Encoder for measuring both incremental and absolute positions of moving elements

• US 4,914,437 A
• Filed: 03/08/1988
• Issued: 04/03/1990
• Est. Priority Date: 12/04/1986
• Status: Expired due to Term

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Delaney, Calvin R., Kibrick, Robert I.
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Young, Brian K.
• Application Number:
  US07/165,714
• Time in Patent Office: 756 Days
• Field of Search: 341/1, 341/3, 341/11, 341/13, 341/15, 341/16, 250/231 SE, 250/237 G
• US Class Current: 341/3
• CPC Class Codes: G01D 5/2457 Incremental encoders having reference marks
• CPC Class Codes: H03M 1/308 with additional pattern means for determining the absolute position, e.g. reference marks

Abstract

An optical encoding system for determing the absolute and the incremental positions of a movable member relative to a stationary member. For example, three stationary light sources may be supported by the stationary member for emitting three narrow light beams on respective paths. An encoding band may be supported by the movable member in the paths of the light beams. The band has a timing and incremental encoding track comprising at least one series of alternating light-blocking stripes and light-passing stripes, and a data track comprising a series of distinct absolute position tags. A read head may be supported by the stationary member and has three optical sensors, one for each light beam, two preferably in quadrature with each other for the timing and incremental encoding track, and one for the data track. Each optical sensor includes light sensors for generating an analog signal voltage. A decoding system actuated by these analog signal voltages determines the incremental and absolute position of the movable member relative to the stationary member.

Claims

1. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

an encoding band supported by one said member and having

a timing and incremental encoding track comprising at least one series of alternating activating stripes and non-activating stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

reading means supported by the other said member and having three non-sweeping sensing means, two in quadrature with each other for said timing and incremental encoding track, and one for said data track, each said sensing means having a single energy-source-energy-sensor pair including means for generating an analog signal voltage,

said movable members being capable of both discrete and continuous motion in both directions, and

decoding means actuated by said analog signal voltages for determining the incremental and absolute positions of said movable member relative to said stationary member,

whereby said absolute and incremental positions can be determined solely from said system without dependence on any additional information external to said system.

2. The system of claim 1 wherein said decoding means comprises:

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

(2) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(3) left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(4) right-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(5) left-motion mask register means connected to said direction level and clock pulse signal,

(6) right-motion mask register means connected to said direction level and clock pulse signal,

(7) two framing gating means, each connected to said clock pulse signal and to one of said mask registers means,

(8) absolute position register means connected to both said shift register means, and

(9) position comparator means connected to said absolute position register means and to said up/down counter means.

3. The system of claim 2 having

first tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said right-motion serial shift register means, and to said right-motion mask register means for providing an error signal when a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the left past said sensing means for said data track from the reading produced when said tag moved to the right past said sensing means for said data track, and

second tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said left-motion serial shift register means, and to said left-motion mask register means for providing an error signal when a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the right past said sensing means for said data track from the reading produced when said tag moved to the left past said sensing means for said data track.

4. The system of claim 2 having

shift register means,

activating means for implementing each said mask register means, and

AND gate means for implementing each said framing gating means.

5. The system of claim 2 having

counting means for providing up/down counter functions for implementing each said mask register means, and

comparing means for providing comparator functions for each said framing gating means.

6. The system of claim 2 having means for providing shift register functions for implementing both said mask register means and said framing gating means.

7. The system of claim 2 wherein said sensing means send their voltage signals through operational amplifier means and Schmitt trigger means en route from said two in-quadrature sensing means, to said phase comparator means and, from said third sensing means en route to said shift register means.

8. The system of claim 2 whereby said signals from said shift register means pass, through respective decoder and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

9. The system of claim 2 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

10. The system of claim 1 wherein said band is cylindrical and is supported perpendicular to the plane of motion of said movable member.

11. The system of claim 1 wherein said band is flat and annular and is supported parallel to the plane of motion of said movable member.

12. The system of claim 2 having

absolute position tag multiplexer means and

decoder and error checking means,

whereby said signals from said shift registers pass through said absolute position tag multiplexer means and from there to said decoder and error checking means, while en route to said absolute position register means.

