QD1 Incremental
Encoder Interface
Revision: 12/91
Copyright © 1987-1991
Campbell Scientific, Inc.
Warranty and Assistance
The QD1 INCREMENTAL ENCODER INTERFACE is warranted by
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QD1 Table of Contents
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1. Function........................................................................ 1
2. Specifications ..............................................................1
3. Connections ................................................................. 1
4. Datalogger Programming............................................ 1
4.1 Powering the QD1 ....................................................................................2
4.2 Measurement.............................................................................................2
4.3 Processing.................................................................................................2
5. Entering the Reference Offset .................................... 2
6. On-Site Check-Out....................................................... 2
7. Range vs. Resolution ..................................................2
8. QD1 Timing Diagram ...................................................3
Appendix
A. Shaft Encoder Connections and Example
Program....................................................................... A-1
A.1 Shaft Encoder Connections................................................................. A-1
A.2 Example Program ............................................................................... A-1
i
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QD1 INCREMENTAL ENCODER INTERFACE
1. FUNCTION
The QD1 is designed as a general purpose
quadrature decoder to interface CSI's CR10,
21X, and CR7 dataloggers to incremental
encoders. This manual focuses on using the
QD1 with commercially available shaft encoders
used in water level applications (see Appendix).
If there are other incremental encoders of
interest, please contact CSI's Marketing
Department for support.
As the encoder rotates, it produces two square
waves which are 90` out of phase with each
other. When the rotation is reversed, the
relation of the two square waves is reversed.
The QD1 decodes the two square waves and
gates a voltage pulse to a datalogger pulse
counting channel (refer to Section 8). Two
pulse counting channels are required, one for
each direction of encoder rotation.
2. SPECIFICATIONS
Datalogger compatibility: CR10, 21X, CR7
Power supply: 4 to 5.6 V
Current drain: 0.2 to 0.4 mA avg.
Operating temperature: -25 to +50°C.
Humidity: 0 to 95%, noncondensing
Minimum time between input transitions:
0.75 ms***
Output pulse width: 0.25 ms @ 25°C
Signal magnitude, Volts: 0 (low), supply voltage
(high)
Dimensions (L x W x D, inches): 2.9 x 1.7 x 0.85
Weight (lbs.): 0.22
***NOTE: The minimum time between
input transitions implies a rate of 1333.3
counts/sec. To realize this specification,
the time between transitions must be evenly
spaced; a function of the encoder. A
diagram explaining "minimum time between
transitions" is given in Table 1, Section 8.
3. CONNECTIONS
Connections between the QD1 and the
datalogger are shown below. Connections from
the QD1 to two commercially available shaft
encoders are shown in the Appendix.
QD1
(datalogger side) DATALOGGER
+5 +5V (CR10) or
CAO (21X, CR7)
P1 PULSE CHANNEL
P2 PULSE CHANNEL
GRND G (CR10) or GRND
(21X, CR7)
NOTE:
should be sequential for efficient datalogger
programming.
Datalogger pulse input channels
4. DATALOGGER PROGRAMMING
The program must measure the QD1 output
and process the "up" and "down" counts to
determine stage. For 21X and CR7
dataloggers, an additional step is required to
power the QD1 from a Continuous Analog
Output (CAO) channel. The following steps
outline the procedure. Notes on the various
steps are presented in following sub-sections.
An example program is given in the Appendix.
1. Load QD1 power supply level, 5000 mV,
into an input location (Instruction 30,
required for 21X and CR7 only)
2. Enable CAO to output QD1 supply voltage
(Instruction 21; required for 21X and CR7
only)
3. Measure QD1 up count and down count
output on 2 pulse count channels
(Instruction 3, 2 reps, high frequency
option)
4. Stage = up count + stage (Instruction 33)
5. Stage = stage - down count (Instruction 35)
1
QD1 INCREMENTAL ENCODER INTERFACE
4.1 POWERING THE QD1
21X and CR7 - 5 VDC must be supplied to the
QD1 continuously. When used with the 21X or
CR7 dataloggers, a Continuous Analog Output
(CAO) port may be programmed to power the
QD1. CAO channels are located on the panel
of the 21X and the 725 Excitation Card of the
CR7. Instructions to send 5 V out the CAO port
should occur before the measurement
instruction, and must be repeated at least every
minute. This implies a maximum program
execution interval of one minute. If the CAO
voltage is not refreshed every minute, the
voltage level may sag below the minimum QD1
operating voltage.
