2.

6 Encoders
Rotary encoders translate an angular displacement into an electrical signal. There
are two types of rotary encoders, incremental and absolute. Each have their own
unique differences.

Incremental: An incremental encoder starts measuring the angular

displacement from the moment it is turned on. The moment it is turned on
the rotary encoder reads an angular displacement. That is to say an
incremental encoder measures the displacement of the shaft from the
starting position (moment encoder is powered up).
Absolute: An absolute encoder measures the angular displacement
differently from an incremental encoder. In an absolute encoder each angle is
unique from the other angles of the shaft. So the starting position of an
absolute encoder will not read zero but will read the angle that it last read
before it was shut off.

2.7 Encoders
50 mm shaft radius
256 pulses/revolution
Want: pulses in 200 mm?

Circumference= D
Circumference=( 3.14159 ) ( 50 )
Circumference=157.08 mm
Revolutions
200
=
200 mm
157.08
Revolutions
=1.273
200 mm
Pulses
=2561.273
200 mm
Pulses
=325.888
200 mm

2.8 Differential Transformer

+/- 30deg. , linearity error +/-0.5% full range
+/- 60 deg. , linearity error +/-2% full range
Sensitivity: 1.1 mV/V/deg
Impedance: Primary 750 , Secondary 2000
a)

Error=60 2 =1.2
b)

Output Voltage=1.1mV /deg3 V =3.3 mV /deg

2.9 Potentiometers

Wire Wound: Wire wound potentiometers have a few advantages over other
types. One advantage is wire wound types can handle much higher power
than their counterparts, are long lasting and can be relatively precise. Most
commonly used in high power circumstances.
Although they do have a couple disadvantages that plastic types do not
suffer from. These disadvantages are wire wound types have a limited
resolution and rough feel.
Plastic: Very smooth feel and high resolution, can be constructed to perform
millions of cycles. Can only handle a limited power and are expensive. Often
used in high-end (audio) equipment where a high resolution and low noise are
important.