18/02/2021 A Comparison of Common Encoder Output Signals | CUI Devices

Motion

A Comparison of Common Encoder

Output Signals
By Jason Kelly

In This Post...

1. Open-Collector Outputs
2. Push-Pull Outputs
3. Di erential Line Driver Outputs
4. Additional Resources

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18/02/2021 A Comparison of Common Encoder Output Signals | CUI Devices

When it comes to choosing an encoder for a motion control application

there are a number of choices that need to be made. An engineer
specifying a sensor must decide if their application requires an
incremental, absolute, or commutation encoder. Once they know what
type they need there are a laundry list of other parameters to consider
such as: resolution, mounting pattern, motor shaft size, and more.
Additionally, and sometimes overlooked, is the encoder output signal
type needed. The answer is not always clear, so in this post we will
review the three main types of outputs seen on just about any encoder:
open-collector, push-pull, and di erential line driver. These three output
types describe the physical layer of digital communication.

Whether it is an incremental encoder's quadrature output, a

commutation encoder's motor pole output, or a serial interface that
uses a speci c protocol, all of these signals are digital and have high and
low states. This means that for a 5 V encoder, signals will always switch
between 0 V (ground) which is low or a binary 0, and 5 V which is high or
a binary 1. For this post we will focus on incremental encoder outputs
which deliver a basic square wave.

Typical 5 V digital square wave

Open-Collector Outputs

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Most rotary encoders on the market are going to have an open-collector

output. This means that the output of a digital signal can be driven low
to ground, and when the signal is supposed to be high, the output is
merely disconnected. The output is named open-collector because the
collector pin on the transistor is left open, or disconnected, when the
input signal is high.

Bipolar junction transistor as used in open-collector encoders

To interface with this device, an external resistor is required to "pull-up"

the collector to the desired high voltage level. This is a useful output
type if the engineer is trying to interface with a system that has di erent
voltage levels. The collector could be pulled up to meet lower or higher
voltage levels than the encoder operates at.

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Pull-up resistor added externally to an open-collector encoder

However, the disadvantages of this interface often outweigh the ability

to change encoder voltage levels. Adding external resistors to open-
collector encoders is not overwhelmingly di cult to do, and many o -
the-shelf controllers have them built in already, but these external
resistors consume current to operate and they in uence the output
signal, changing its characteristics with frequency. Consider again the
square wave of an incremental encoder, only this time zoomed in
extremely close to one of its state changes. We like to think of our digital
signals as transitioning from low to high immediately, but we of course
know that everything takes time. We refer to this time delay as the slew
rate.

Closeup view of a square wave with lower slew rate

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In the case of open-collector outputs the slew rate is a ected by the

resistance of the pull-up resistor since the resistor acts as the R in an RC
timing circuit. Lower slew rates mean a reduced operating speed of the
encoder (and/or reduced resolution in the case of incremental
encoders). Slew rates can be improved with lower value resistors
(stronger pullups), but that tradeo means the system is drawing more
power, as that pull-up resistor must draw more current through it when
the signal is low.

Push-Pull Outputs

The best answer to the drawbacks of an open-collector interface is a

push-pull con guration. In push-pull, two transistors are used instead of
just one. The upper transistor functions as an active pull-up, while the
lower transistor works the same as the transistor in an open-collector
con guration. Push-pull con gurations allow for fast digital transitions
with faster slew rates than are achievable with resistors conditioning the
signal lines. Without resistors acting to dissipate power, this output type
is also lower in power usage. This makes the push-pull output a much
better option for battery-powered applications where available power is
at a premium.

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Push-pull transistor con guration

All of CUI Devices' single-ended AMT encoders use the push-pull output
type. No external pull-ups are required for interfacing to the outputs of
AMT encoder models. This makes testing and prototyping much easier,
requiring less supplies to get up and running. It is important to note that
the AMT encoder's output is referenced as CMOS on the datasheet. This
simply indicates how the interfacing device should interpret the high
and low voltage levels it sees from the push-pull output. These high and
low values vary between devices, so the datasheet for the desired
product should be consulted.

