second signal generating cycle, the field detector 113 may couple to the spatially modulated second cycle field and provide a corresponding second cycle input to the readhead processor 114. In some implementations, during the third signal generating cycle, the field detector 113 may couple to the spatially modulated third cycle field and provide a corresponding third cycle input to the readhead processor 114.

In some implementations, the passive signal pattern 130 and the active signal pattern 140 may be constructed on different scale layers and may be superimposed in the same scale track along the measuring axis direction MA.

In some implementations, the signal modulating elements of the periodic pattern of signal modulating elements 131 may be conductive loops which modulate the field coupling between the field generator 112 and the field detector 113.

In some implementations, the signal modulating elements of the periodic pattern of signal modulating elements 131 may be plates of material which modulate the field coupling between the field generator 112 and the field detector 113.

In some implementations, the field detector 113 may comprise a plurality of detectors arranged to generate spatially periodic signals in quadrature. For example, in FIG. 1, the field detector 113 is shown to comprise a first set of windings 113A, indicated by solid lines, which is configured to sense spatially periodic signals at spatial phases corresponding to 0 and 180 degrees, and a second set of windings 113B, indicated by dashed lines, which is configured to sense spatially periodic signals at spatial phases corresponding to 90 and 270 degrees. In other implementations, the field detector 113 may comprise a plurality of detectors arranged to generate three spatially periodic signals corresponding to spatial phase corresponding to 0, 120, and 240 degrees.

In some implementations, such as that shown in FIG. 1B, the effective width of the first spatially modulated signal generating element 141 may vary linearly as a function of position along the measuring axis direction MA. As shown in FIG. 1B, the effective width of the second spatially modulated signal generating element 142 also varies linearly as a function of position along the measuring axis direction MA.

FIG. 2 is a schematic diagram of a portion of a second implementation of an absolute electromagnetic position encoder 200. As shown in FIG. 2, the absolute electromagnetic position encoder 200 comprises an absolute scale 220 which comprises an active signal pattern 240 comprising a spatially modulated signal generating element 241 which may be used in place of the spatially modulated signal generating element 141 in an absolute electromagnetic position encoder which is similar to the absolute electromagnetic position encoder 100. The active signal pattern 240 also comprises a timing and activation circuit 243. The spatially modulated signal generating element 241 comprises a first winding portion 241A having a first winding polarity (indicated by the “+” sign), and a second winding portion 241B having the opposite winding polarity (indicated by the “−” sign). The first winding portion 241A and the second winding portion 241B are connected to one another and are connected to the timing and activation circuit 243 by the same leads.

The absolute electromagnetic position encoder 200 comprises a second signal cycle configuration as described above with respect to FIG. 1. The active signal pattern 240 is configured such that during a second signal generating cycle, the timing and activation circuit 243 is configured to drive the spatially modulated signal generating element 241 (more specifically both the first winding portion 241A and the second winding portion 241B) to generate a corresponding spatially modulated second cycle field, and at least one of a field generator (e.g., the field generator 112), a field detector (e.g., the field detector 113), or a readhead (e.g., the readhead 110) couples to the spatially modulated second cycle field and provides a corresponding second cycle input to a readhead processor (e.g., the readhead processor 114), and during the second signal generating cycle the readhead processor is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within a first absolute range. For various positions of a readhead along the measuring axis MA, the second cycle signal is a differential signal as a function of the readhead position X. More specifically, a field detector will simultaneously couple to individual field contributions from the first winding portion 241A and the second winding portion 241B which have opposite polarities and provide a combined spatially modulated second cycle field which is a difference between the magnitudes of each of the individual field contributions.

FIG. 3 is a schematic diagram of a third implementation of an absolute electromagnetic position encoder 300. As shown in FIG. 3, the absolute electromagnetic position encoder 300 comprises an absolute scale 320 which comprises an active signal pattern 340 comprising a spatially modulated signal generating element 341 which may be used in place of the spatially modulated signal generating element 141 in the absolute electromagnetic position encoder 300, which is otherwise similar or identical to the absolute electromagnetic position encoder 100. The active signal pattern 340 also comprises a timing and activation circuit 343.

