Technical Explanation for Rotary Encoders

CSM_Rotary_TG_E_7_2

Introduction
What Is a Rotary Encoder?

Sensors
Rotary Encoders are sensors that detect position and speed by converting rotational mechanical displacements into electrical
signals and processing those signals. Sensors that detect mechanical displacement for straight lines are referred to as Linear
Encoders.

Features

Switches
1. The output is controlled according to the rotational
displacement of the shaft.
Linking to the shaft using a coupling enables direct

Safety Components
detection of rotational displacement.

2. Returning to the origin is not required at startup for

Absolute Encoders.
With an Absolute Encoder, the rotational angle is output in
parallel as an absolute value. (Refer to Operating
Principles on page 2.)

Relays
3. The rotation direction can also be detected.
The rotation direction is determined by the output timing of
phases A and B with an Incremental Encoder, and by the
code increase or decrease with an Absolute Encoder.

Control Components
(Refer to Operating Principles on page 2.)

4. Choose the optimal Sensor from a wide lineup of

resolutions and output types.
Select the Sensor to match the requirements for precision,
cost, and connected circuits.

Automation Systems
Motion / Drives
Energy Conservation Support /
Environment Measure Equipment
Power Supplies /
In Addition
Others
Common

1
 Technical Explanation for Rotary Encoders

Operating Principles

Sensors
Item
Features Structure Output waveform
Classification
• This type of encoder outputs a
pulse string in response to the
amount of rotational displacement
of the shaft. A separate counter
counts the number of output pulses

Switches
to determine the amount of rotation
based on the count.
• To detect the amount of rotation Detector Phase A slitPhase B slit
element
from a certain input shaft position,
the count in the counter is reset at

Safety Components
the reference position and the Emission
element
Incremental number of pulses from that position Shaft
Phase Z Phase difference: 90°
Encoders is added cumulatively by the signal slit
counter. For this reason, the Rotor Phase A
E6A2-C reference position can be selected plate (disk) Phase B *
E6B2-C as desired, and the count for the
amount of rotation can be When a disk with an optical pattern Phase Z
E6C2-C revolves along with the shaft, light Origin
E6C3-C unlimited. 1 pitch 360° electrical angle
Another important feature is that a passing through two slits is
E6D-C transmitted or blocked accordingly.
* Even if resolution changes, the
circuit can be added to generate

Relays
E6F-C The light is converted to electrical
number of phases does not
E6H-C twice or four times the number of change.
pulses for one signal period, for currents in the detector elements,
heightened electrical resolution.* which correspond to each slit, and is
Also, the phase-Z signal, which is output as two square waves.
generated once a revolution, can The two slits are positioned so that the

Control Components
be used as the origin within a phase difference between the square
revolution. wave outputs is 1/4 pitch.
* When high resolution is necessary,
a 4-multiplier circuit is generally used.
(4x output is obtained by differentiating
the rise and fall waveforms of phase A
and phase B, resulting in four times the

Automation Systems
resolution.)
• This type of encoder outputs in
parallel the rotation angle as an
absolute value in 2n code.
It therefore has one output for each
output code bit, and as the
resolution increases, the value of
outputs increases. Rotation Emission

Motion / Drives
position detection is accomplished Detector Slits elements
by directly reading the output code. element
• When the Encoder is incorporated
into a machine, the zero position of
the input revolution shaft is fixed, 23
Absolute Encoders Shaft
and the rotation angle is always 22

Energy Conservation Support /

Environment Measure Equipment
output as a digital value with the Depends on
E6CP-A Rotor plate (disk) 21 the resolution.
zero position as the coordinate
E6C3-A
origin. When a disk with a pattern rotates, 20
E6F-A
Data is never corrupted by noise, light passing through the slits is 1 pitch
and returning to the zero position at transmitted or blocked according to
startup is not necessary. the pattern. The received light is
Furthermore, even when code converted to electrical currents in the
reading becomes impossible due detector elements, takes the form of
to high-speed rotation, correct data
Power Supplies /

waves, and becomes digital signals.