CR10 - When used with the CR10, the QD1
may be connected to one of the two 5 VDC
terminals located on the CR10WP Wiring
Panel.
4.2 MEASUREMENT
Output from the QD1 is measured with I/O
Instruction 3 (Pulse Count), using the high
frequency option. Two pulse count channels
must be measured, one for "up" counts and one
for "down".
The Multiplier to be used depends on the
number of counts per revolution of the shaft
encoder and the circumference of the attached
wheel, as shown below.
MULTIPLIER = WHEEL
CIRCUMFERENCE/(COUNTS/REVOLUTION)
Engineering units logged by the datalogger are
the same as those used for wheel
circumference.
the existing stage to the up counts and storing
the sum back in the existing stage location.
The down count value is then subtracted from
the sum, and the result is stored back in the
stage location. This routine minimizes the
number of Input Locations required to calculate
stage.
5. ENTERING THE REFERENCE OFFSET
The offset, which sets the stage value equal to
some reference point, should be entered after
the system has been installed and the float is
resting on the water surface. Enter the *6 Mode
and advance to the stage Input Location. Press
the "C" key to enable the *6C function, allowing
a value to be entered into the stage Input
Location. Key in the reference offset and press
the "A" key to view the offset value now located
in the stage Input Location. Refer to the *6
Mode in the datalogger manual(s) for additional
information on the *6C function.
If changes to the datalogger program are made
and the program is recompiled in the *0 Mode,
all *6C entries are erased. THE REFERENCE
OFFSET SHOULD BE ENTERED AFTER ALL
PROGRAM CHANGES HAVE BEEN MADE.
6. ON-SITE CHECK-OUT
Testing is recommended to ensure that when
the float rises or falls, the correct pulse counting
channel is incremented. While viewing the
stage Input Location in the *6 Mode, rotate the
shaft in the direction corresponding to a rise in
stage. Wait for the next program execution and
confirm that the reading increases. If the
reading decreases, simply exchange the input
leads to the pulse count channels.
An Offset of zero should be entered in the
Pulse Count I/O Instruction. Section 5
discusses entering an offset to set the
measurement equal to a reference elevation.
4.3 PROCESSING
Processing Instructions are used to determine
the stage from the measured up and down
counts. The new stage is calculated by adding
2
7. RANGE VS. RESOLUTION
If recorded data are to reflect the resolution of
the encoder, consideration must be given to the
datalogger output resolution as well as the
reference offset. Table 7.1 shows minimum
and maximum values stored in the datalogger
using low and high resolution, and associated
memory consumption.
QD1 INCREMENTAL ENCODER INTERFACE
TABLE 1. Datalogger Maximum and Minimum Range Limits and Storage Efficiency for Given
Output Resolution
Minimum Maximum Final Memory
Zero Magnitude
Low Resolution 0.000 ±0.001 ±6999. 1
High Resolution 0.000 ±0.00001 ±99999. 2
Magnitude Locations/Data Pt.
The resolution of the low resolution format is
reduced to 3 significant digits when the first (left
most) digit is 7 or greater, as shown in Table 2.
TABLE 2. Format Range and Decimal
Location for Datalogger Low Resolution
Output
Range
(Absolute Value) Decimal Location
0-6.999 X.XXX
7-69.99 XX.XX
70-699.9 XXX.X
700-6999. XXXX.
