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KY-040 Arduino Rotary Encoder User Manual

The document provides instructions for using a Keyes KY-040 rotary encoder with an Arduino. It explains the basic functioning of the encoder, including how it outputs signals to indicate rotation direction using pins A, B, and C. It also includes the pinouts for the encoder, a sample Arduino sketch to read the encoder position and determine rotation direction, and a circuit diagram for testing the encoder.

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Kim Lin
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Download as PDF, TXT or read online on Scribd
184 views

KY-040 Arduino Rotary Encoder User Manual

The document provides instructions for using a Keyes KY-040 rotary encoder with an Arduino. It explains the basic functioning of the encoder, including how it outputs signals to indicate rotation direction using pins A, B, and C. It also includes the pinouts for the encoder, a sample Arduino sketch to read the encoder position and determine rotation direction, and a circuit diagram for testing the encoder.

Uploaded by

Kim Lin
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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KY-040 Arduino Rotary

Encoder User Manual

Keyes KY-040 Rotary Encoder


The Keyes KY-040 rotary encoder is a rotary input device (as in knob) that provides an
indication of how much the knob has been rotated AND what direction it is rotating in.

It’s a great device for stepper and servo motor control. You could also use it to control
devices like digital potentiometers.

Rotary Encoder Basics


A rotary encoder has a xed number of positions per revolution. These positions are easily
felt as small “clicks” you turn the encoder.

The Keyes module that I have has thirty of these positions.

On one side of the switch there are three pins. They are normally referred
to as A, B and C. In the case of the KY-040, they are oriented as shown.

Inside the encoder there are two switches. Once switch connects pin A
to pin C and the other switch connects pin B to C.

In each encoder position, both switches are either opened or closed.


Each click causes these switches to change states as follows:
If both switches are closed, turning the encoder either clockwise or counterclockwise one
position will cause both switches to open

If both switches are open, turning the encoder either clockwise or counterclockwise one
position will cause both switches to close.

The illustration below is representative of how the switch is constructed.

As you can see, the angular position of the A terminal and the B terminal is such that:

Rotating the switch clockwise wll cause the switch connecting A and C to change states first.

Rotating the switch counterclockwise will cause the switch connecting B and C to change
states first.

If we were to represent the opening an closing of the switches as wave forms, it would look
something like this.
Essentially, determining which switch changed states rst is how the direction of rotation is
determined.

If A changed states first, the switch is rotating in a clockwise direction.

If B changed states first, the switch is rotating in a counter clockwise direction.

KY-040 Pin Outs


The pin outs for this rotary encoder are identified in the illustration below.

The module is designed so that a low is output when the switches are closed and a high
when the switches are open.

The low is generated by placing a ground at Pin C and passing it to the CLK and DT pins
when switches are closed.

The high is generated with a 5V supply input and pullup resistors, such that CLK
This website uses cookies to enhance your experience. By continuing to visit this and DT
are both high when switches are open.

Not previously mentioned is the existence of of push button switch that is integral to the
encoder. If you push on the shaft, a normally open switch will close. The feature is
useful if you want to change switch function. For example, you may wish to have the
ability to between coarse and fine adjustments.

Keyes Rotary Encoder Schematic


A schematic for this module is provided below. R2 and R3 in the schematic are pull up
resistors.
Evaluation Circuit
Successfully implementing the
Rotary Encoder into any project
requires a clear understanding of
everything that has been
discussed thus far. If you’re still a
little fuzzy, you may wish to throw
together the evaluation circuit
illustrated below:

VERY SLOWLY rotate then


encoder shaft both clockwise and
counterclockwise. Notice which
LEDs change state first with
rotation.

KY-040 Arduino Tutorial

Module Connection to the Arduino


Pretty straight forward… All you need to do is connect four wires to the module.
The Arduino Sketch
This is a simple sketch that shows how to count the encoder position and how to determine
direction of rotation. It has no switch debounce, nor does it use interrupts. A fully
developed application might need to incorporate these in order to make it robust.

int pinA = 3; // Connected to CLK on KY-040


int pinB = 4; // Connected to DT on KY-040
int encoderPosCount = 0;
int pinALast;
int aVal;
boolean bCW;

void setup() {
pinMode (pinA,INPUT);
pinMode (pinB,INPUT);
/* Read Pin A
Whatever state it's in will reflect the last position
*/
pinALast = digitalRead(pinA);
Serial.begin (9600);
}

void loop() {
aVal = digitalRead(pinA);
if (aVal != pinALast){ // Means the knob is rotating
// if the knob is rotating, we need to determine direction
// We do that by reading pin B.
if (digitalRead(pinB) != aVal) { // Means pin A Changed first - We're Rotating Clockwise
encoderPosCount ++;
bCW = true;
} else {// Otherwise B changed first and we're moving CCW
bCW = false;
encoderPosCount--;
}
Serial.print ("Rotated: ");
if (bCW){
Serial.println ("clockwise");
}else{
Serial.println("counterclockwise");
}
Serial.print("Encoder Position: ");
Serial.println(encoderPosCount);

}
pinALast = aVal;
}

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