Feedback system for robot controller

摘要

A feedback system for a robot controller provides feedback signals representing incremental motion along an axis in either a first or second direction based upon a pair of encoder signals from a position encoder. The feedback system includes circuitry which produces a pair of signals indicating the state of the first encoder signal and whether the first encoder signal has changed state, and circuitry which produces a pair of signals indicating the state of the second encoder signal and whether the second encoder signal has changed state. A read only memory receives these four signals at its address inputs and produces the first and second feedback signals at its data outputs based upon stored microcode. The encoder signals may be in the form of pulsed up/down feedback, where one of the two encoder signals contains pulses and the other encoder signal remains unchanged. Alternatively, the encoder signals may be in the form of sinusoidal or squarewave quadrature feedback in which a quarter cycle lead/lag relationship exists between the first and second encoder signals to indicate the direction of movement.