The spatially modulated signal generating element 341 comprises a periodic array of loops, distributed periodically at a second wavelength λ₂ arranged from a single winding coupled to the timing and activation circuit 343. Like the absolute electromagnetic position encoder 100, the absolute electromagnetic position encoder 300 comprises a second signal cycle configuration that is used to provide a second signal generating cycle. During the second signal generating cycle, the timing and activation circuit 343 is configured to drive the spatially modulated signal generating element 341 to generate a corresponding spatially modulated second cycle field, at least one of a field generator or a field detector of a readhead (e.g., the readhead 110) couples to the spatially modulated second cycle field and provides a corresponding second cycle input to a readhead processor (e.g., the readhead processor 114), and, during the second signal generating cycle, the readhead processor is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within the first absolute range. In the absolute electromagnetic encoder 100, the active signal pattern 140 is configured to provide a second cycle signal and a third cycle signal which each vary approximately linearly with a position X along the measuring axis direction. In contrast, the active signal pattern 340 is configured to provide a second cycle signal which varies periodically according to the second wavelength λ₂. This second cycle signal exhibits a unique relationship with the spatially periodic signals of a passive signal pattern (e.g., the passive signal pattern 130). For a passive signal pattern with a wavelength λ₁, a phase difference between the spatially periodic signals and the second cycle signal may vary according to an envelope with a synthetic wavelength λ_syn. The value of the synthetic wavelength λ_syn may be given by the expression:

$\begin{array}{cc}{\lambda }_{\mathrm{syn}}=\frac{{\lambda }_1{\lambda }_2}{{\lambda }_2-{\lambda }_1}& \left(1\right)\end{array}$

The phase difference between the spatially periodic signals and the second cycle signal may be used in conjunction with the synthetic wavelength λ_syn to determine an absolute position within a first absolute range which is less than or equal to the synthetic wavelength λ_syn.

FIG. 4 is a timing diagram 400 showing operations of the absolute electromagnetic position encoder 100.

At a time t0, a first signal generating cycle begins. The readhead processor 114 energizes the field generator 112 to generate a first cycle field and generate first cycle spatially periodic signals in the field detector 113 based on the periodic pattern of signal modulating elements 131 of the passive signal pattern 130 modulating the field coupling between the field generator 112 and the field detector 113. The first spatially modulated signal generating element 141 and the second spatially modulated signal generating element 142 are inactive. The first spatially modulated signal generating element 141 (and in some implementations, the second spatially modulated signal generating element 142) of the active signal pattern 140 couple to the first cycle field and provide energy to the timing and activation circuit 143 which is configured to receive and store energy during the first signal cycle. In some implementations, the energy provided to the timing and activation circuit 143 near the time t1 may provide a reference time point to the timing and activation circuit 143 to synchronize operations with the readhead processor 114. At a time t2, the first signal generating cycle ends.

At a time t3, a second signal generating cycle begins. The timing and activation circuit 143 is configured to drive the first spatially modulated signal generating element 141 to generate a corresponding spatially modulated second cycle field, and the field generator 112 couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor 114 which is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead 110 that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within the first absolute range AR1. At a time t4, the second signal generating cycle ends.

At a time t5, a third signal generating cycle begins. The timing and activation circuit 143 is configured to drive the second spatially modulated signal generating element 142 to generate a corresponding spatially modulated third cycle field, and the field generator 112 couples to the spatially modulated third cycle field and provides a corresponding third cycle input to the readhead processor 114 which is configured to receive the third cycle input and provide at least one corresponding third cycle signal in the readhead 110 that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within the first absolute range AR1. At a time t6, the third signal generating cycle ends.

It should be appreciated that in the implementation shown in FIG. 4, during the second and third signal generating cycles, the field generator 112 couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor 114. However, in alternative implementations, during the second and third signal generating cycles, the field detector 113 may couple to the spatially modulated second cycle field and provide a corresponding second cycle input to the readhead processor 114.

FIGS. 5A and 5B show a flow diagram 500 illustrating one exemplary implementation of a routine for operating an absolute electromagnetic position encoder.