13. The system of claim 1 wherein said decoding means comprises

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and clock pulse signal,

(2) first delay means connected to said clock pulse signal for producing a once-delayed version of said clock pulse signal,

(3) second delay means connected to said once-delayed clock pulse signal for producing a twice-delayed version of said clock pulse signal,

(4) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(5) left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(6) right-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(7) left-motion mask register shift register means connected to said direction level and clock pulse signals,

(8) right-motion mask register shift register means connected to said direction level and clock pulse signals,

(9) left-motion serial shift register snapshot means connected to said left-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(10) right-motion serial shift register snapshot means connected to said right-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(11) left-motion mask register shift register snapshot means connected to said left-motion mask register shift register means and to said once-delayed and twice-delayed clock pulse signals,

(12) right-motion mask register shift register snapshot means connected to said right-motion mask register shift register means and to said once-delayed and twice-delayed clock pulse signals,

(13) snapshot shift-count counter means connected to said once-delayed and twice-delayed clock pulse signals,

(14) framing gating means connected to said right-motion mask register shift register snapshot means,

(15) absolute position register means connected to said right-motion shift register snapshot means, and

(16) position comparator means connected to said absolute position register means and to said up/down counter means.

14. The system of claim 13 having operational amplifier means and Schmitt trigger means, through which said sensing means send their voltage signals en route from said two in-quadrature sensing means, to said phase comparator means and, from said third sensing means en route to said shift register means.

15. The system of claim 13 having decoder and error checking means through which said signals from said right-motion serial shift register snapshot means pass while en route to said absolute position register means.

16. The system of claim 13 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

17. The system of claim 1 wherein said decoding means comprises

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and clock pulse signal,

(2) first delay means connected to said clock pulse signal for producing a once-delayed version of said clock pulse signal,

(3) second delay means connected to said once-delayed clock pulse signal for producing a twice-delayed version of said clock pulse signal,

(4) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(5) left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(6) right-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(7) left-motion mask register counter means connected to said direction level and clock pulse signals,

(8) right-motion mask register counter means connected to said direction level and clock pulse signals,

(9) left-motion serial shift register snapshot means connected to said left-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(10) tight-motion serial shift register snapshot means connected to said right-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(11) snapshot shift-count counter means connected to said once-delayed and twice-delayed clock pulse signals,

(12) two framing gating comparator means, each connected to said clock pulse signal and to one of said mask register counter means,

(13) absolute position register means connected to said right-motion shift register snapshot means, and

(14) position comparator means connected to said absolute position register means and to said up/down counter means.

18. The system of claim 17 having operational amplifier means and Schmitt trigger means through which said sensing means send their voltage signals en route from said two in-quadrature sensing means to said phase comparator means and from said third sensing means en route to said shift register means.

19. The system of claim 17 having a decoder and error checking means, whereby said signals from said right-motion shift register snapshot means pass through a said decoder and error checking means while en route to said absolute position register means.

20. The system of claim 17 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

83. The system of claim 1 wherein said decoding means comprises

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and clock pulse signal,

(2) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(3) common-motion serial shift register means connected to said direction level and clock signals and also to said third sensing means,

(4) left-motion mask register means connected to said direction level and clock pulse signals,

(5) right-motion mask register means connected to said direction level and clock pulse signals,

(6) two framing gating means each connected to said clock pulse signal and to one of said mask register means,

(7) absolute position register means connected to said common-motion serial shift register means, and

(8) position comparator means connected to said absolute position register means and to said up/down counter means.

84. The system of claim 83 wherein said sensing means send their voltage signals through operational amplifier means and Schmitt trigger means en route from said two in-quadrature sensing means, to said phase comparator means and, from said third sensing means en route to said shift register means.

85. The system of claim 83 whereby said signals from said common-motion serial shift register means pass through a decoder and error checking means, while en route to said absolute position register means.

86. The system of claim 83 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

87. The system of claim 83 wherein said mask register means are implemented using shift register functions and wherein said framing gating means are implemented using AND gate functions.

