3D Sensing and Scanning

A high precision, portable, laser-based scanning system was being designed by an industrial metrology equipment manufacturer. It featured a scan mirror rotating rapidly in one axis and spinning gradually in another to map out a high-resolution topographical dataset. In order to attain their goals of system portability and capture highly accurate and precise data, the manufacturer required motors and encoders that were compact, light weight, and could offer very smooth position and velocity control.

scanning system

scanning system

The Solution

The compact Mercury 1540P digital incremental encoder with a custom flex cable was combined with a 57 mm diameter grating disk to offer 19 µrad resolution feedbacks in a low profile and low-cost solution. The total height of the encoder is just 10.2 mm and it weighs about 14 g. Furthermore, a 43 mm diameter frameless Omni Series motor was integrated into the device reducing their earlier bulky motor stack height to as low as 6 mm and providing the smoothest motion possible from direct drive motors.

Mercury 1540P digital incremental encoder

The Benefit

Celera Motion’s Omni Series frameless motor technologies and compact Mercury Series encoder were tailored to suit the customer’s exact performance and dimensional requirements. These products were combined to give the customer the portability, speed, and precision demanded by their design.

frameless motor


. .
Sensor Dimensions 15.2 x 8.8 x 5.6 mm
Interface Digital A-quad-B with index
Grating Dimensions 57 OD x 25 ID x 2.29 mm
Grating Period 20 µm
System Resolution 19 µrad
Maximum Speed 2637 RPM
Sensor Weight 2.6 g
Continuous Torque up to 5.9 Nm
Peak Torque up to 17.7 Nm
Diameter (Stator OD) 45 to 165 mm
Through Hole (Rotor ID) 32 to 120 mm
Maximum Speed up to 5,000 rpm


Celera Motion

This information has been sourced, reviewed and adapted from materials provided by Celera Motion.

For more information on this source, please visit Celera Motion.


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