Encoder Basics

Question: What is the basic definition of an encoder?

Answer: An encoder comes in two architectures. The first architecture is linear. The second
architecture is rotary. Both types sense mechanical motion and translates the information
(velocity, position, acceleration) into useful electrical data.

Question: What is the difference between an absolute and an incremental encoder?

Answer: There are a few subtle differences between absolute and incremental rotary
encoders. Incremental encoders have output signals that repeat over the full range of
motion. It is important to understand that each mechanical position is not uniquely defined.
When the incremental encoder is turned on, the position of an incremental encoder is not
known since the output signals are not unique to any singular position. Absolute encoders
have a unique value (voltage, binary count, etc) for each mechanical position. When an
absolute encoder is turned on, the position of an absolute encoder is known (this function
resembles a resolver, although the principles of operation have no similarity.) The
similarities of both absolute and incremental encoders are form factor and the issues of
count and directional information. They can be obtained from both absolute and incremental
encoders equally.

Question: What is a channel?

Answer: A channel is an electrical output signal from an encoder. Typical incremental
encoders have either two or three channels. An example would be: A, A not, B, B not, and Z,
Z not (also referred to I or I not.).

Question: What is quadrature and 4X (4 times) quadrature encoding?

Answer: quadrature is a description of the 90 degrees out of phase between channel A and
B. The rising edge to rising edge (referred as the Cycle) on channel A or B indicates that one
set of bars (on the internal encoder disk) have passed by the optical sensor. The quadrature
state of channels A and B create four unique logic states. When these four unique logic
states are decoded, the resolution obtained is 4 times (4X) the resolution of the encoder
disk. So with this in mind 250 sets of bars would yield 1000 quadrature states.

Question: What is the Index pulse (strobe, Z, and I.)?

Answer: It is the absolute reference added to an incremental encoder. It is also known as
home position. It signifies a full rotation of the encoder disk

Question: How can I reduce the effect of noise when using encoders?
Answer: There are several ways to improve noise immunity. Be careful to separate motor
and all power wires away from encoder wires. Always separate the channels from each
other. All encoder wire should be shielded and carefully terminated. The pigtail that connects
to the control unit using the encoder should be as short as possible. The leads will act as
antennas for any stray RF in the vicinity. The addition of other noise suppression devices
may be required in high noise environments.

Question: What are "Push Pull" and "Totem Pole" outputs? Why don't they have a
differential output?
Answer: Looking at the A and A not channel, the optical sensor internal to the encoder is
comparing the two. If A’s light amount is greater than A not, then A is high. When A is less
than A not, then A is low. The same reasoning defines channel B. This process is called “Push
Pull.” A “Totem Pole” output is the same as a “Push Pull” output. The big difference is the
ability of the “Totem Pole” to handle sinking or sourcing less current than the “Push Pull.” It
is confusing because the other factor is the amount of voltage usually used to define the
difference between the two. “Totem Pole” usually uses 5vdc, where as the “Push Pull” follows
the input voltage.

Question: Do I need to shut down my machine to change an encoder?

Answer: The best method is to power down the unit. If the supply voltage is accidentally
shorted or grounded, it will damage the encoder.

Question: Q: What equipment do I need to troubleshoot an encoder?

Answer: A: An oscilloscope or specially designed encoder tester. A basic multimeter will do
for basic diagnostics such as power supply and low speed pulse outputs. Any advanced pulse
detection and diagnostics needs to be performed by a trained technician and an oscilloscope.

Question: What is gray code?

Answer: Gray code is a form of binary. The difference is how it is incremented to the next
number. Only one number can increment at a time. Gray code: 0, 1, 3, 2, 6, and 7 Binary:
0, 1, 2, 3, 4, and 5

Basically an encoder is a device that emits X amount of pulsed signals per resolution of a
motor or shaft. This can be used as was stated to determine speed, location (or distance
traveled), and acceleration/deceleration.

An example of use: We have a flexographic printing press that moves the printing plates
toward a drum, at the same time it moves an anilox roller (inking roller) towards the printing
plate. This is an automated system so the travel distance from "home" to the "print" postion
is preset/determined, therefore when you send it to "print" it knows the precise position to
go to via the count given from the encoder. In this application the encoders are incremental
which means they are step by step device and have no memory. Absolute encoders are
designed to remember position even if powered off
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