88. The system of claim 83 wherein said mask register means are implemented using up/down counter functions and wherein said framing gating means are implemented using comparator functions.

89. The system of claim 83 wherein said mask register means and said framing gating means are implemented using the same shift register function.

90. The system of claim 83 having

first tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said common-motion serial shift register means, and to said right-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the left past said sensing means for said data track from the reading produced when said tag moved to the right past said sensing means for said data track, and

second tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from sad sensing means for said data track, to said common-motion serial shift register means, and to said left-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the right past said sensing means for said data track from the reading produced when said tag moved to the left past said sensing means for said data track.

91. The system of claim 1 wherein said decoding means comprises

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and clock pulse signal,

(2) first delay means connected to said clock pulse signal for producing a once-delayed version of said clock pulse signal,

(3) second delay means connected to said once-delayed clock pulse signal for producing a twice-delayed version of said clock pulse signal,

(4) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(5) common-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(6) left-motion mask register shift register means connected to said direction level and clock pulse signals,

(7) right-motion mask register shift register means connected to said direction level and clock pulse signals,

(8) common-motion serial shift register snapshot means connected to said common-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(9) left-motion mask register shift register snapshot means connected to said left-motion mask register shift register means and to said once-delayed and twice-delayed clock pulse signals,

(10) right-motion mask register shift register snapshot means connected to said right-motion mask register shift register means and to said once-delayed and twice-delayed clock pulse signals,

(11) snapshot shift count counter means connected to said once-delayed and twice-delayed clock pulse signals,

(12) framing gating means connected to said right-motion mask register shift register snapshot means,

(13) absolute position register means connected to said common-motion shift register snapshot means, and

(14) position comparator means connected to said absolute position register means and to said up/down counter means.

92. The system of claim 91 wherein said sensing means send their voltage signals through operational amplifier means and Schmitt trigger means en route from said two in-quadrature sensing means, to said phase comparator means and, from said third sensing means en route to said shift register means.

93. The system of claim 91 whereby said signals from said common-motion shift register snapshot means pass through a decoder and error checking means, while en route to said absolute position register means.

94. The system of claim 91 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

95. The system of claim 91 having

first tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said common-motion serial shift register means, and to said right-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the left past said sensing means for said data track from the reading produced when said tag moved to the right past said sensing means for said data track, and

second tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said common-motion serial shift register means, and to said left-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the right past said sensing means for said data track from the reading produced when said tag moved to the left past said sensing means for said data track.

96. The system of claim 1 wherein said decoding means comprises

(1) timing track phase comparator means connected to said two in-quadrature sensing means for comparing the phase relationship of their two signal voltages and producing a direction level signal and clock pulse signal,

(2) first delay means connected to said clock pulse signal for producing a once-delayed version of said clock pulse signal,

(3) second delay means connected to said once-delayed clock pulse signal for producing a twice-delayed version of said clock pulse signal,

(4) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(5) common-motion serial shift register means connected to said direction level and clock pulse signals and also to said third sensing means,

(6) left-motion mask register counter means connected to said direction level and clock pulse signals,

(7) right-motion mask register counter means connected to said direction level and clock pulse signals,

(8) common-motion serial shift register snapshot means connected to said common-motion serial shift register means and said once-delayed and twice-delayed clock pulse signals,

(9) snapshot shift-count counter means connected to said once-delayed and twice-delayed clock-pulse signals,

(10) two framing gating means, each connected to said clock pulse signal and to one of said mask register counter means,

(11) absolute position register means connected to said common-motion shift register snapshot means, and

(12) position comparator means connected to said absolute position register means and to said up/down counter means.

97. The system of claim 96 wherein said sensing means send their voltage signals through operational amplifier means and Schmitt trigger means en route from said two in-quadrature sensing means, to said phase comparator means and, from said third sensing means en route to said shift register means.

98. The system of claim 96 whereby said signals from said common-motion shift register snapshot means pass through a decoder and error checking means, while en route to said absolute position register means.