Di erential Line Driver Outputs

While push-pull encoders o er a step-up in performance over their

open-collector predecessors, they are not necessarily the right option
for every project due to their single-ended outputs. If an application
requires long cabling distance, or if the cables used will be subject to
large amounts of electrical noise and interference, an encoder with a
di erential line driver output is going to be the best choice. Di erential

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outputs are generated with the same transistor con guration as push-
pull outputs, but rather than one signal being generated there are two
signals generated. These signals are referred to as a di erential pair;
one of the signals matches the original signal, while the other is the
exact opposite of the original signal, which is why it is sometimes
referred to as a complementary signal.

In a single-ended output, the receiver is always referencing the

transmitted signal to a common ground. However, over long cabling
distances where voltages tend to drop and slew rates decrease, signal
errors often occur. In a di erential application, the host generates the
original single-ended signal, which then goes to a di erential
transmitter. This transmitter creates the di erential pair to be sent out
over the cabling. With two signals generated, the receiver no longer
references the voltage level to ground, but instead references the
signals to each other. This means that rather than looking for speci c
voltage levels, the receiver is always looking at the di erence between
the two signals. The di erential receiver then reconstructs the pair of
signals back into one single-ended signal that can be interpreted by the
host device using the proper logic levels required by the host. This type
of interface also allows devices of di ering voltage levels to operate
together by way of communication between the di erential
transceivers. All this works together to overcome the signal degradation
that would have occurred with a single-ended application over long
cabling distances.

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Encoder output driven by di erential driver and reconstructed by receiver

However, signal degradation is not the only issue that arises over long
cabling distances. The longer the cabling is within a system, the higher
the chances that electrical noise and interference will make its way onto
the cables and ultimately into the electrical system. When noise couples
onto cabling it shows up as voltages of varying magnitudes. In systems
with single-ended output encoders, this can cause the receiving side of
the system to read false high and low logic values, leading to erroneous
position data. This is a massive problem! Luckily di erential line-driver
interfaces are well equipped to deal with this noise. CUI Devices typically
recommends using a di erential line driver for cable lengths exceeding
1 meter.

When using di erential line drivers, twisted pair cabling is required.

Twisted pair cabling is comprised of A and A- signals intertwined
together with a speci ed number of turns over a given distance. With
this type of cable, noise that is generated on one signal wire is applied
equally on the paired wire. If a voltage spike occurs on signal A, it is
equally applied on signal A-. Because the di erential receiver subtracts
the signals from each other to get the reconstructed signal, it would
ignore the noise shown equally on both wires. The ability of the
di erential receiver to ignore voltages that are the same on both signal
lines is referred to as common mode rejection. Because of their noise
rejection capabilities, di erential line driver interfaces are commonplace
in industrial and automotive applications.

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Di erential receiver ignores anything common to both signals

By understanding the di erent encoder output types and their

advantages and disadvantages, an engineer can better select the
optimal output type for their application. CUI Devices' AMT encoders are
all o ered with push-pull outputs for low power consumption and ease
of installation. Di erential line driver options are also available in many
models for more demanding applications.

Additional Resources

AMT Modular Encoders

Featured Products

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Energy Conscious Sensing for Mobile Motor Drives

Technical Paper

The Advantages of Capacitive vs Optical Encoders

Technical Paper

Tags:
Motion Rotary Encoders Capacitive Sensing Technology

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Have comments regarding this post or topics that you would like to see us
cover in the future?
Send us an email at cuiinsights@cuidevices.com

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Jason Kelly

Motion Control Design and Applications Engineer

As a design engineer for CUI Devices’ AMT encoders and motion control products, Jason
Kelly works extensively on new encoder designs, including the creation of supporting
accessories, software interfaces, and customer tools. His emphasis on leading
engineering design and practices is clearly shown in CUI Devices’ innovative AMT
encoders as well as in his support of customers in the eld. When he's not designing in
the lab, Jason is busy remodeling his home, working on his truck, and exploring hidden
outdoor gems of the Paci c Northwest with his wife and family.

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