In Addition

can be read when the rotation

speed slows, and correct rotation
data can even be read when the
power is restored after a power
failure or other interruption in the
power supply.
Others
Common

2
 Technical Explanation for Rotary Encoders

Classification

Sensors
For details, refer to Operating Principles on page 2.
Selection Guidelines

1 Incremental Encoder or Absolute Encoder? 6 Maximum Response Frequency

Select a type that is suitable in terms of the cost vs. Base your selection on the maximum shaft speed when the
capacity, returning (or not) to the origin at startup, the device in which the Encoder is used is in operation.

Switches
maximum speed, and noise tolerance. Maximum response frequency = (Revolutions (RPM) /60) x
Resolution.
2 How much resolution is needed?
There are deviations in the actual signal periods, so the
Select the optimal model in view of required precision and specifications of the selected model should provide a certain
cost of machine equipment. We recommend selecting a amount of leeway with respect to the above calculated value.

Safety Components
resolution of from 1/2 to 1/4 of the precision of the machine
with which the Encoder will be used. 7 Degree of Protection
Select the model based on how much dust, water, and oil there
3 Dimensions
is in the application environment.
Also take into consideration the type of shaft that is required • Dust only: IP50
(hollow shaft or regular shaft) in relation to mounting space. • Water or oil also present: IP52(f), IP64(f) (water-resistant,
oilresistant)
4 Permitted Shaft Loading

Relays
• Oil present: Oil-proof construction
When selecting, take into consideration how the mounting
method affects the load on the shaft and mechanical life. 8 Startup Torque of Shaft
How much torque does the drive have?
5 Maximum Permissible Speed

Control Components
Base your selection on the maximum mechanical speed 9 Output Circuit Type
during use. Select the circuit type based on the device to be connected,
the frequency of the signal, transmission distance, and
noise environment.
For long distance transmission, a line-driver output is
recommended.

Automation Systems
Motion / Drives
Energy Conservation Support /
Environment Measure Equipment
Power Supplies /
In Addition
Others
Common

3
 Technical Explanation for Rotary Encoders

Explanation of Terms
Resolution Output Circuit
The pulse count of an incremental signal output when the shaft 1. Open-collector Output

Sensors
revolves once, or the absolute address count. An output circuit where the emitter of the output circuit
transistor is the common and the collector is open.
Output Phase
2. Voltage Output
The output signal count for an Incremental Encoder. There
An output circuit where the emitter of the output circuit
are 1- phase models (phase A), 2-phase models (phase A,
transistor is the common and a resistor is inserted between
phase B), and 3- phase models (phase A, phase B, and phase
the collector and the power supply to convert the output

Switches
Z). The phase Z is an origin signal that is output once a
from the collector to a voltage.
revolution.
3. Line-driver Output
Output Phase Difference An output method that uses a special IC for high-speed,
When the shaft is rotated, this is the time difference between the rise long-distance data transmission that complies with the

Safety Components
or fall of the phase A and phase B signals, expressed as a proportion RS-422A standard. The signal is output as a differential
of the period of one signal, or as an electrical angle where one signal secondary signal, and thus is strong with respect to noise.
period equals 360°. A special IC called a line receiver is used to receive the
The difference between phase A and phase B as an electrical signal output from a line driver.
angle is normally 90°. 4. Complementary Output
An output circuit with two output transistors (NPN and PNP)
Phase A
on the output.

Relays
Phase B These two output transistors alternately turn ON and OFF
Difference between 90° depending on the high or low output signal. When using
output phases 90°
360° them, pull up to the positive power supply voltage level or
pull down to 0 V. The complementary output allows flow-in
CW or flow-out of the output current and thus the rising and

Control Components
The clockwise direction of rotation. Viewed from the end of the falling speeds of signals are fast. This allows a long cable
shaft, the shaft rotates clockwise. With an Incremental distance.
Encoder, phase A normally leads phase B in this rotation They can be connected to open-collector input devices
direction. With an Absolute Encoder, this is the direction of (NPN, PNP).
code increase. Starting Torque

Automation Systems
The reverse of CW rotation is counterclockwise (CCW) rotation. The torque needed to rotate the shaft of the Rotary Encoder
CW at startup.
The torque during normal rotation is normally lower than the
starting torque. A shaft that has a waterproof seal has a higher
starting torque.
CCW
Moment of Inertia

Motion / Drives
This expresses the magnitude of inertia when starting and
stopping the Rotary Encoder.