99. The system of claim 96 having three fault-detection means, to which said three sensing means and said timing track phase comparator means also send their respective signals, for outputting a fault signal when a signal derived from any of the respective sensing means has by itself failed.

100. The system of claim 96 having

first tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said common-motion serial shift register means, and to said right-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the left past said sensing means for said data track from the reading produced when said tag moved to the right past said sensing means for said data track, and

second tag reversal error detector means connected to said direction level signal, to said clock pulse signal, to the signal from said sensing means for said data track, to said common-motion serial shift register means, and to said left-motion mask register means for providing an error signal if a said tag read from said data track by said sensing means for said data track produces a different reading when said tag moves to the right past said sensing means for said data track from the reading produced when said tag moved to the left past said sensing means for said data track.

21. A decoding apparatus actuated by three analog signal voltages from an encoder for determining the incremental and absolute positions of a movable member relative to a stationary member, said encoder having three sensing means for producing said three analog voltages from a timing track and a data track, comprising:

(1) timing track phase comparator means connected to two timing sensing means for comparing the phase relationship of their two analog signal voltages and producing a direction level signal and a clock pulse signal,

(2) up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

(3) left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third analog signal voltage,

(4) right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third analog signal voltage,

(5) left-motion mask register means connected to said direction level and clock pulse signal,

(6) right-motion mask register means connected to said direction level and clock pulse signal,

(7) two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

(8) absolute position register means connected to both said shift register means, and

(9) position comparator means connected to said absolute position register means and to said up/down counter means.

22. The decoding apparatus of claim 21 wherein said sensing means send their voltage signals through operational amplifier means and Schmitt trigger means en route from said two timing sensing means to said phase comparator means and, from said third sensing means en route to said shift register means.

23. The decoding apparatus of claim 21 whereby said signals from said shift register means pass through respective decoder and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

24. The decoding apparatus of claim 21 having three fault detector means, connected to said three sensing means and said timing track phase comparator means so that they also send their respective signals to said three fault detector means, said fault detector means outputting a fault signal when the signal derived from the respective sensing means has by itself failed.

25. An optical encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

three light sources supported by one said member for emitting three narrow light beams on respective paths,

an encoding band supported by the other said member in the paths of said light beams, said band having

at least one timing and incremental encoding track comprising least one series of alternating light-blocking stripes and light-passing stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by said one said member and having three non-sweeping optical sensors, one for each said light beam, two in quadrature with each other for said timing and incremental encoding track, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

said movable member being capable of both discrete and continuous motion in both directions,

decoding means actuated by said analog signal voltages for determining the incremental and absolute positions of said movable member relative to said stationary member, and

whereby said absolute and incremental positions can be determined solely from said system without dependence on any additional information external to said system.

26. The system of claim 25 wherein said decoding means comprises a computer programmed to function as:

(1) a timing track phase comparator connected to said two timing-track optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

(2) an up/down counter connected to said direction Q level and clock pulse signals and having readout means for indicating the current position of said movable member,

(3) a left-motion serial shift register connected to said direction level and clock pulse signals and also to said third optical sensor,

(4) a right-motion serial shift register connected to said direction level and clock pulse signal and also to said third optical sensor,

(5) a left-motion mask register connected to said direction level and clock pulse signal,

(6) a right-motion mask register connected to said direction level and clock pulse signal,

(7) two framing gatings, each connected to said clock pulse signal and to one of said mask registers,

(8) an absolute position register connected to both said shift registers, and

(9) a position comparator connected to said absolute position register and to said up/down counter.

27. The system of claim 26 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from said two optical sensors to said phase comparator and, from said third optical sensor en route to said shift registers.

28. The system of claim 26 whereby said signals from said shift registers pass, in said computer, through g elements functioning as respective decoders and error checking means and from there to elements functioning as an absolute position multiplexer, while en route to said absolute position register.

29. The system of claim 26 having three fault detector means, each connected to some subset of the signals from said three optical sensors and said timing track phase comparator, for producing a fault signal if the signal derived from its respective sensor has by itself failed.

30. The system of claim 25 wherein said light-passing stripes comprise reflecting stripes, reflecting light from said beams to said optical sensors.