At block 510, an absolute electromagnetic position encoder is provided. The absolute electromagnetic position encoder comprises a readhead and an absolute scale extending along a measuring axis of the position encoder. The readhead comprises a spatially modulated signal coupling configuration, which comprises a field generator and a field detector, and a readhead processor configured to provide a first signal generating cycle and a second signal generating cycle. The readhead is movable relative to the absolute scale along the measuring axis. The absolute scale comprises a passive signal pattern comprising a periodic pattern of signal modulating elements distributed periodically at a first wavelength along a measuring axis and configured to modulate a field coupling between the field generator and the field detector to generate spatially periodic signals in the field detector as a function of readhead position relative to the absolute scale along the measuring axis, an active signal pattern comprising at least a first spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the readhead for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic pattern, and a timing and activation circuit connected to the active signal pattern.

At block 520, during a first signal generating cycle, the readhead processor is operated to energize the field generator to generate a first cycle field and generate first cycle spatially periodic signals in the field detector based on the passive signal pattern modulating the field coupling between the field generator and the field detector, such that at least the first signal generating element of the active signal pattern couples to the first cycle field and provides energy to the timing and activation circuit, and the timing and activation circuit receives and stores energy during the first signal cycle.

After block 520, the routine continues to block A which continues in FIG. 5B.

As shown in FIG. 5B, the routine continues from block A to block 530. At block 530, during a second signal cycle, the timing and activation circuit is operated to drive the first spatially modulated signal generating element to generate a corresponding spatially modulated second cycle field, such that at least one of the field generator and the field detector couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor, and the readhead processor is operated to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the spatially periodic signals and is indicative of a unique position within the first absolute range.

At block 540, an absolute position of the readhead 110 is determined relative to the absolute scale 120 based on at least the second cycle signal and the first cycle spatially periodic signals.

FIGS. 6A, 6B and 6C are schematic diagrams of portions of a fourth implementation of an absolute electromagnetic position encoder 600. The absolute electromagnetic position encoder 600 comprises a readhead 610 (shown in FIG. 6A), and an absolute scale 620 (shown in FIGS. 6B and 6C) extending along a measuring axis MA of the absolute electromagnetic position encoder 600. The readhead 610 comprises a spatially modulated signal coupling configuration 611 comprising a field generator 612, a periodic field detector 613, an absolute field detector 615, and a readhead processor 614 configured to provide a first signal generating cycle and a second signal generating cycle. The readhead 610 is movable relative to the absolute scale 620 along the measuring axis MA. The absolute scale 620 comprises an active signal pattern 630 (shown in FIG. 1B) comprising a periodic pattern of signal modulating elements 631 distributed periodically at a first wavelength λ₁ along the measuring axis MA and configured to generate a spatially periodic field that couples to the periodic field detector 613 to generate spatially periodic signals in the periodic field detector 613 as a function of readhead position relative to the absolute scale 620 along the measuring axis MA, and a passive signal pattern 640 comprising a spatially modulated signal generating element 641 configured to modulate a field coupling between the field generator 612 and the absolute field detector 615 to provide at least one corresponding signal in the readhead 610 that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale 620 within a first absolute range AR1 that exceeds the first wavelength λ₁ of the periodic pattern of signal modulating elements 631. The absolute scale 620 further comprises a timing and activation circuit 633 connected to the active signal pattern 630.

The field detector 613 is shown to comprise a first set of windings 613A and a second set of windings 613B.

It should be appreciated that while the active signal pattern 630 is constructed from just two windings, individual instances of the periodic pattern of signal modulating elements 631 are formed as periodic rectangular portions of each of the two windings.

The active signal pattern 630 and the passive signal pattern 640 may be arranged along a single track in a stacked configuration such that the readhead 610 may receive signals from both.

The absolute electromagnetic position encoder 600 comprises a first signal cycle configuration that is used to provide a first signal generating cycle wherein, during the first signal generating cycle, the readhead processor 614 is configured to energize the field generator 612 to generate a first cycle field and generate a first cycle signal in the absolute field detector 615 based on the passive signal pattern modulating the field coupling between the field generator 612 and the absolute field detector 615, and the signal generating elements of the active signal pattern 630 couple to the first cycle field and provide energy to the timing and activation circuit 633, and the timing and activation circuit 633 is configured to receive and store energy during the first signal cycle.

