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[[Category:Sensors]]
__NOTOC__

[[image:encoder disk.jpg|200px]]

A digital optical encoder is a device that converts
motion into a sequence of digital pulses. By counting a single
bit or by decoding a set of bits, the pulses can be converted to
relative or absolute position measurements. Encoders have both
linear and rotary configurations, but the most common type is
rotary. Rotary encoders are manufactured in two basic forms: 1) the
absolute encoder where a unique digital word corresponds to each
rotational position of the shaft, and 2) the incremental encoder,
which produces digital pulses as the shaft rotates, allowing
measurement of relative position of shaft. Most rotary encoders
are composed of a glass or plastic slotted disk. As
radial lines in each track interrupt the beam between a
photoemitter-detector pair (or [[Optointerrupter]]), digital pulses are produced.  Below is a figure of an encoder with a spinning codewheel and a stationary mask.  This stationary mask is usually not used.

<br clear="all">

[[image:encoder diagram.png|center]]

<h4>Absolute encoder</h4>

The optical disk of the absolute encoder is designed to
produce a digital word that distinguishes N distinct positions of
the shaft. For example, if there are 8 tracks, the encoder is
capable of producing 256 distinct positions or an angular
resolution of 1.406 (360/256) degrees. The most common types of
numerical encoding used in the absolute encoder are gray and
binary codes. To illustrate the acion of an absolute encoder, the
gray code and natural binary code dsisk track patterns for a
simple 4-track (4-bit) encoder are illustrated in Fig 2 and 3.
The linear patterns and associated timing diagrams are what the
photodetectors sense as the code disk circular tracks rotate with
the shaft. The output bit codes for both coding schemes are
listed in Table 1.

{|
|+
|[[image:gray.jpg|300px]]||[[image:binary.jpg|300px]]
|}



<table border="1" width="37%">
<tr>
<td width="19%">
<p><font size="-1"><b>Decimal code</b></font></p>
</td>
<td width="37%">
<p><font size="-1"><b>Rotation range (deg.)</b></font></p>
</td>
<td width="22%">
<p><font size="-1"><b>Binary code</b></font></p>
</td>
<td width="22%">
<p><font size="-1"><b>Gray code</b></font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">0</font></p>
</td>
<td width="37%">
<p><font size="-1">0-22.5</font></p>
</td>
<td width="22%">
<p><font size="-1">0000</font></p>
</td>
<td width="22%">
<p><font size="-1">0000</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">1</font></p>
</td>
<td width="37%">
<p><font size="-1">22.5-45</font></p>
</td>
<td width="22%">
<p><font size="-1">0001</font></p>
</td>
<td width="22%">
<p><font size="-1">0001</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">2</font></p>
</td>
<td width="37%">
<p><font size="-1">45-67.5</font></p>
</td>
<td width="22%">
<p><font size="-1">0010</font></p>
</td>
<td width="22%">
<p><font size="-1">0011</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">3</font></p>
</td>
<td width="37%">
<p><font size="-1">67.5-90</font></p>
</td>
<td width="22%">
<p><font size="-1">0011</font></p>
</td>
<td width="22%">
<p><font size="-1">0010</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">4</font></p>
</td>
<td width="37%">
<p><font size="-1">90-112.5</font></p>
</td>
<td width="22%">
<p><font size="-1">0100</font></p>
</td>
<td width="22%">
<p><font size="-1">0110</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">5</font></p>
</td>
<td width="37%">
<p><font size="-1">112.5-135</font></p>
</td>
<td width="22%">
<p><font size="-1">0101</font></p>
</td>
<td width="22%">
<p><font size="-1">0111</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">6</font></p>
</td>
<td width="37%">
<p><font size="-1">135-157.5</font></p>
</td>
<td width="22%">
<p><font size="-1">0110</font></p>
</td>
<td width="22%">
<p><font size="-1">0101</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">7</font></p>
</td>
<td width="37%">
<p><font size="-1">15.75-180</font></p>
</td>
<td width="22%">
<p><font size="-1">0111</font></p>
</td>
<td width="22%">
<p><font size="-1">0100</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">8</font></p>
</td>
<td width="37%">
<p><font size="-1">180-202.5</font></p>
</td>
<td width="22%">
<p><font size="-1">1000</font></p>
</td>
<td width="22%">
<p><font size="-1">1100</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">9</font></p>
</td>
<td width="37%">
<p><font size="-1">202.5-225</font></p>
</td>
<td width="22%">
<p><font size="-1">1001</font></p>
</td>
<td width="22%">
<p><font size="-1">1101</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">10</font></p>
</td>
<td width="37%">
<p><font size="-1">225-247.5</font></p>
</td>
<td width="22%">
<p><font size="-1">1010</font></p>
</td>
<td width="22%">
<p><font size="-1">1111</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">11</font></p>
</td>
<td width="37%">
<p><font size="-1">247.5-270</font></p>
</td>
<td width="22%">
<p><font size="-1">1011</font></p>
</td>
<td width="22%">
<p><font size="-1">1110</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">12</font></p>
</td>
<td width="37%">
<p><font size="-1">270-292.5</font></p>
</td>
<td width="22%">
<p><font size="-1">1100</font></p>
</td>
<td width="22%">
<p><font size="-1">1010</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">13</font></p>
</td>
<td width="37%">
<p><font size="-1">292.5-315</font></p>
</td>
<td width="22%">
<p><font size="-1">1101</font></p>
</td>
<td width="22%">
<p><font size="-1">1011</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">14</font></p>
</td>
<td width="37%">
<p><font size="-1">315-337.5</font></p>
</td>
<td width="22%">
<p><font size="-1">1110</font></p>
</td>
<td width="22%">
<p><font size="-1">1001</font></p>
</td>
</tr>
<tr>
<td width="19%">
<p><font size="-1">15</font></p>
</td>
<td width="37%">
<p><font size="-1">337.5-360</font></p>
</td>
<td width="22%">
<p><font size="-1">1111</font></p>
</td>
<td width="22%">
<p><font size="-1">1000</font></p>
</td>
</tr>
</table><br/>
Table 1. 4-Bit gray and natural binary codes
<br clear="all"/>
 
