DIGITAL ENCODER OUTPUTS

An encoder is an electro-mechanical device that translates mechanical motion into

electrical signals. There are two major types of encoders, linear encoders and rotary
encoders. Linear encoders have a read head and track. The read head will slide along the
track with a predetermined scale. This will produce an output for distance traveled
typically in pulses per inch (PPI). A rotary encoder converts the angular movement of a
rotational device and will have an output for rotation about the fixed axis typically in
counts per revolution (CPR). Figure 1 shows two typical motion feedback systems where
rotary encoders are used.
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Within linear or rotary encoders there are two basic types of electrical output formats;

WP-2000:incremental
address
or absolute. Absolute encoders have a unique digitally coded output or
Selecting Digital
for every distinct positionEncoder Outputs
of the encoder. Incremental encoders will output a
count or pulse at periodic predetermined intervals. Rotary incremental encoders are the
most commonly used encoder. We will focus on rotary incremental encoders for this
discussion.

Encoder - A Definition
There are two important
considerations when
An encoder is an electro-mechanical device that translates
selecting the outputs of an
mechanical motion into electrical signals. There are two
encoder. The first is the
major types of encoders: linear encoders and rotary
number of output channels.
encoders.
The second is the electrical
output characteristics of the
Linear encoders have a read head and track. The read head
encoder channels. In order
will slide along the track
to makewith athis
predetermined scale. This
determination
will produce an output
is isforvery
distance traveled typically
important to in
pulses per inch (PPI).understand the requirements
of the receiving device.
A rotary encoder converts the angular
Receiving movement
devices mayof a
rotational device andconsist
will haveofanPLC’s,
output formotion
rotation about
the fixed axis, typically in cycles per high
controllers, revolution (CPR). Figure
speed
1 shows two typicalcounters,
motion feedbackor any other rotary signals
systems where Figure 1. Figure
Two1.types of of
Two types feedback systems.
feedback systems. Closed
Closed-loop loopisfeedback
feedback is where
where the encoder signalsthe encoder
control the
control the motor without anyloopuser inputs. Open loop feedback is awhere thetheencoder
encoders are used. device designed to accept motor without any user inputs. Open feedback is where the encoder
signal runs to a display and the uses adjust the motor to fit a desired output.
signal runs to display and
user adjusts the motor to fit a desired output.
encoder inputs. Some
receiving devices have selectable inputs which will provide more flexibility in selecting
the appropriate encoder.
Encoder Types
Digital incremental encoders have three basic choices for
Within linear or rotary
theencoders,
number there
of are two basic types
channels: single of electrical
channeloutput formats:
(figure 2), incremental
two or absolute. Absolute encoders have a
channels
unique digitally coded output, orinaddress,
quadrature
for everyoften
distinctreferred
position oftotheasencoder.
a quadrature
Incremental encoders will output a count or pulse at periodic
encoder (figure 3), and quadrature with an index channel
predetermined intervals. Figure 2. Single channel encoder output.
(figure 4). A single channel has a single “A” channel that
Rotary incremental will
encoders are thea most
output commonlyof
set number used encoder.
pulses perWerevolution.
will focus on rotary
Theincremental encodersencoder
single channel for this discussion.
will give
There are two important considerations when selecting the outputs of an encoder. The first is the number of output channels. The second is the
electrical output characteristics of the encoder channels. In order to make this determination, it is very important to understand the requirements
of the receiving device.
Receiving devices may consist of PLCs, motion controllers, high speed counters, or any other device designed to accept encoder inputs. Some
receiving devices have selectable inputs, which will provide more flexibility in selecting the appropriate encoder.

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 white paper
back systems. Closed loop feedback is where the encoder
hout any user inputs. Open loop feedback is where the encoder
he uses adjust the motor to fit a desired output.
WP-2000: Selecting Digital Encoder Outputs
rovide more flexibility in selecting
Figure 1. Two types of feedback systems. Closed loop feedback is where the encoder
signals control the motor without any user inputs. Open loop feedback is where the encoder
signal runs to a display and the uses adjust the motor to fit a desired output.
s for
o
Output Channels
ure Rotary incremental encoders have three basic choices for the number of channels:
nnel
edback systems. Figure
Closed
Figure
l thatany user
2. loop
2. SingleSingle channel
encoderisencoder
feedback
channel output.
where the
output. encoder • Single channel (Figure 2)
without inputs. Open loop feedback is where the encoder
he
d thesingle channel
uses adjust the motor encoder willoutput.
to fit a desired give • Two channels in quadrature, often referred to as a quadrature encoder (Figure 3)
• Quadrature with anFigure
index2.channel
Single (Figure 4)
channel encoder output.