The absolute electromagnetic position encoder 600 comprises a second signal cycle configuration that is used to provide a second signal generating cycle wherein, during the second signal generating cycle, the timing and activation circuit 633 is configured to drive the periodic pattern of signal generating elements 631 to generate a corresponding spatially periodic second cycle field, and the periodic field detector couples to the spatially periodic second cycle field and provides corresponding spatially periodic signals to the readhead processor 614.

The readhead processor 614 is further configured to determine an absolute position of the readhead 610 relative to the absolute scale 620 based on at least the first cycle signal and the spatially periodic signals.

FIGS. 7A, 7B and 7C are schematic diagrams of portions of an absolute electromagnetic position encoder 700. The absolute electromagnetic position encoder 700 comprises a readhead 710, and an absolute scale 720 extending along a measuring axis MA of the absolute electromagnetic position encoder 700. The readhead 710 comprises a field generation and detection configuration 711 and a readhead processor 714 connected to the field generation and detection configuration 711, and is configured to operate the field generation and detection configuration 711 as a field generator to provide an energy transfer cycle, and to operate the field generation and detection configuration 711 as a first cycle field detector to provide a first signal generating cycle and to operate the field generation and detection configuration 711 as a second cycle field detector to provide a second signal generating cycle. The readhead 710 is movable relative to the absolute scale 720 along the measuring axis MA. The field generation and detection configuration 711 comprises a winding portion 712 and a periodic winding portion 713. In the implementation shown in FIG. 7A, the winding portion 712 is a single winding. The periodic winding portion 713 comprises a first set of detector windings 713A and a second set of detector windings 713B configured for quadrature detection in a similar manner as the field detector 113 shown in FIG. 1A. In various implementations, the periodic winding portion 713 may be operated as the first cycle field detector and either the winding portion 712 or the periodic winding portion 713 may be operated as the second cycle field detector.

The absolute scale 720 comprises an active periodic signal pattern 730 comprising a periodic spatially modulated signal generating element 731 that extends along the measuring axis and has a first wavelength λ₁ and is configured to generate a corresponding periodic spatially modulated field that couples to the readhead 710 to generate spatially periodic signals in the first cycle field detector as a function of readhead position relative to the absolute scale 720 along the measuring axis MA, and an active absolute signal pattern 740 comprising at least a first spatially modulated signal generating element 741 configured to generate a corresponding spatially modulated field that couples to the readhead 710 to provide at least one corresponding signal in the second cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale 720 within a first absolute range AR1 that exceeds the first wavelength λ₁ of the periodic spatially modulated signal generating element 741. The absolute scale further comprises timing and activation circuitry 743 connected to the active absolute signal pattern 740 and the active periodic signal pattern 730. The absolute electromagnetic position encoder 700 comprises an energy transfer cycle configuration that is used to provide an energy transfer cycle wherein, during the energy transfer cycle, the readhead processor 714 is configured to energize a winding of the field generation and detection configuration (more specifically, the winding portion 712) to operate as a field generator and generate an energy transfer cycle field, and at least one of the signal generating elements of the absolute scale 720 couples to the energy transfer cycle field and provides energy to the timing and activation circuitry 743, and the timing and activation circuitry 743 is configured to receive and store energy during the energy transfer cycle. The absolute electromagnetic position encoder 700 comprises a first signal cycle configuration that is used to provide a first signal generating cycle wherein, during the first signal generating cycle, the timing and activation circuitry 743 is configured to drive the periodic spatially modulated signal generating element 731 to generate a corresponding periodic spatially modulated first cycle field, and the first cycle field detector couples to the periodic spatially modulated first cycle field to generate first cycle spatially periodic signals in the first cycle field detector. The absolute electromagnetic position encoder 700 comprises a second signal cycle configuration that is used to provide a second signal generating cycle wherein, during the second signal generating cycle, the timing and activation circuitry 743 is configured to drive the first spatially modulated signal generating element 741 to generate a corresponding spatially modulated second cycle field, and the second cycle field detector couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor 714, and during the second signal generating cycle the readhead processor 714 is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead 710 that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range AR1.