31. The system of claim 25 wherein said light-passing stripes are transparent stripes through which said light beams pass en route to said optical sensors.

32. The system of claim 25 wherein there is a single timing track, and its two associated light sources and light sensing means are spaced apart at a predetermined distance to provide serial quadrature.

33. The system of claim 25 wherein there are two timing tracks, staggered with respect to each other to provide said quadrature, each having one said light beam and one said optical sensor associated therewith.

34. The system of claim 25 wherein said band is cylindrical and is supported perpendicular to the plane of motion of said movable member.

35. The system of claim 25 wherein said band is flat and annular and is supported parallel to the plane of motion of said movable member.

36. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

three light sources supported by one said member for sending three narrow light beams on respective paths,

a continuous circular encoding band supported by the other said member in the paths of said light beams, said band having

a timing and incremental encoding track comprising at least one series of alternating light-blocking stripes and light-passing stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by said one said member and having three non-sweeping optical sensors, one for each said light beam, two in quadrature with each other for said timing and incremental encoding track, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

comparator means connected to said two timing-track optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third optical sensor,

right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third optical sensor,

left-motion mask register means connected to said direction level and clock pulse signal,

right-motion mask register means connected to said direction level and clock pulse signal,

two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

absolute position register means connected to both said shift register means, and

position comparator means connected to said absolute position register means and to said up/down counter means.

37. The system of claim 36 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from each of said two optical sensors to said phase comparator means and, from said third optical sensor en route to said shift register means.

38. The system of claim 36 whereby said signals from said shift register means pass through respective decoding means and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

39. The system of claim 36 having

first fault detector means connected to the signals from the three optical sensors for producing a fault signal if the signal derived from the first of said two in quadrature sensors has by itself failed,

second fault detector means connected to the signals from the three optical sensors for producing a fault signal if the signal derived from the second of said two in quadrature sensors has by itself failed, and

third fault detector means connected to said direction level signal, to said clock pulse signal, and to the signal from said optical sensor for said data track, for providing a fault signal if the signal derived from said data track sensor has by itself failed.

40. The system of claim 36 wherein said light-passing stripes comprise reflecting stripes, reflecting light from said beams to said optical sensor.

41. The system of claim 40 wherein said band is supported by said movable member perpendicular to the plane of said movable member and is cylindrical.

42. The system of claim 40 wherein said band is a flat annulus supported by said movable member parallel to the plane of said movable member.

43. The system of claim 36 wherein said light passing stripes are transparent stripes through which said light beams pass en route to said optical sensor.

44. The system of claim 43 wherein said band is cylindrical and is supported by said movable member.

45. The system of claim 43 wherein said band is a flat annulus supported by said movable member.

46. The system of claim 36 wherein there is a single timing track and its two associated light sources and light sensing means are spaced apart at a predetermined distance to provide said quadrature.

47. The system of claim 36 wherein there are two timing tracks, staggered with respect to each other to provide said quadrature, each having one said light beam and one said optical sensor associated therewith.

48. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

an encoding band supported by one said member, said band having

a single timing track for timing and incremental encoding, comprising a series of alternating dark stripes and reflective stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by the other said member and having three non-sweeping optical sensors, two for said timing track, being spaced apart to provide quadrature, and one for said data track, each said optical sensor including a light source coupled with light sensing means for generating an analog signal voltage,

timing track phase comparator means connected to said two timing-track optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third optical sensor,

right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third optical sensor,

left-motion mask register means connected to said direction level and clock pulse signal,

right-motion mask register means connected to said direction level and clock pulse signal,

two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

absolute position register means connected to both said shift register, and

position comparator means connected to said absolute position register means and to said up/down counter means.

49. The system of claim 48 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from said two optical sensors to said phase comparator means and, from said third optical sensor en route to said shift register means.

