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Incremental Encoder Interface

Incremental rotary encoders generate an output signal each time the shaft rotates a certain angle. The number of
signals (pulses) per turn defines the resolution of the device. The incremental encoder does not output an absolute
position, which makes the internal components of the encoder much simpler and more economical.

Besides position tracking, incremental encoders are often used to determine velocity. The position in relation to the
starting point can be calculated by counting the number of pulses. The velocity can be retrieved by dividing the
number of pulses by the measured time interval.

Basic Principle Incremental Encoder

An incremental encoder has at least 1 output signal “A” or typically 2 output signals, called “A” and “B”. These 2
signals are set up with a 90° offset, which is required for the detection of the encoder’s rotation. By turning the
encoder clockwise, the “A” pulse is rising 90° ahead of the “B” pulse, by turning the shaft counterclockwise, the
“B” pulse is rising ahead of the “A” pulse.

Additionally some incremental encoders output a “Z” signal. Once every rotation, this Z signal is rising for
typically 90°, on the exact same position. This can be used as an accurate reference point.

Some incremental encoders also have additional differential signals, called “/A”, “/B” and “/Z”. These signals are
inverted “A”, “B” and “Z” signals. Controllers can compare each pair (“A” must be equal to inverted “/A”) to
ensure that there is no error during the transmission.

Additionally the transmission sensitivity is improved by transmitting the differential signals through a twisted pair
cable. /
 Typical pulse diagram

Encoder Characteristics
Pulses per revolution (PPR):

An incremental rotary encoder outputs a certain amount of Pulses per Revolution. The higher this PPR number, the
smaller the angle between each pulse. This PPR number is fixed for ordinary incremental encoders. Programmable
incremental encoders can adjust this value to a desired number by a software change.

Output drivers:

Today most incremental encoders have a Push-Pull (HTL) or RS422 (TTL) output driver, these have replaced most
of the older output circuits like Open Collector NPN, Open Collector PNP, Voltage Output.

A) Push-Pull (HTL)

Push-Pull (HTL) circuits, also known as Totem Pole, provide a signal level which corresponds to the applied
supply voltage. The supply voltage typically ranges from 8 to 30 VDC.

/
With proper connections you can use the Push Pull interface to replace true open collector circuits by using an
external diode connected in a way to limit the direction of the current for

B) RS422 (TTL)

RS422 (TTL) circuits provide a constant 5 V signal level that is not dependent on the supply voltage. Two supply
voltage ranges can be selected: From 4.75 to 5.5 VDC (can be used to replace open collector output drivers) or
from 8 to 30 VDC. Using differential signals the output fully complies to the RS422 standard.

The differential outputs have the highest frequency response capability and the best noise immunity. To ensure this
the receiver should also be a differential.

Replacement of Older Output Drivers

1) PNP open collector replacement (Current source)

/
2) NPN open collector replacement (Current Sink)

Programmable Incremental Encoder

/
Non programmable incremental encoders can only be configured at the factory to the customer’s specs. However, if
application requirements change, with programmable incremental encoder it is very simple to adjust some key
characteristics. By changing certain parameters in the software with the help of an external configuration tool
(UBIFAST Configuration Tool), customers can modify the

Incremental output driver – set the output driver to Push-Pull (HTL) or RS422 (TTL)
Pulses per revolution – program the PPR to a defined value
Incremental pulse direction – choose “A before B“ or “B before A“

Device programmability is very significant for distributors, system integrators or machine builders since it helps
them reduce inventories. Now, they can hold a relatively small stock of ‘standard’ models and set them up for
specific applications on an as-needed basis.

Specifications
Voltage Output Levels:

A logic gate interprets certain input voltages as high (logic 1) or low (logic 0).
TTL (transistor-transistor-logic): A signal above 2 V is interpreted as logic 1 and a signal less than 0.8 V is
interpreted as logic 0. The output voltage ranges between 0-5 V.
HTL (high-threshold-logic): A signal above 3 V is a logic 1 and a signal less than 1 V is a logic 0. The high output
signal level is dependent from the supply voltage. Because of the higher voltage difference between logic 0 and 1,
the HTL logic is more immune to interference and more resistant against electrical noise.

Logic Signal Level Supply Voltage Output Voltage

HTL High 4.75-9 V min 3 V

Electrical and Mechanical Degree:

Mechanical degree is the actual rotation of the shaft in degrees. Electrical degree is used for electrical signals. The
required time for completing one alternating voltage/current cycle is defined as 360 electrical degrees (el°). For
incremental encoders, one cycle is equal to one complete pulse. With a given PPR the electrical degree can be
converted to mechanical degree for any incremental encoder.

Quadrature:

Every 90 el° the incremental encoder outputs a rising or falling edge on the “A” or “B” output that can be
interpreted as a count. If an encoder outputs 1000 PPR, a counter can interpret 4000 counts (4 counts each pulse).

Phase Angle:

The phase angle states the length between 2 edges, given in el°. This parameter is typically specified with a defined
constant phase angle value and phase angle error (also called quadrature error).

/
Accuracy (DNL):

The DNL accuracy is the phase angle error as an absolute value given in (mechanical) degrees.

Accuracy (INL):

An incremental encoder outputs a defined amount of pulses per revolution, so that every pulse is expected to be on
a defined mechanical position. The maximum deviation between this ideal position and the actual position is called
integral non linearity (INL). The INL accuracy is an important value if the incremental encoder is used for
positioning tasks.

Duty Cycle:

The duty cycle describes the ratio between “high” time to “low” time of an incremental encoder. Typically this
ratio is 50/50, which is equivalent to 180 el° high and 180 el° low.
The performance of magnetic incremental encoders increases with higher PPR settings and higher rotation speeds
(RPM). This is in contrast to optical encoders where the performance decreases. The DNL and INL accuracy that
are stated in our datasheets are worst case values, a better performance can be expected for higher PPR and RPM.

Frequency Response:

This is the maximum frequency that the encoder is able to output via the output lines. For example, the frequency
of a 200 PPR encoder that rotates at 600 RPM is 2000 Hz (200*600/60s).

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