Output Duty Ratio Shaft Capacity

This is the ratio of the duration of high level during one period This is the load that can be applied to the shaft. The radial load

Energy Conservation Support /

Environment Measure Equipment
to the average period of pulse output when the shaft is rotated is the load that is perpendicular to the shaft, and the thrust
at a constant speed. load is the load in the direction along the shaft. Both are
permitted on the shaft during rotation, and the size of the load
T2
Output duty ratio:
T1
affects the life of the bearings.
H
L Ambient Operating Temperature
The ambient temperature that meets the specifications,
Power Supplies /

High level time (T2)

In Addition

Pulse period (T1)

consisting of the permitted values for the external air
temperature and the temperature of the parts that contact the
Maximum Response Frequency
Rotary Encoder.
The maximum frequency at which the signal can respond.
Ambient Storage Temperature
Rise and Fall Times of Output
The ambient temperature when the power is OFF that does
The elapsed time from a 10% to 90% change in the output
not cause functional deterioration, consisting of the permitted
pulse.
Others

values for the external air temperature and the temperature of

90% 90% the parts that contact the Rotary Encoder.
10% 10%

Rise time Fall time

Common

4
 Technical Explanation for Rotary Encoders

Degree of Protection Absolute Code Table

The level of protection against penetration of foreign objects Gray BCD

Sensors
Deci
from outside the Rotary Encoder. This is defined in the mal Binary Gray remainder
14 10 1
IEC60529 standard and expressed as IPXX. 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
The degree of protection against oil is specified by OMRON 1 0 0 0 0 1 0 0 0 0 0 1 0 0 0 0 0 0 1
2 0 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0
standards, and is expressed as oil-proof construction or oil 3 0 0 0 1 1 0 0 0 0 1 0 0 0 0 0 0 1 1
4 0 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0
resistance. 5 0 0 1 0 1 0 0 0 1 1 1 0 0 0 0 1 0 1
6 0 0 1 1 0 0 0 0 1 0 1 0 0 0 0 1 1 0

Switches
Absolute Code 7 0 0 1 1 1 0 0 0 1 0 0 0 0 0 0 1 1 1
8 0 1 0 0 0 0 0 1 1 0 0 0 0 0 1 0 0 0
(1) Binary Code 9 0 1 0 0 1 0 0 1 1 0 1 0 0 0 1 0 0 1
10 0 1 0 1 0 0 0 1 1 1 1 0 0 1 0 0 0 0
A pure binary code, expressed in the format 2n. Multiple 11 0 1 0 1 1 0 0 1 1 1 0 0 0 1 0 0 0 1
bits may change when an address changes. 12 0 1 1 0 0 0 0 1 0 1 0 0 0 1 0 0 1 0
13 0 1 1 0 1 0 0 1 0 1 1 0 0 1 0 0 1 1
(2) Gray Code 14 0 1 1 1 0 0 0 1 0 0 1 0 0 0 0 1 0 1 0 0

Safety Components
15 0 1 1 1 1 0 0 1 0 0 0 0 1 0 0 1 0 1 0 1
A code in which only one bit changes when an address 16 1 0 0 0 0 0 1 1 0 0 0 0 2 0 0 1 0 1 1 0
changes. The code plate of the Rotary Encoder uses gray 17
18 0
1
1
0
0
0
0
0
1
1
0
0
0
1
1
1
1
0
0
0
1
1
1
0
0
3
4
0
0
0
0
1
1
0
1
1
0
1
0
1
0
code. 19 0 1 0 0 1 1 0 1 1 0 1 0 0 5 0 0 1 1 0 0 1
20 0 1 0 1 0 0 0 1 1 1 1 0 0 6 0 1 0 0 0 0 0
(3) Remainder Gray Code 21 0 1 0 1 0 1 0 1 1 1 1 1 0 7 0 1 0 0 0 0 1
22 0 1 0 1 1 0 0 1 1 1 0 1 0 8 0 1 0 0 0 1 0
This code is used when expressing resolutions with gray 23 0 1 0 1 1 1 0 1 1 1 0 0 0 9 0 1 0 0 0 1 1
code that are not 2n, such as 36, 360, and 720. The nature 24 0 1 1 0 0 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0
25 0 1 1 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 1 0 1
of gray code is such that when the most significant bit of 26 0 1 1 0 1 0 0 1 0 1 1 1 1 2 0 1 0 0 1 1 0