The readhead processor 714 is configured to operate the field generation and detection configuration as a third cycle field detector to provide a third signal generating cycle. The active absolute signal pattern 740 comprises a second spatially modulated signal generating element 742 configured to generate a corresponding spatially modulated field that couples to the readhead 710 to provide at least one corresponding signal in the third cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale 700 within the first absolute range AR1. The absolute electromagnetic position encoder 700 comprises a third signal cycle configuration that is used to provide the third signal generating cycle wherein, during the third signal generating cycle, the timing and activation circuitry 743 is configured to drive the second spatially modulated signal generating element 742 to generate a corresponding spatially modulated third cycle field, and the third cycle field detector couples to the spatially modulated third cycle field and provides a corresponding third cycle input to the readhead processor 714, and during the third signal generating cycle the readhead processor 714 is configured to receive the third cycle input and provide at least one corresponding third cycle signal in the readhead 710 that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range AR1. In various implementations, either the winding portion 712 or the periodic winding portion 713 may be operated as the third cycle field detector. In various implementations such as FIG. 7A, the second cycle field detector and the third cycle field detector may be provided by the same element of the field generation and detection configuration 711.

The readhead processor 714 is further configured to determine an absolute position X of the readhead 710 relative to the absolute scale 720 based on at least the second cycle signal, the third cycle signal and the first cycle spatially periodic signals.

It should be appreciated that in some implementations, the timing and activation circuitry 743 may comprise first and second independent circuitry portions connected respectively to the active periodic signal pattern 730 and the active absolute signal pattern 740. However, in the implementation shown in FIGS. 7B and 7C, the timing and activation circuitry 743 is a single portion connected to both the active periodic signal pattern 730 and the active absolute signal pattern 740.

In some implementations, the readhead processor 714 may be configured to determine a value A for the second cycle signal and a value B for the third cycle signal and determine a processed signal (A−B)/(A+B) which is indicative of a unique position in the first absolute range AR1.

In some implementations, generating the second cycle periodic signal may be initiated after generating the first cycle periodic signals. In some implementations, generating the third cycle periodic signal may be initiated after generating the first cycle periodic signals.

In some implementations such as that shown in FIG. 7C, the first spatially modulated signal generating element 741 and the second spatially modulated signal generating element 742 may have substantially the same shape, but the shape of one may be flipped relative to the other about the measuring axis and an axis perpendicular to the measuring axis MA.

In some implementations, the active periodic signal pattern 730 and the active absolute signal pattern 740 may be constructed on different scale layers and are superimposed in the same scale track along the measuring axis MA.

In some implementations, the first cycle field detector may comprise a plurality of detectors arranged to generate spatially periodic signals in quadrature. For example, in FIG. 7A, the winding portion 713 is shown to comprise a first set of windings 713A indicated by solid lines which is configured to sense spatially periodic signals at spatial phases corresponding to 0 and 180 degrees, and a second set of windings 713B indicated by dashed lines which is configured to sense spatially periodic signals at spatial phases corresponding to 90 and 270 degrees. In other implementations, the first cycle field detector may comprise a plurality of detectors arranged to generate three spatially periodic signals corresponding to spatial phase corresponding to 0, 120, and 240 degrees.

In some implementations, such as that shown in FIG. 7C, the effective width of the first spatially modulated signal generating element 741 may vary linearly as a function of position along the measuring axis direction MA. As shown in FIG. 7C, the effective width of both the first spatially modulated signal generating element 741 and the second spatially modulated signal generating element 742 vary linearly as a function of position along the measuring axis MA.

In some implementations, such as that shown in FIG. 7B, the periodic spatially modulated signal generating element of the active periodic signal pattern 730 may comprise a periodic array of loops arranged from a single winding coupled to the timing and activation circuitry 743.

