Encoder Resolution
Encoder resolution is the number of
measuring segments or units in one revolution of an encoder shaft or 1 in/mm of
a linear scale. Encoder resolution is commonly measured in pulses per
revolution (PPR) for incremental encoders and bits for absolute encoders.
An encoder pulse refers to the smallest segment of a given physical quantity
that the encoder can measure or display. In other words, it is the granularity
with which the encoder can monitor the equipment. On an optical encoder code
disk, the more densely scribed the pattern, the higher the resolution.
Rotary encoders are available with resolution of up to 10,000 pulses per
revolution (PPR) directly and 40,000 PPR via interpolation. Linear scales offer
resolutions on the order of microns.
A common misunderstanding regarding encoders is to assume that a higher
resolution improves the accuracy of the system as a whole. It is important to
note that increasing resolution will not compensate for the latter type of error
(see figure 1). Adding more pulses per revolution may improve the ability of the
encoder to report position but if there is a systemic error, higher resolution will
not correct it.
The two examples above have the exact same resolution (24 counts) but
dramatically different accuracy. This is an example of how high resolution
cannot improve accuracy.
Understanding the encoder resolution
1st May 2019
CUI Devices
Lanna Deamer
0 0
An incremental rotary encoder can be used to measure rotational
direction, speed and angular displacement. The encoder generates two
output channels as it rotates, A and B. Each output is a square wave, and
in a quadrature encoder, the two outputs are 90° out of phase.
By Jason Kelly, Motion Control Design and Applications Engineer, CUI
Devices
The relationship between the two phases enables the direction of rotation to be
determined, as figure 1 shows. Some encoders also generate an index pulse at
one or more positions in each revolution, which can be used to indicate a
specific location.
Figure 1. The phase relationship between channels A and B indicates the
direction of rotation.
To calculate the rotational speed and angular displacement, the encoder’s
resolution must be known. The resolution expresses the number of mechanical
degrees the encoder turns between each pulse of the square wave (figure 2).
When this is known, the pulse rate indicates the rotational speed, while the
pulse count between a start and end point indicates the number of degrees
turned.
Figure 2. An encoder of higher resolution can measure smaller increments of
angular displacement.
Encoder resolution can be expressed in several ways, such as Pulses Per
Revolution (PPR), Counts Per Revolution (CPR) or Lines Per Revolution (LPR).
Other commonly used terms include Periods Per Revolution and Cycles Per
Revolution. Each expresses the encoder’s granularity, although there are subtle
differences that can leave room for confusion, so users need to understand the
appropriate meaning to interpret the encoder outputs correctly.
CUI Devices always uses the term PPR to describe Pulses Per Revolution for
its range of modular and panel-mount incremental encoders. These are
available with resolutions ranging from 10 PPR to 4096 PPR, which describes
the number of high pulses the encoder will generate on either of its square-
wave outputs.
In practice, encoder resolution expressed as periods, cycles or lines per
revolution would give the same number. However, if a manufacturer expresses
the resolution in terms of CPR, it is important to find out whether the meaning is
Cycles Per Revolution or Counts Per Revolution because the difference is
significant.
The channels A and B create a 2-bit output that has four possible states, as
shown previously in figure 1. Hence there are four counts in each complete
cycle, so that CPR - meaning Counts Per Revolution - is four times the PPR,
whereas Cycles Per Revolution is equivalent to PPR. Figure 3 compares the
terms.
Figure 3. There are four times as many Counts Per Revolution as pulses,
cycles or lines.
Therefore, if the manufacturer’s datasheet states the resolution in terms of
CPR, the user needs to understand whether this refers to Counts Per
Revolution or Cycles Per Revolution. The two terms differ by a factor of four,
which would certainly cause errors in speed and displacement measurements.
Getting the datasheet figures into the same format is important when comparing
encoders from different manufacturers. This can be done by inspecting the
waveforms or timing diagrams for each product. Calculating the pulse interval in
degrees or arcminutes provides a reliable reference for comparison.
Our Encoder Product Spotlight provides more guidance about understanding
and using incremental encoders.