Relays
27 0 1 1 0 1 1 0 1 0 1 1 0 1 3 0 1 0 0 1 1 1
the code changes from 0 to 1 and the same size of area 28 0 1 1 1 0 0 0 1 0 0 1 0 1 4 0 1 0 1 0 0 0
is used for both the larger value and the smaller value of 29
30
0
0
1
1
1
1
1
1
0
1
1
0
0
0
1
1
0
0
0
0
1
0
1
1
1
1
5
6
0
0
1
1
0
1
1
0
0
0
0
0
1
0
objects, the signal only changes by 1 bit within this range 31 0 1 1 1 1 1 0 1 0 0 0 0 1 7 0 1 1 0 0 0 1
32 1 0 0 0 0 0 1 1 0 0 0 0 1 8 0 1 1 0 0 1 0
when changing from the end to the beginning of a code. 33 1 0 0 0 0 1 1 1 0 0 0 1 1 9 0 1 1 0 0 1 1

Control Components
34 1 0 0 0 1 0 1 1 0 0 1 1 2 0 0 1 1 0 1 0 0
This enables any resolution that is an even number to be 35 1 0 0 0 1 1 1 1 0 0 1 0 2 1 0 1 1 0 1 0 1
set with gray code. In this case, the code does not begin 36 1 0 0 1 0 0 1 1 0 1 1 0 2 2 0 1 1 0 1 1 0
37 1 0 0 1 0 1 1 1 0 1 1 1 2 3 0 1 1 0 1 1 1
from 0, but from an intermediate code, and thus when 38 1 0 0 1 1 0 1 1 0 1 0 1 2 4 0 1 1 1 0 0 0
39 1 0 0 1 1 1 1 1 0 1 0 0 2 5 0 1 1 1 0 0 1
actually using a code it must first be shifted so that it starts 40 1 0 1 0 0 0 1 1 1 1 0 0 2 6 1 0 0 0 0 0 0
from 0. 41
42
1
1
0
0
1
1
0
0
0
1
1
0
1
1
1
1
1
1
1
1
0
1
1
1
2
2
7
8
1
1
0
0
0
0
0
0
0
0
0
1
1
0
The example in the code table shows 36 divisions. For the 43 1 0 1 0 1 1 1 1 1 1 1 0 2 9 1 0 0 0 0 1 1

Automation Systems
44 1 0 1 1 0 0 1 1 1 0 1 0 3 0 1 0 0 0 1 0 0
change from address 31 to 32, the code extends from 45 1 0 1 1 0 1 1 1 1 0 1 1 3 1 1 0 0 0 1 0 1
46 1 0 1 1 1 0 1 1 1 0 0 1 3 2 1 0 0 0 1 1 0
address 14 to 49 when 18 addresses each are taken for 47 1 0 1 1 1 1 1 1 1 0 0 0 3 3 1 0 0 0 1 1 1
the objects. When changing from address 49 to 14, only 48 1 1 0 0 0 0 1 0 1 0 0 0 3 4 1 0 0 1 0 0 0
49 1 1 0 0 0 1 1 0 1 0 0 1 3 5 1 0 0 1 0 0 1
one bit changes, and we can see that the characteristic of 50 1 1 0 0 1 0 1 0 1 0 1 1 1 0 1 0 0 0 0
51 1 1 0 0 1 1 1 0 1 0 1 0 1 0 1 0 0 0 1
gray code is preserved. By shifting the code 14 52 1 1 0 1 0 0 1 0 1 1 1 0 1 0 1 0 0 1 0
addresses, it can be converted to a code that starts from 53 1 1 0 1 0 1 1 0 1 1 1 1 1 0 1 0 0 1 1
54 1 1 0 1 1 0 1 0 1 1 0 1 1 0 1 0 1 0 0