It should be appreciated that in some implementations, alternative arrangements of an absolute signal pattern may be incorporated in place of the active absolute signal pattern 740. For example, the active signal pattern 240 or the active signal pattern 340 may be incorporated in place of the active absolute signal pattern 740.

It should be appreciated that a timing pattern of the energy transfer cycle, the first signal generating cycle, the second signal generating cycle and the third signal generating cycle will be understood by one of ordinary skill in the art, and the timing described with respect to FIG. 4 may be easily adapted and modified to the foregoing description of FIGS. 7A, 7B and 7C.

FIGS. 8A and 8B show a flow diagram 800 illustrating one exemplary implementation of a routine for operating an absolute electromagnetic position encoder.

At block 810, an absolute electromagnetic position encoder is provided. The absolute electromagnetic position encoder comprises a readhead and an absolute scale. The readhead comprises a field generation and detection configuration, and a readhead processor connected to the field generation and detection configuration, and is configured to operate the field generation and detection configuration as a field generator to provide an energy transfer cycle, and to operate the field generation and detection configuration as a first cycle field detector to provide a first signal generating cycle and to operate the field generation and detection configuration as a second cycle field detector to provide a second signal generating cycle. The absolute scale extends along a measuring axis of the position encoder. The readhead is movable relative to the absolute scale along the measuring axis. The absolute scale comprises an active periodic signal pattern comprising a periodic spatially modulated signal generating element that extends along the measuring axis and has a first wavelength and is configured to generate a corresponding periodic spatially modulated field that couples to the readhead to generate spatially periodic signals in the first cycle field detector as a function of readhead position relative to the absolute scale along the measuring axis, an active absolute signal pattern comprising at least a first spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the second cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic spatially modulated signal generating element, and timing and activation circuitry connected to the active absolute signal pattern and the active periodic signal pattern.

At block 820, during an energy transfer cycle, the readhead processor is operated to energize a winding of the field generation and detection configuration to operate as a field generator and generate an energy transfer cycle field, and couple at least one of the signal generating elements of the absolute scale to the energy transfer cycle field and providing energy to the timing and activation circuitry, and operate the timing and activation circuitry to receive and store energy during the energy transfer cycle.

After block 820, the routine continues to block A which continues in FIG. 8B.

As shown in FIG. 8B, the routine continues from block A to block 830. At block 830, during a first signal generating cycle, the timing and activation circuitry is operated to drive the periodic spatially modulated signal generating element to generate a corresponding periodic spatially modulated first cycle field, and couple the first cycle field detector to the periodic spatially modulated first cycle field to generate first cycle spatially periodic signals in the first cycle field detector.

At block 840, during a second signal generating cycle, the timing and activation circuitry is operated to drive the first spatially modulated signal generating element to generate a corresponding spatially modulated second cycle field, and couple the second cycle field detector to the spatially modulated second cycle field, and provides a corresponding second cycle input to the readhead processor, and the readhead processor is operated to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range.

At block 850, an absolute position of the readhead is determined relative to the absolute scale based on at least the second cycle signal and the first cycle spatially periodic signals.

While preferred implementations of the present disclosure have been illustrated and described, numerous variations in the illustrated and described arrangements of features and sequences of operations will be apparent to one skilled in the art based on this disclosure. Various alternative forms may be used to implement the principles disclosed herein. In addition, the various implementations described above can be combined to provide further implementations. All of the U.S. patents and U.S. patent applications referred to in this specification are incorporated herein by reference, in their entirety. Aspects of the implementations can be modified, if necessary to employ concepts of the various patents and applications to provide yet further implementations.

These and other changes can be made to the implementations in light of the above-detailed description. In general, in the following claims, the terms used should not be construed to limit the claims to the specific implementations disclosed in the specification and the claims, but should be construed to include all possible implementations along with the full scope of equivalents to which such claims are entitled.

