{"id":4220,"date":"2019-06-20T19:51:02","date_gmt":"2019-06-20T19:51:02","guid":{"rendered":"http:\/\/fambach.net\/?p=4220"},"modified":"2022-01-16T11:08:40","modified_gmt":"2022-01-16T11:08:40","slug":"motorencoder","status":"publish","type":"post","link":"https:\/\/www.fambach.net\/en\/motorencoder\/","title":{"rendered":"Motor with Hall sensor"},"content":{"rendered":"<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_73 ez-toc-wrap-left counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewbox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewbox=\"0 0 24 24\" version=\"1.2\" baseprofile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1' ><ul class='ez-toc-list-level-2' ><li class='ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Ansicht\" title=\"Ansicht\">Ansicht<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Einsatzzwecke\" title=\"Einsatzzwecke\">Einsatzzwecke<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Stuckliste\" title=\"St\u00fcckliste\">St\u00fcckliste<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Auto\" title=\"Auto\">Auto<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Fernbedienung\" title=\"Remote control\">Remote control<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Grundlagen\" title=\"Grundlagen\">Grundlagen<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Schaltung\" title=\"Schaltung\">Schaltung<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Programmierung\" title=\"Programming\">Programming<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Bibliothek\" title=\"Bibliothek\">Bibliothek<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Testprogramm\" title=\"Test programme\">Test programme<\/a><ul class='ez-toc-list-level-4' ><li class='ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Sender\" title=\"Sender\">Sender<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-4'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Empfanger\" title=\"Empf\u00e4nger\">Empf\u00e4nger<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Ausgabe\" title=\"Ausgabe\">Ausgabe<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Fazit\" title=\"Conclusion\">Conclusion<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Probleme\" title=\"Problems\">Problems<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Toter_Bereich_des_Joystick\" title=\"Toter Bereich des Joystick\">Toter Bereich des Joystick<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#RF_Poblem\" title=\"RF Poblem\">RF Poblem<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-18\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Empfanger_reagiert_stark_verzogert\" title=\"Empf\u00e4nger reagiert stark verz\u00f6gert\">Empf\u00e4nger reagiert stark verz\u00f6gert<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-19\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Verwandte_Beitrage\" title=\"Related Posts\">Related Posts<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-1'><a class=\"ez-toc-link ez-toc-heading-20\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/#Quellen\" title=\"Sources\">Sources<\/a><\/li><\/ul><\/nav><\/div>\n\n<p>Mit Hilfe von Hal-Sensoren Encodern oder Odometrien k\u00f6nnen die Umdrehungen von Motorwellen gez\u00e4hlt werden. Wie fein die Z\u00e4hlung ist h\u00e4ngt von der Aufl\u00f6sung ab. Ich habe mir mal einen dieser Motoren mit Hal-Sensor angsehen die Ergebnisse findet ihr hier zusammengefasst.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Facts<\/h2>\n\n\n\n<p>Mein Motor hat 6 Anschl\u00fcsse. Zwei f\u00fcr die Motor 9V Versorgungsspannung und 4 f\u00fcr den Encoder. Zwei hiervon sind f\u00fcr die 5V Versorungsspannung der beiden Hal-Sensoren und die anderen f\u00fcr die Signalleitungen.<\/p>\n\n\n\n<ul><li>Hall Sensor DC 5V<\/li><li>Motorspannung: DC 9V<\/li><li>Leerlaufstrom: \u2264200mA<\/li><li>Laststrom: max. 1,2A<\/li><li>Motordrehzahl: Leerlauf 150 U \/ min &#8211; Last 100 U \/ min \/ min&nbsp; <\/li><li>150 Z\u00e4hler des Encoders pro einer Wellenumdrehung<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Areas of application<\/h2>\n\n\n\n<ul><li>Autonome Systeme zur Positionierung\/Positionsbestimmung (Achtung sehr fehlerbehaftet).<\/li><li>Zum genauen Stuerung\/Positionierung von Wellen (Beispiel Gimbel)<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Views<\/h2>\n\n\n\n<p>Hier ein paar Bespiele f\u00fcr Belegungen. Also genau hin schauen und am Besten nur Motoren kaufen bei denen die Belegung und die Betreibsspannungen klar sind.