Motion / Drives
address 0. 55 1 1 0 1 1 1 1 0 1 1 0 0 1 0 1 0 1 0 1
56 1 1 1 0 0 0 1 0 0 1 0 0 1 0 1 0 1 1 0
(4) BCD 57 1 1 1 0 0 1 1 0 0 1 0 1 1 0 1 0 1 1 1
58 1 1 1 0 1 0 1 0 0 1 1 1 1 0 1 1 0 0 0
Binary Coded Decimal Code. 59 1 1 1 0 1 1 1 0 0 1 1 0 1 0 1 1 0 0 1
Each digit of a decimal number is expressed using a 60 1 1 1 1 0 0 1 0 0 0 1 0 1 1 0 0 0 0 0
61 1 1 1 1 0 1 1 0 0 0 1 1 1 1 0 0 0 0 1
binary value. 62 1 1 1 1 1 0 1 0 0 0 0 1 1 1 0 0 0 1 0

Energy Conservation Support /

Environment Measure Equipment
63 1 1 1 1 1 1 1 0 0 0 0 0 1 1 0 0 1 1 1
Serial Transmission
In contrast to parallel transmission where multiple bits of data
are simultaneously output, this method outputs data serially
on a single transmission line, enabling the use of fewer wires.
The receiving device converts the signals into parallel signals.
Power Supplies /

Hollow Shaft
In Addition

The rotating shaft is hollow, and the drive shaft can be directly
connected to the hole in the hollow shaft to reduce the length
along the direction of the shaft. A leaf spring is used as a
buffer to absorb vibration from the drive shaft.
Metal Disk
The rotating slit disk in the Encoder is made of metal for higher
Others

shock tolerance than glass. Due to slit machining limitations,

the metal disk cannot be used for high-resolution applications.
Servo Mount
A method of mounting the Encoder in which a Servo Mounting
Bracket is used to clamp down the flange of the Encoder. The
Common

position of the Encoder in the direction of rotation can be

adjusted, and thus this method is used to temporarily mount
the Encoder to adjust the origin.

5
 Technical Explanation for Rotary Encoders

Further Information
Interpreting Engineering Data

Sensors
Bearing Life Cable Extension Characteristics
E6B2-C E6B2-CWZ6C
5 28 1.4
Life (x 109 rotations)

Output residual voltage VOL (V)

Output rise time tLH (µs)
Ws: Wr
Ws: 20N Encoder Ws 24 1.2
25N
4

Switches
Shaft 20 1.0
Wr: Radial load
Ws: Thrust load 16 0.8
3 Ws: 30N

12 0.6
2

Safety Components
8 0.4
Ws: 40N VOL
4 0.2
1 tLH
0 0
1 2 5 10 20 50 100 200
Cable length (m)
0 10 20 30 40 50
Measurement Example
Radial load Wr (N) Power supply voltage: 5 VDC
Load resistance: 1 kΩ (Output residual voltage
is measured at a 35 mA load

Relays
current.)
Cable: Special Cable

• This graph shows the effect of the output waveform if the cable is
• This graph shows the relationship between mechanical life and
extended.
the load applied to the shaft.
• Extending the cable length not only changes the startup time, but
• The size of the load during rotation affects the life of the bearings.

Control Components
also increases the output residual voltage.

Mounting
To mount the Rotary Encoder directly, secure it with screws from direction A. If a servo B
mount is used, attach a Flange to the Rotary Encoder and mount the Rotary Encoder from Mounting with
direction B. a flange

Automation Systems
A
Direct mounting
Rotary
Encoder

Motion / Drives
Example: Attaching an E69-FCA02 Flange to the E6C2-C

Energy Conservation Support /

Environment Measure Equipment
E6C-N

Power Supplies /
In Addition

E69-FCA02
M4 × 10 countersunk E69-2 Servo Mounting Bracket
screws (Three screws (Provided with the E69-FCA02.)
are provided with the
E69-FCA02.)

M5 screws
Others

(Not provided.)
Common