Claims

1. An absolute electromagnetic position encoder, comprising: a readhead, comprising: a field generation and detection configuration; anda readhead processor connected to the field generation and detection configuration, and configured to operate the field generation and detection configuration as a field generator to provide an energy transfer cycle, and to operate the field generation and detection configuration as a first cycle field detector to provide a first signal generating cycle and to operate the field generation and detection configuration as a second cycle field detector to provide a second signal generating cycle; andan absolute scale extending along a measuring axis of the position encoder, the readhead being movable relative to the absolute scale along the measuring axis, the absolute scale comprising: an active periodic signal pattern comprising a periodic spatially modulated signal generating element that extends along the measuring axis and has a first wavelength and is configured to generate a corresponding periodic spatially modulated field that couples to the readhead to generate spatially periodic signals in the first cycle field detector as a function of readhead position relative to the absolute scale along the measuring axis; andan active absolute signal pattern comprising at least a first spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the second cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic spatially modulated signal generating element, wherein: the absolute scale further comprises timing and activation circuitry connected to the active absolute signal pattern and the active periodic signal pattern;the absolute electromagnetic position encoder comprises an energy transfer cycle configuration that is used to provide an energy transfer cycle wherein, during the energy transfer cycle, the readhead processor is configured to energize a winding of the field generation and detection configuration to operate as a field generator and generate an energy transfer cycle field, and at least one of the signal generating elements of the absolute scale couples to the energy transfer cycle field and provides energy to the timing and activation circuitry, and the timing and activation circuitry is configured to receive and store energy during the energy transfer cycle;the absolute electromagnetic position encoder comprises a first signal cycle configuration that is used to provide a first signal generating cycle wherein, during the first signal generating cycle, the timing and activation circuitry is configured to drive the periodic spatially modulated signal generating element to generate a corresponding periodic spatially modulated first cycle field, and the first cycle field detector couples to the periodic spatially modulated first cycle field to generate first cycle spatially periodic signals in the first cycle field detector;the absolute electromagnetic position encoder comprises a second signal cycle configuration that is used to provide a second signal generating cycle wherein, during the second signal generating cycle, the timing and activation circuitry is configured to drive the first spatially modulated signal generating element to generate a corresponding spatially modulated second cycle field, and the second cycle field detector couples to the spatially modulated second cycle field and provides a corresponding second cycle input to the readhead processor, and during the second signal generating cycle the readhead processor is configured to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range; andthe readhead processor is further configured to determine an absolute position of the readhead relative to the absolute scale based on at least the second cycle signal and the first cycle spatially periodic signals.

2. The absolute electromagnetic position encoder of claim 1, wherein: the readhead processor is configured to operate the field generation and detection configuration as a third cycle field detector to provide a third signal generating cycle;the active absolute signal pattern comprises a second spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the third cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic spatially modulated signal generating element; andthe absolute electromagnetic position encoder comprises a third signal cycle configuration that is used to provide the third signal generating cycle wherein, during the third signal generating cycle, the timing and activation circuitry is configured to drive the second spatially modulated signal generating element to generate a corresponding spatially modulated third cycle field, and the third cycle field detector couples to the spatially modulated third cycle field and provides a corresponding third cycle input to the readhead processor, and during the third signal generating cycle the readhead processor is configured to receive the third cycle input and provide at least one corresponding third cycle signal in the readhead that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range; andthe readhead processor is further configured to determine an absolute position of the readhead relative to the absolute scale based on at least the second cycle signal, the third cycle signal and the first cycle spatially periodic signals.

3. The absolute electromagnetic position encoder of claim 2, wherein: the readhead processor is configured to determine a value A for the second cycle signal and a value B for the third cycle signal; andthe readhead processor is configured to determine a processed signal (A−B)/(A+B) which is indicative of a unique position in the first absolute range.

4. The absolute electromagnetic position encoder of claim 2, wherein the second cycle field detector and the third cycle field detector are provided by the same element of the field generation and detection configuration.

5. The absolute electromagnetic position encoder of claim 1, wherein generating the second cycle periodic signal is initiated after generating the first cycle periodic signals.

6. The absolute electromagnetic position encoder of claim 2, wherein: generating the second cycle periodic signal is initiated after generating the first cycle periodic signals; andgenerating the third cycle periodic signal is initiated after generating the first cycle periodic signals.