Single Channel (Figure 2)

A single channel has a single “A” channel that will output a set number of pulses per revolution. The
single channel encoder will give feedback that can determine rate, velocity, or acceleration. A single
Figure3. 2.Quadrature
Single
channel encoder cannot give directional feedback and is therefore limited from many bi-directional
Figure
Figure 3. Quadrature encoderchannel
and encoder
encoder output.
andcounting.
quadrature
quadrature counting. applications.
Quadrature (Figure 3)
A quadrature encoder has two channels, typically referred to as channel A and channel B. Each
Figure 4. Quadrature encoder with an index
channel of the quadrature
channel. encoder will have the same number of pulses per revolution offset by
90º electrical. A standard Accu-Coder™ encoder will have channel “A” lead channel “B” for clockwise
shaft rotation. This quadrature relationship provides directional information to the receiving device.
Many receiving devices also have the capability of using a quadrature encoder’s signals to perform
Figure
Figure 4. Quadrature
4. Quadrature encoderencoder withchannel.
with an index an index edge counting to increase the resolution two or four times, sometimes called quadrature counting.
channel.
This can increase the effective system resolution by up to four times.
Quadrature with Index (Figure 4)
The index or “Z” channel of an encoder happens once per revolution of the encoder. The index is also sometimes called a reference, marker, or
homing pulse. One common function of the index is as a home position
Figure locator. Every
5. Differential time the index is triggered, the receiving device knows where
outputs.
the encoder is within its rotation. The index is normally 180º electrical and gated to either channel A or channel B. In addition to standard gating,
Accu-Coder™ encoders have other gating options that a customer can order based on the customer’s special needs.
Some rotary incremental encoders have additional auxiliary channels for motor commutation. Encoder commutation channels can replace Hall
Figure 5. Differential outputs.
Effect sensors in a brushless DC motor for motor control and timing. The pole count of the encoder commutation tracks needs to match the motor
pole count. Encoder commutation for DC motors is more accurate and repeatable than using Hall Effect sensors. The typical encoder commutation
accuracy is ±1º mechanical. The higher accuracy commutation outputs will allow the motor to run more efficiently.
After selecting the correct number of channels for an encoder, the next task is selecting the electrical output type of the encoder channels. There are
multiple output types to choose from, each with its own advantages and disadvantages. The four most common output types are: differential line
driver, push-pull, open collector, and pull-up.

Electrical Output
There are four major types of electrical output:
The first output type is differential line driver. With differential signals, there will be two connections for each channel (Figure 5). It provides
differential output, or complementary signals for noise immunity. Noise immunity is obtained by what is called “common mode rejection,” which
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 Figure 2. Single channel encoder output.

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WP-2000: Selecting Digital Encoder Outputs
Figure 3. Quadrature encoder and
quadrature counting.
occurs when noise is present on a differential pair, and the differential receiver cancels the noise. Differential line driver is the preferred output type
for longer encoder cable lengths because of the inherent noise immunity. Differential line driver also meets RS-422 standards when operated at 5
VDC. An encoder should have differential line drive outputs when the receiving device is set up to receive differential signals. Some Accu-Coder™
Figure
encoders also have a 5 VDC regulated differential line driver output. This will take a higher input voltage 4. Quadrature
and regulate the outputencoder
to 5 VDC.with an index
channel.
The second output type is push-pull. Push-pull is sometimes referred to as
a “totem-pole” type of output circuit. This is a combination of sinking and
sourcing outputs. When the output is in logic state high, current will source to
the receiving device load. When the output is in logic state low, current will
sink from the load.
Push-pull does not have the noise immunity that is inherent in a differential
line driver. When the output is high, the noise on the DC power supply (ripple,
voltage, spikes, etc.) may show up on the output of the encoder. A push-pull
output type can replace a PNP transistor output in some applications. Some
encoders have a 5 volt regulated push-pull output, so the encoder will have a
5 volt signal when the supply voltage to the encoder is higher than 5 volts. Figure
Figure 5. Differential outputs. 5. Differential outputs.
The third output type is NPN open collector. NPN open collector is a current
sinking output type and requires a pull-up resistor external to the encoder. Typically, the pull-up resistor is built into the receiving device.
Open collector is useful for doing what is called level shifting. Level shifting occurs when the encoder is pulled up externally to a different voltage
level. For example, the encoder can be powered with 5 volts, and the output can be pulled up to a 24 VDC level. Encoder Products Company offers
an open collector differential output on some encoder models. This is an open collector output with the complimentary channels similar to a line
driver.
NOTE: NPN open collector is not the same as a PNP output. A PNP output requires a pull down resistor and is a current sourcing type output. PNP
outputs are seldom used in encoders.
The fourth output type is pull-up. It is the same as the open collector, but, as the name implies, it contains the pull-up resistor internal to the
encoder. This is useful for customers who do not need the level shifting capabilities of an open collector and do not want to add external pull-up
resistors to the feedback system. Common values for the internal pull-up resistor in an EPC Accu-Coder™ encoder are between 1.5k and 2.2k.

Conclusion
Choosing the correct number of channels and the correct output type for an encoder can be the determining factor in whether or not a feedback
system will function properly. This is one of the most common problems customers have when selecting encoders. Remember: it is the receiving
device that determines the correct configuration of the encoder’s outputs. If the encoder configuration is in question, call Encoder Products
Company’s technical service for assistance.
If you still have questions about output, or anything else encoder-related, give us a call. When you contact EPC, you talk to real engineers and
encoder experts who can answer your toughest encoder questions. Contact EPC today to get the information you need.

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