<\/p>\n\n\n\n<figure class=\"wp-block-gallery columns-1 wp-block-gallery-1 is-layout-flex wp-block-gallery-is-layout-flex\"><ul class=\"blocks-gallery-grid\"><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"351\" height=\"374\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-22.png\" alt=\"Meine Belegung vom Omnicar\" data-id=\"4242\" data-link=\"https:\/\/fambach.net\/?attachment_id=4242\" class=\"wp-image-4242\"\/><figcaption class=\"blocks-gallery-item__caption\">Meine Belegung vom Omnicar<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"329\" height=\"171\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-20.png\" alt=\"Gleiche Belegung andere Farben\" data-id=\"4236\" data-link=\"https:\/\/fambach.net\/?attachment_id=4236\" class=\"wp-image-4236\"\/><figcaption class=\"blocks-gallery-item__caption\">Gleiche Belegung andere Farben<\/figcaption><\/figure><\/li><li class=\"blocks-gallery-item\"><figure><img loading=\"lazy\" decoding=\"async\" width=\"623\" height=\"307\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-18.png\" alt=\"Andere Belegung\" data-id=\"4234\" data-link=\"https:\/\/fambach.net\/?attachment_id=4234\" class=\"wp-image-4234\"\/><figcaption class=\"blocks-gallery-item__caption\">Andere Belegung<\/figcaption><\/figure><\/li><\/ul><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Stuckliste\"><\/span>St\u00fcckliste<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<ul><li>Getriebemotor mit Encoder<\/li><li>Arduino Uno<\/li><li>Kabel<\/li><\/ul>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Programmierung\"><\/span>Programming<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">Schaltung<\/h3>\n\n\n\n<p>Der Encoder 1 h\u00e4ngt am Interruptpin 2. Den Motor selbst habe ich nicht mit Strom versorgt, da f\u00fcr diesen Test das manuelle drehen der Welle reicht.<\/p>\n\n\n\n<figure class=\"wp-block-image\"><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/UnoWithEncoderMotor_bb.png\"><img loading=\"lazy\" decoding=\"async\" width=\"1071\" height=\"768\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/UnoWithEncoderMotor_bb.png\" alt=\"Arduino Uno + Getriebemotor mit Encoder\" class=\"wp-image-4296\"\/><\/a><figcaption>Arduino Uno + Getriebemotor mit Encoder<\/figcaption><\/figure>\n\n\n\n<h3 class=\"wp-block-heading\">Libraries<\/h3>\n\n\n\n<p>Eine Zus\u00e4tzliche Bibliothek ist nicht notwendig, der Arduino bringt schon alles mit.<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Testprogramm\"><\/span>Test programme<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>Das Testprogramm habe ich unter diesem <a href=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/\">Link<\/a> gefunden und auf meine Bed\u00fcrfnisse angepasst. Das Beipiel verwendet den Interrupt des Arduinos. Da der Uno nur zwei hat ist somit bei zwei Motoren schluss. Der Arduino Mega und der ESP kann da mehr.<\/p>\n\n\n\n<p>Hier nun noch das Beispiel zum downloaden:<\/p>\n\n\n\n<div class=\"wp-block-file\"><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/ArduinoUnoEncoderTest.zip\">ArduinoUnoEncoderTest<\/a><a href=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/ArduinoUnoEncoderTest.zip\" class=\"wp-block-file__button\" download>Download<\/a><\/div>\n\n\n\n<h3 class=\"wp-block-heading\">So sieht es aus<\/h3>\n\n\n\n<figure class=\"wp-block-image\"><img loading=\"lazy\" decoding=\"async\" width=\"397\" height=\"381\" src=\"https:\/\/fambach.net\/wp-content\/uploads\/2019\/06\/image-23.png\" alt=\"Encoder Test Cosolenausgabe\" class=\"wp-image-4295\"\/><figcaption>Encoder Test Cosolenausgabe<\/figcaption><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">Conclusion<\/h2>\n\n\n\n<p>Den Encoder auszulesen erscheint simpel. Andrew Kramer berschreibt jedoch ein paar Ungenauigkeiten. Sollte der x<\/p>\n\n\n\n<p>Wenn man jedoch die Motoren synchronisieren m\u00f6chte, bietet der Encoder eine M\u00f6glichkeit dies zu automatisieren.