[[image:conv.jpg|395px|right|frame|Fig 4. Gray code to binary code conversion]]

The gray code is designed so that only one track (one bit)
will change state for each count transition, unlike the binary
code where multiple tracks (bits) change at certain count
transitions. This effect can be seen clearly in Table 1. For the
gray code, the uncertainty during a transition is only one count,
unlike with the binary code, where the uncertainty could be
multiple counts.

Since the gray code provides data with the least uncertainty
but the natural binary code is the preferred choice for direct
interface to computers and other digital devices, a circuit to
convert from gray to binary code is desirable. Figure 4 shows a
simple circuit that utilizes exclusive OR gates (XOR) to perform
this function.For a gray code to binary code conversion of any
number of bits N, the most signficant bits (MSB) of the binary
and gray code are always identical, and for each other bit, the
binary bit is the exlcusive OR (XOR) combination of adjacent gray
code bits.

<h4>Incremental encoder</h4>

[[image:increment.jpg|352px|right]]

The incremental encoder, sometimes called a relative
encoder, is simpler in design than the absolute encoder. It
consists of two tracks and two sensors whose outputs are called
channels A and B. As the shaft rotates, pulse trains occur on
these channels at a frequency proportional to the shaft speed,
and the phase relationship between the signals yields the
direction of rotation. The code disk pattern and output signals A
and B are illustrated in Figure 5. By counting the number of
pulses and knowing the resolution of the disk, the angular motion
can be measured. The A and B channels are used to determine the
direction of rotation by assessing which channels "leads" the
other. The signals from the two channels are a 1/4 cycle out of
phase with each other and are known as quadrature signals. Often
a third output channel, called INDEX, yields one pulse per
revolution, which is useful in counting full revolutions. It is
also useful as a reference to define a home base or zero
position.

Figure 5 illustrates two separate tracks for the A and B
channels, but a more common configuration uses a single track
with the A and B sensors offset a 1/4 cycle on the track to yield
the same signal pattern. A single-track code disk is simpler and
cheaper to manufacture.

The quadrature signals A and B can be decoded to yield the
direction of rotation as hown in Figure 6. Decoding transitions
of A and B by using sequential logic circuits in different ways
can provide three different resolutions of the output pulses: 1X,
2X, 4X. 1X resolution only provides a single pulse for each cycle
in one of the signals A or B, 4X resolution provides a pulse at
every edge transition in the two signals A and B providing four
times the 1X resolution. The direction of rotation(clockwise or
counter-clockwise) is determined by the level of one signal
during an edge transition of the second signal. For example, in
the 1X mode, A=<math>\downarrow</math> with B =1 implies a clockwise pulse, and B=<math>\downarrow</math> with A=1 implies a
counter-clockwise pulse. If we only had a single output channel A
or B, it would be impossible to determine the direction of
rotation. Furthermore, shaft jitter around an edge transition in
the single signal would result in erroneous pulses.

[[image:quadrature.jpg|500px]]

[[image:encoder parts.png|center]]

<h4>Connecting an Encoder to the PC/104 Stack</h4>

To connect an encoder to the PC/104 stack, you will have to create a suitable ribbon cable connector.  The connector that came with the encoder will most likely not match the correct pinout to attach.  Consult the [[PC104 I/O]] page to see how to connect the encoder.

==Datasheets==
Datasheet for the Maxon Tacho 103935 encoder: [[Media:maxon_tacho_103935_encoder.pdf]]

==References==
Introduction to Mechatronics and Measurement Systems, Histand &amp; Alciatore, 1999 McGraw Hill