It may be necessary to use high resolution or an
offset to maintain the desired resolution. For
example, if water level is to be measured and
output to the nearest 0.01 ft., the level must be
less than 70 ft. for 0.01 ft. increments to be
maintained in low resolution. If the water level
is expected to range from 50 to 80 feet, the data
could either be output in high resolution or could
be offset by -20 ft., transforming the range to 30
to 60 ft. If the datalogger's storage capacity is
limiting, it is best to maintain the measurement
resolution with an offset and store the data in
the more memory efficient low resolution
format.
8. QD1 TIMING DIAGRAM
Figure 1 is a simplified timing diagram of the
pulses into and out of the QD1. In actual
operation, the 5 V supply to the encoder is
strobed which causes the encoder output (S1,
S2 QD1 inputs) to be strobed. S1 and S2
inputs are shown as full square waves in Figure
1 for ease of conception. The time between
transitions shown is the minimum 0.75 ms.
3
QD1 INCREMENTAL ENCODER INTERFACE
FIGURE 1. QD1 Timing Diagram
4
APPENDIX A. SHAFT ENCODER CONNECTIONS AND EXAMPLE
PROGRAM
A.1 SHAFT ENCODER CONNECTIONS
QD1 to shaft encoder connections shown below
are for HANDAR's Model 436A and
SYNERGETICS's Model 501A. These
connections were verified in July of 1987. CSI
is not responsible for subsequent changes in
encoder pin configurations by the respective
vendors.
ENCODER QD1 (encoder side)
6 PIN CONNECTIONS TO
CONNECTOR HANDAR
A N/C GROUND
B N/C S1 or S2
C +5 N/C
D S1 or S2 GROUND
E S1 or S2 S1 or S2
F GROUND N/C
*
01: 60 Sec. Execution Interval
01: P30 Z=F LOAD THE POWER SUPPLY mV
01: 5000 F LEVEL INTO LOCATION 1
02: 1 Z Loc [:mV LEVEL ]
1 Table 1 Programs
SYNERGETICS
A.2 EXAMPLE PROGRAM
The following program is an example only and
is not meant to be used verbatim. Sensor
calibration, input channels, and Input Locations
selected must be adjusted for actual
circumstances. The example goes so far as to
place the calculated stage into an Input
Location only. The user must program the
necessary instructions to obtain the data in the
form desired, and store it in Final Memory.
In this example the reference offset would be
keyed into Input Location 4 (STAGE) via *6C.
Refer to the *6 Mode in the datalogger manual
for detailed information on the *6C function.
02: P21 Analog Out ENABLE CAO 1 TO OUTPUT
01: 1 CAO Chan 5000 mV TO POWER THE QD1
02: 1 mV Loc mV LEVEL
THE STEPS ABOVE ARE REQUIRED FOR 21X AND CR7 DATALOGGERS ONLY.
03: P3 Pulse Count MEASURE THE TWO PULSE
01: 2 Reps COUNT CHANNELS
02: 1 Pulse Input Chan LOCATION 2 = UP COUNT
03: 0 High frequency LOCATION 3 = DOWN COUNT
04: 2 Loc [:UP COUNT ] MULTIPLIER = .01 FOR OUTPUT
05: .01 Mult IN FEET (1 FT CIRCUMFERENCE
06: 0 Offset WHEEL,100 COUNTS/REV)
04: P33 Z=X+Y STAGE = STAGE + UP COUNT
01: 4 X Loc STAGE
02: 2 Y Loc UP COUNT
03: 4 Z Loc [:STAGE ]
05: P35 Z=X-Y STAGE = STAGE - DWN COUNT
01: 4 X Loc STAGE
02: 3 Y Loc DWN COUNT
03: 4 Z Loc [:STAGE ]
06: P End Table 1
A-1
APPENDIX A. SHAFT ENCODER CONNECTIONS AND EXAMPLE PROGRAM
INPUT LOCATIONS USED:
1:mV LEVEL
2:UP COUNT
3:DWN COUNT
4:STAGE
A-2
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