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Related Posts<\/h2>\n\n\n<ul class=\"display-posts-listing\">\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/gy-530-vl53l0x-laserentfernungsmesser\/\">GY-530 VL53L0X Laser Rangefinder<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/pan-tilt-mit-joystick\/\">Pan Tilt with joystick<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-pan-tilt-test\/\">Arduino \u2013 Pan\/Tilt Test<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/motorencoder\/\">Motor with Hall sensor<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/chassisomnicar1\/\">Triangular robot chassis with omnidirectional wheels<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-usb-zusatzplatine\/\">Arduino USB Host expansion board<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/gy-273-hmc5883l-kompassmodul\/\">GY-273\/HMC5883L \u2013 Compass Module<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/arduino-schach-uhr\/\">Arduino Chess Clock<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/rc-auto-mit-ps2-controller\/\">RC car with PS2 controller<\/a><\/li>\n<li class=\"listing-item\"><a class=\"title\" href=\"https:\/\/www.fambach.net\/en\/nrf-rc-auto\/\">NRF RC Car<\/a><\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">Sources<\/h2>\n\n\n\n<p><blockquote class=\"wp-embedded-content\" data-secret=\"6Hyr3qtwpu\"><a href=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/\">Motor Encoders with Arduino<\/a><\/blockquote><iframe class=\"wp-embedded-content\" sandbox=\"allow-scripts\" security=\"restricted\" style=\"position: absolute; clip: rect(1px, 1px, 1px, 1px);\" title=\"&#8220;Motor Encoders with Arduino&#8221; &#8212; Bot Blog\" src=\"http:\/\/andrewjkramer.net\/motor-encoders-arduino\/embed\/#?secret=6Hyr3qtwpu\" data-secret=\"6Hyr3qtwpu\" width=\"600\" height=\"338\" frameborder=\"0\" marginwidth=\"0\" marginheight=\"0\" scrolling=\"no\"><\/iframe><\/p>\n\n\n\n<p><a href=\"https:\/\/goetzmd.de\/diy\/arduino\/arduino-encoder-tutorial-fuer-anfaenger\">https:\/\/goetzmd.de\/diy\/arduino\/arduino-encoder-tutorial-fuer-anfaenger<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/www.instructables.com\/id\/Motor-With-Encoder-How-to-Read-Input-Value-From-En\/\">https:\/\/www.instructables.com\/id\/Motor-With-Encoder-How-to-Read-Input-Value-From-En\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/www.allaboutcircuits.com\/projects\/use-an-arduino-to-control-a-motor\/\">https:\/\/www.allaboutcircuits.com\/projects\/use-an-arduino-to-control-a-motor\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/www.digikey.de\/de\/blog\/using-bldc-hall-sensors-as-position-encoders-part-3\">https:\/\/www.digikey.de\/de\/blog\/using-bldc-hall-sensors-as-position-encoders-part-3<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/www.instructables.com\/Hall-Effect-Sensors-1-Position-Control\/\">https:\/\/www.instructables.com\/Hall-Effect-Sensors-1-Position-Control\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/makersportal.com\/blog\/2018\/10\/3\/arduino-tachometer-using-a-hall-effect-sensor-to-measure-rotations-from-a-fan\">https:\/\/makersportal.com\/blog\/2018\/10\/3\/arduino-tachometer-using-a-hall-effect-sensor-to-measure-rotations-from-a-fan<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/hartmut-waller.info\/arduinoblog\/licht-schalten-hall-sensor\/\">https:\/\/hartmut-waller.info\/arduinoblog\/licht-schalten-hall-sensor\/<\/a><\/p>\n\n\n\n<p><a href=\"https:\/\/store.arduino.cc\/mega-2560-r3\">https:\/\/store.arduino.cc\/mega-2560-r3<\/a><\/p>","protected":false},"excerpt":{"rendered":"<p>Mit Hilfe von Hal-Sensoren Encodern oder Odometrien k\u00f6nnen die Umdrehungen von Motorwellen gez\u00e4hlt werden. Wie fein die Z\u00e4hlung ist h\u00e4ngt von der Aufl\u00f6sung ab. Ich habe mir mal einen dieser Motoren mit Hal-Sensor angsehen die Ergebnisse findet ihr hier zusammengefasst. Fakten Mein Motor hat 6 Anschl\u00fcsse. Zwei f\u00fcr die Motor 9V Versorgungsspannung und 4 f\u00fcr &#8230;<\/p>\n<a href=\"https:\/\/www.fambach.net\/en\/motor-platine-v1\/\" class=\"read-more-link\">Continue reading <span class=\"screen-reader-text\">\"Adafruit Motor Platine v1\"<\/span> <span class=\"meta-nav\">&rarr;<\/span><\/a>","protected":false},"author":1,"featured_media":4303,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_lmt_disableupdate":"no","_lmt_disable":"no","footnotes":""},"categories":[178,199],"tags":[29,119,49],"modified_by":"sfambach","_links":{"self":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220"}],"collection":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/comments?post=4220"}],"version-history":[{"count":15,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220\/revisions"}],"predecessor-version":[{"id":8202,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/posts\/4220\/revisions\/8202"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/media\/4303"}],"wp:attachment":[{"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/media?parent=4220"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/categories?post=4220"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.fambach.net\/en\/wp-json\/wp\/v2\/tags?post=4220"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}