7. The absolute electromagnetic position encoder of claim 2, wherein the first spatially modulated signal generating element and the second spatially modulated signal generating element have substantially the same shape, but the shape of one is flipped relative to the other about the measuring axis and an axis perpendicular to the measuring axis.

8. The absolute electromagnetic position encoder of claim 1, wherein the active periodic signal pattern and the active absolute signal pattern are constructed on different scale layers and are superimposed in the same scale track along the measuring axis.

9. The absolute electromagnetic position encoder of claim 1, wherein the first cycle field detector comprises a plurality of detectors arranged to generate spatially periodic signals in quadrature.

10. The absolute electromagnetic position encoder of claim 1, wherein the first cycle field detector comprises a plurality of detectors arranged to generate three spatially periodic signals corresponding to spatial phases corresponding to 0, 120, and 240 degrees.

11. The absolute electromagnetic position encoder of claim 1, wherein the effective width of the first spatially modulated signal generating element varies linearly as a function of position along the measuring axis direction.

12. The absolute electromagnetic position encoder of claim 1, wherein the periodic spatially modulated signal generating element of the active periodic signal pattern comprises a periodic array of loops arranged from a single winding coupled to the timing and activation circuitry.

13. The absolute electromagnetic position encoder of claim 1, wherein the timing and activation circuitry comprises a first independent portion connected to the active periodic signal pattern and a second independent portion connected to the active absolute signal pattern.

14. The absolute electromagnetic position encoder of claim 1, wherein the timing and activation circuitry comprises a single circuit portion connected to both the active periodic signal pattern and the active absolute signal pattern.

15. A method for operating an absolute electromagnetic position encoder, the method comprising: providing an absolute electromagnetic position encoder comprising: a readhead, comprising: a field generation and detection configuration; anda readhead processor connected to the field generation and detection configuration, and configured to operate the field generation and detection configuration as a field generator to provide an energy transfer cycle, and to operate the field generation and detection configuration as a first cycle field detector to provide a first signal generating cycle and to operate the field generation and detection configuration as a second cycle field detector to provide a second signal generating cycle; andan absolute scale extending along a measuring axis of the position encoder, the readhead being movable relative to the absolute scale along the measuring axis, the absolute scale comprising: an active periodic signal pattern comprising a periodic spatially modulated signal generating element that extends along the measuring axis and has a first wavelength and is configured to generate a corresponding periodic spatially modulated field that couples to the readhead to generate spatially periodic signals in the first cycle field detector as a function of readhead position relative to the absolute scale along the measuring axis;an active absolute signal pattern comprising at least a first spatially modulated signal generating element configured to generate a corresponding spatially modulated field that couples to the readhead to provide at least one corresponding signal in the second cycle field detector that exhibits a unique relationship with the spatially periodic signals for each unique readhead position relative to the absolute scale within a first absolute range that exceeds the first wavelength of the periodic spatially modulated signal generating element; andtiming and activation circuitry connected to the active absolute signal pattern and the active periodic signal pattern;during an energy transfer cycle, operating the readhead processor to energize a winding of the field generation and detection configuration to operate as a field generator and generate an energy transfer cycle field, and couple at least one of the signal generating elements of the absolute scale to the energy transfer cycle field providing energy to the timing and activation circuitry, and operating the timing and activation circuitry to receive and store energy during the energy transfer cycle;during a first signal generating cycle, operating the timing and activation circuitry to drive the periodic spatially modulated signal generating element to generate a corresponding periodic spatially modulated first cycle field, and couple the first cycle field detector to the periodic spatially modulated first cycle field to generate first cycle spatially periodic signals in the first cycle field detector;during a second signal generating cycle, operating the timing and activation circuitry to drive the first spatially modulated signal generating element to generate a corresponding spatially modulated second cycle field, and couple the second cycle field detector to the spatially modulated second cycle field and provide a corresponding second cycle input to the readhead processor, and operating the readhead processor to receive the second cycle input and provide at least one corresponding second cycle signal in the readhead that exhibits a unique relationship with the first cycle spatially periodic signals and is indicative of a unique position within the first absolute range; anddetermining an absolute position of the readhead relative to the absolute scale based on at least the second cycle signal and the first cycle spatially periodic signals.