50. The system of claim 48 whereby said signals from said shift register means pass through respective decoding means and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

51. The encoding system of claim 48 having

a first fault detector circuit connected to the signals from said three optical sensors and producing a fault signal if the signal derived from the first of said two optical sensors for said timing track has by itself failed,

a second fault detector connected to the signals from said three optical sensors and producing a fault signal if the signal derived from the second of said two optical sensors for said timing track has by itself failed, and

a third fault detector connected to said direction level signal, to said clock pulse signal, and to the signal from said optical sensor for said data track and providing a fault signal if the signal derived from said data track sensor has by itself failed.

52. The system of claim 48 wherein said band is cylindrical and is supported perpendicular to the plane of said movable member by its said member.

53. The system of claim 48 wherein said band is a flat annulus and is supported parallel to the plane of said movable member by its said member.

54. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

an encoding band supported by one said member, said band having

a single timing track for timing and incremental encoding comprising a series of alternating opaque stripes and transparent stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

three light source means supported by the other said member and directing respective beams toward said band,

a read head supported by said other member and having three optical sensors on the opposite side of said band from said light source means, two for said timing track, being spaced apart to provide quadrature, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

timing track phase comparator means connected to said two timing-track optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third optical sensor,

right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third optical sensor,

left-motion mask register means connected to said direction level and clock pulse signal,

right-motion mask register means connected to said direction level and clock pulse signal,

two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

absolute position register means connected to both said shift register means, and

position comparator means connected to said absolute position register means and to said up/down counter means.

55. The system of claim 54 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from said two sensors to said phase comparator means and, from said third optical sensor en route to said shift register means.

56. The system of claim 54 whereby said signals from said shift register means pass through respective decoding means and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

57. In a system for determining the absolute and the incremental positions of a movable telescope dome of a dome building having a stationary portion, the combination of:

a circular encoding band supported by said movable dome, said band having

a timing track for timing and incremental encoding comprising at least one series of narrow stripes all around said band, alternating light-absorbing and light-passing stripes, and

a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by said stationary portion of said dome building and having three optical sensors aimed at said band, two for said timing track, being spaced apart a predetermined distance for quadrature, and one for said data track, each said optical sensor including a light-emitting diode coupled with a phototransistor for generating an analog signal voltage from the transmission of the light-emitting diode light from said tracks,

said read head being mounted on wheels in rolling contact with said band and mounted to said stationary portion through a parallelogram linkage and spring-urged toward a set distance from said band, so that out-of-roundness of said dome is compensated.

58. The system of claim 57 wherein said read head is pivotally mounted relative to said parallelogram linkage.

59. The system of claim 57 wherein there is a single timing track and its two associated light sources and light sensing means are spaced apart at a predetermined distance to provide said quadrature.

60. The system of claim 57 wherein there are two timing tracks, staggered with respect to each other to provide said quadrature, each having one said light beam and one said optical sensor associated therewith.

61. An optical encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

three light sources supported by one said member for emitting three narrow light beams on respective paths,

an encoding band supported by the other said member in the paths of said light beams, said band having

a single timing and incremental encoding track comprising at least one series of alternating light-blocking stripes and light-passing stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track, and

a read head supported by said one said member and having three non-sweeping optical sensors, one for each said light beam, two in quadrature with each other for said timing and incremental encoding track, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

said movable member being capable of both discrete and continuous motion in both directions,

whereby said absolute and incremental positions can be determined solely from said system without dependence on any additional information external to said system.

62. An encoding system for determining the absolute and the incremental positions of a movable telescope dome of a dome building having a stationary portion, including in combination:

an encoding band supported by a generally cylindrical surface of said movable dome around the complete circle thereof, said band having

a timing track for timing and incremental encoding comprising a series of narrow stripes all around said band, alternating dark and reflective stripes, and

a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by said stationary portion of said dome building and having three non-sweeping optical sensors aimed at said band, two for said timing track, being spaced apart a predetermined distance, and one for said data track, each said optical sensor including a light-emitting diode coupled with a phototransistor for generating an analog signal voltage from the reflection of the light-emitting diode light from said tracks,

said read head being mounted to its rigid support through a parallelogram linkage, and spring means urging it toward a set distance from said band, so that out-of-roundness of said dome is compensated.

