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Giải thích chi tiết về linh kiện  Guidelines for the control of a multiaxial planar robot with ST10F276
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Figure 15.
The conditioning circuit for one absolute encoder
The sector C represents the incremental 12-bit encoder, whose outputs are two sinusoidal
signals (available in orange and green wires) shifted to each other by 90 degrees, with an
offset of 2.5 V and a peak-to-peak voltage of 1.1 V.
Since these signals can not be directly managed by the microcontroller, it has been
necessary to develop a conditioning circuit whose outputs are digital signals.
This conditioning circuit for each sinusoidal signal consists of a comparator whose output is
at a logical high level (5 V) every time the input signal level is over 2.5 V, and at logical low
level (0 V) every time the level of the input signal is below 2.5 V. A detail of the conditioning
circuit for one of the incremental encoders of the wafer handler is shown in the following
figure.



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