Incremental Encoder Signals
Incremental encoders are used on servo motors as feedback
devices to determine position and direction. Motor controllers
can also use the position information from the encoder to
calculate velocity for speed control.
The incremental encoder is a critical component that
provides important data necessary for the automatic control
of a variety of motion systems, from autonomous vehicles to
vending machines.
Incremental Encoder Operation
CW Rotation CCW Rotation
A two-channel incremental encoder consists of two output signals
typically denoted as channels A and B. They are called quadrature A A
signals because there is 90 electrical degrees of phase displace-
ment between the two signals. See Figure 1. B B
A leads B B leads A
1 Cycle Figure 2: Encoder waveforms indicating a change in direction.
1/2 Cycle
Channel A and B signals are also used to determine position.
When counting in quadrature, an electronic counter will count each
A
AMPLITUDE
signal transition, low to high and high to low, of both channels. This
produces four counts for each electrical cycle. Thus, the counts
per revolution are four times the encoder’s base resolution given in
cycles per revolution which is sometimes referred to as number of
B lines for an optical encoder. See Figure 3.
1/4 Cycle = 90 electrical degrees 1 3
A
ROTATION
2 4
Figure 1: Two-channel incremental encoder waveform.
B
Designers can use this phase relationship to determine direction. 1 Cycle
In one direction of rotation, signal channel A transitions from low
to high before channel B, that is, channel A leads channel B. In Figure 3: Quadrature counting of encoder signals.
the opposite direction, channel B leads channel A. The direction of
A three-channel incremental encoder consists of the channel A
rotation for servo motors with encoders is observed by facing the
and B output signals and a reference output signal denoted as the
shaft extension at the motor mounting end. See Figure 2.
Index. The Index signal produces a single pulse per revolution at
a unique position. The Index pulse may be gated or ungated. The
ungated Index pulse edges are not necessarily coincident with
channel A and B signals. The gated Index pulse will be coincident cable lengths. These outputs
with a high or low state of either or both channels. A gated Index are complementary signal pairs, A
pulse coincident with /A & /B is typical. See Figure 4. when one signal is high; the
other signal is low as shown /A
in Figure 6. Each differential
output requires two wires;
A typically twisted pairs are used
B
for increased noise immunity. /B
Differential line drivers have low
B impedance which makes them Index
noise immune. They should be
connected to high impedance /Index
differential line receivers for
common mode noise rejection. Figure 6: Differential line driver encoder
ungated The complementary outputs waveform.
1 Cycle
index are processed by the differen-
tial line receiver circuit so that the required signal can be recon-
stituted without noise or distortion as shown in Figure 7. These
benefits have an associated incremental cost for the differential
line driver circuits and the additional wiring required.
gated with /A & /B 1/4 Cycle
index Encoder Controller
Differential Line Driver Noise Differential Line Receiver
Figure 4: Three-channel incremental encoder waveform with a comparison of A A
ungated and gated forms of index signals.
/A /A
The Index signal is typically used to identify a center position,
home position, reset point or zero reference. It is often used in Differential Line Driver Distortion Differential Line Receiver
combination with some type of proximity sensor which provides a A A
course home position. The next occurring index pulse is used to
zero the position count. /A /A
All three encoder outputs, channels A and B and Index, may be
supplied as single ended or differential signals. A single ended Figure 7: Differential line driver signal conditioning.
output is referenced to the common signal (GND) of the encoder
Single Ended Encoder Connections
power supply. As such it requires
only one wire per output in addi-
tion to the power supply leads as
Channel A
shown in Figure 5. Single ended
encoder outputs are typically TTL
Channel B
compatible. They should be used
with short lead lengths to minimize
Index
signal degradation and electrical
noise problems. The single ended
Vcc
output encoder, when used within
GND its limitations, can be a cost effec- This technical article was prepared by the engineering team at
tive solution for OEM’s. Haydon Kerk Pittman Motion Solutions, a leader in motion tech-
Figure 5: Connector pin-out for a Differential line driver encoder nologies. Complex custom and ready-to-ship standard lead screw
three-channel encoder with single outputs are more immune to assemblies are made at USA facilities with a full range
ended outputs. of onsite capabilities including designing, engineering and
electrical noise than single ended
signals and can travel over long manufacturing.
USA: +1 267 933 2105 EUROPE: +33 2 40 92 87 51 ASIA: +86 519 85123096 • www.haydonkerkpittman.com
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©AMETEK, Inc. All rights reserved. Not responsible for any typographic errors. Specifications subject to change. MCM2018_022A_10 2018