63. An encoding system for determining the absolute and the incremental positions of a movable telescope dome of a domed building having a stationary portion, including in combination:

an encoding band supported by a generally cylindrical surface of said movable dome around the complete circle thereof, said band having

a timing track for timing and incremental encoding comprising a series of narrow stripes all around said band, alternating dark and reflective stripes, and

a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for enclosing the absolute position corresponding to the location of its tag along said data track,

a read head supported by said stationary portion of said dome building and having three non-sweeping optical sensors aimed at said band, two for said timing track, being spaced apart a predetermined distance, and one for said data track, each said optical sensor including a light-emitting diode coupled with a phototransistor for generating an analog signal voltage from the reflection of the light-emitting diode light from said tracks,

said read head being mounted on wheels in rolling contact with said cylindrical surface.

64. An encoding system for determining the absolute and the incremental positions of a movable telescope dome of a dome building having a stationary portion, including in combination:

an encoding band supported by a generally cylindrical surface of said movable dome around the complete circle thereof, said band having

a timing track for timing and incremental encoding comprising a series of narrow stripes all around said band, alternating dark and reflective stripes, and

a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

a read head supported by said stationary portion of said dome building and having three non-sweeping optical sensors aimed at said band, two for said timing track, being spaced apart a predetermined distance, and one for said data track, each said optical sensor including a light-emitting diode coupled with a phototransistor for generating an analog signal voltage from the reflection of the light-emitting diode light from said tracks,

timing track phase comparator means connected to said two timing-track optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current dome position,

dome left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third optical sensor,

dome right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third optical sensor,

dome left-motion mask register means connected to said direction level and clock pulse signal,

dome right-motion mask register means connected to said direction level and clock-pulse signal,

two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

absolute position register means connected to both said shift register means, and

position comparator means connected to said absolute position register means and to said up/down counter means.

65. The system of claim 64 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from said two optical sensors to said phase comparator means and, from said third optical sensor en route to said shift register means.

66. The system of claim 64 whereby said signals from said shift register means pass through respective decoding means and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

67. The system of claim 64 having

first fault detector means connected to the signals from said three optical sensors for producing a fault signal if the signal derived from the first of said two timing track optical sensors has by itself failed,

second fault detector means connected to the signals from said three optical sensors for producing a fault signal if the signal derived from the second of said two timing track optical sensors has by itself failed, and

third fault detector means connected to said direction level signal, to said clock pulse signal, and to the signal from said optical sensor for said data track, for providing a fault signal if the signal derived from said data track sensor has by itself failed.

68. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

a circular encoding band on said movable member, said band having

a single timing track means for timing and incremental encoding comprising a series of alternating opaque stripes and transparent stripes, and

a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

three light source means mounted on said stationary member and directing respective beams toward said band, and

a read head secured to said stationary member and having three non-sweeping optical sensors on the opposite side of said band from said light source means, two for said timing track, being spaced apart, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

said members being capable of both discrete and continuous motion in both directions around a circular path,

whereby said absolute and incremental positions can be determined solely from said system without dependence on any additional information external to said system.

69. An encoding system for determining the absolute and the incremental positions of a movable member relative to a stationary member, including in combination:

a circular encoding band on said movable member, said band having

timing track means for timing and incremental encoding comprising a series of alternating opaque stripes and transparent stripes, and

a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track,

three light source means mounted on said stationary member and directing respective beams toward said band,

a read head secured to said stationary member and having three optical sensors on the opposite side of said band from said light source means, two for said timing track, being spaced apart, and one for said data track, each said optical sensor including light sensing means for generating an analog signal voltage,

timing track phase comparator means connected to said two timing-track-means optical sensors for comparing the phase relationship of their two signal voltages and producing a direction level signal and a clock pulse signal,

up/down counter means connected to said direction level and clock pulse signals and having readout means for indicating the current position of said movable member,

left-motion serial shift register means connected to said direction level and clock pulse signals and also to said third optical sensor,

right-motion serial shift register means connected to said direction level and clock pulse signal and also to said third optical sensor,

left-motion mask register means connected to said direction level and clock pulse signals,

right-motion mask register means connected to said direction level and clock pulse signals,

two framing gating means, each connected to said clock pulse signal and to one of said mask register means,

absolute position register means connected to both said shift register means, and

position comparator means connected to said absolute position register means and to said up/down counter means.

