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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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nhà sản xuất  STMICROELECTRONICS [STMicroelectronics]
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Figure 16.
The conditioning circuit for one incremental encoder
Using a trimmer it is possible to have a square wave with a duty cycle of 50% as output.
In this way from the two input sinusoidal signals it is possible to obtain two square signals
shifted each other of 90 degrees, through which it is possible to count 4096 pulses for each
rotation of the joint.
The conditioning circuit presents also a D flip-flop through which it is possible to obtain the
direction of rotation of the joint.
3.4
Schematics of the driver board and the interface board.
The driver board presents three 25 pin D-SUB male connectors to which are plugged the
cables of the wafer handler. In the same board there are 26 pin male connectors, used to
interface the SDK-ST10F276 board through three flat cables.
Figure 17 and Figure 18 show the schematic of the driver board.



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