70. The system of claim 69 wherein said optical sensors send their voltage signals through an operational amplifier and a Schmitt trigger en route from said two optical sensors to said phase comparator means and, from said third optical sensor en route to said shift register means.

71. The system of claim 69 whereby said signals from said shift register means pass through respective decoding means and error checking means and from there to absolute position multiplexer means, while en route to said absolute position register means.

72. A method for determining the absolute and the incremental positions of a movable member relative to a stationary member, comprising the steps of:

sending three separate beams of light toward one said member,

intercepting said beams by an encoding band secured to the other said member, said band having a timing track for timing and incremental encoding portion comprising a series of narrow alternating light-beam blocking and light-beam passing stripes and a data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag, and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track, two of said light beams being directed at spaced-apart loci along said timing track and one directed to a locus along said data track,

generating an analog signal voltage from the light from each beam after the interception, two such voltages from said timing track and one from said data track,

comparing the phase relationship of the two analog voltages from said timing track and producing direction level signals and clock pulse signals therefrom,

counting the clock pulse signals, thereby indicating the current incremental position of said movable member,

sending said direction level and clock pulse signals and a logic level derived from the third analog voltage to left-motion serial shift register means, and also to right-motion serial shift register means,

framing the output from each said shift register means and sending the resultant output of each to absolute position register means,

comparing the absolute position register values with those from said counting step, and

resetting said incremental position to match the value contained in the absolute position register means, should they disagree.

73. The method of claim 72 wherein said sending step comprises additionally sending said direction level and clock pulse signals and the signals derived from the step of intercepting said three light beams to a fault detection circuit and there comparing, two at a time, the signals derived from the step of intercepting said three light beams and determining whether the signal derived from any signal from said light beam interception has by itself failed.

74. The method of claim 72 wherein said timing track comprises a single track.

75. The method of claim 72 wherein said timing track comprises two tracks.

76. The method of claim 72 wherein said intercepting step comprises impinging said separate beams of light on said encoding band, said band'"'"'s having a timing and incremental encoding portion comprising a series of narrow alternating dark and reflective stripes and a data track comprising a series of absolute position tags.

77. The method of claim 72 wherein said intercepting step comprises sending the three light beams through said band via a timing and incremental encoding portion comprising a series of narrow alternating opaque and transparent stripes and a data track comprising a series of absolute position tags.

78. A method for encoding the absolute and the incremental positions of a movable member relative to a stationary member, comprising the steps of:

sending three separate beams of light toward a stationary position,

intercepting said beams by an encoding band secured to said movable member, said band having a timing track for timing and incremental encoding portion comprising a series of narrow alternating light-beam blocking and light-beam passing stripes and a single data track comprising a series of absolute position tags disposed at regular intervals along said data track, each said tag being distinctly different from every other said tag and each comprising a serial bit stream for encoding the absolute position corresponding to the location of its tag along said data track, two of said light beams being directed at spaced-apart loci along said timing track and one directed to a locus along said data track,

generating an analog signal voltage from the light from each beam after the interception, two such voltages in quadrature from said timing track and one from said data track,

said members being capable of both discrete and continuous motion in both directions around a circular path, and

whereby said absolute and incremental positions can be determined solely from said system without dependence on any additional information external to said system.

79. The method of claim 78 wherein said timing track comprises a single track.

80. The method of claim 78 wherein said timing track comprises two tracks.

81. The method of claim 78 wherein said intercepting step comprises impinging said separate beams of light on said encoding band, said band'"'"'s having a timing and incremental encoding portion comprising a series of narrow alternating dark and reflective stripes and a data track comprising a series of absolute position tags.

82. The method of claim 78 wherein said intercepting step comprises sending the three light beams through said band via a timing and incremental encoding portion comprising a series of narrow alternating opaque and transparent stripes and a data track comprising a series of absolute position tags.