{"id":1448,"date":"2021-07-13T14:40:47","date_gmt":"2021-07-13T12:40:47","guid":{"rendered":"https:\/\/ak-industries.com\/en\/?page_id=1448"},"modified":"2021-07-13T14:41:36","modified_gmt":"2021-07-13T12:41:36","slug":"faq-about-incremental-encoders","status":"publish","type":"page","link":"https:\/\/ak-industries.com\/en\/frequently-asked-questions\/faq-about-incremental-encoders\/","title":{"rendered":"FAQ about incremental encoders"},"content":{"rendered":"<div class=\"wpb-content-wrapper\"><h2>What is an incremental encoder ?<\/h2>\n<p>[vc_column_text]Incremental encoders are rotary automation components (angle sensors).<br \/>\nThey are the first link in a chain of automation.<br \/>\nThey exist in several technologies :<\/p>\n<ul>\n<li>In optical technology (the most common)<\/li>\n<li>In magnetic technology<\/li>\n<li>In inductive technology<\/li>\n<\/ul>\n<p>Whatever the technology used, they provide an incremental signal processed by a PLC or a computer (processing unit) by counting up\/ counting down the pulses generated by the incremental encoder.<br \/>\nThe incremental encoder is mechanically integral with the drive axis (motor; machine tool axes; cable sensors; robots, etc.).<br \/>\nThe output signals are pulse trains generally on 6 channels for counting up\/down and 12 (6 + 6) if they are also used for phase commutations (U; V; W) of electric motors.<br \/>\n[\/vc_column_text]<\/p>\n<p>[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1\/2&#8243;]<br \/>\n[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq1-1.png&#8221;]<br \/>\n<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Hollow shaft encoder<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<\/p>\n<p>[vc_column_inner width=&#8221;1\/2&#8243;]<br \/>\n[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq2.png&#8221;]<br \/>\n<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>through shaft encoder<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<h3>How does an incremental encoder work : technologies<\/h3>\n<p>[vc_row_inner][vc_column_inner width=&#8221;1&#8243;]<br \/>\n[vc_single_image image=&#8221;1269&#8243; img_size=&#8221;full&#8221; alignment=&#8221;center&#8221; src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq15.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Encoder section<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<h4><strong>Optical encoder<\/strong><\/h4>\n<p>Optical incremental encoders, as the name suggests, work with optical technology. The centerpiece of the reading system is the glass or polycarbonate code disc. On the disc are engraved very precise and equidistant slots which define the number of pulses (resolution) per revolution of the encoder. A light emitting component, mostly an LED (Light Emitting Diode) emits light in the infrared i.e. with a wavelength of 850 nm and a sensitive receiver infrared light.<br \/>\nThe receiver is an electro-optical component of very high integration. For example, there are photodiodes, op amps, Schmitt triggers, comparators, regulators, etc. on a 5 \u00d7 5 mm chip. The diaphragm, essential part which is often stuck on the, has a function of \u201cguide of the light\u201d to channel the photons towards the receiving photodiodes.<\/p>\n<h4><strong>Magnetic incremental encoders<\/strong><\/h4>\n<p>There are two well-known principles for magnetic reading:<\/p>\n<ul>\n<li>Reading by central magnet<\/li>\n<li>Reading by magnetic disc<\/li>\n<\/ul>\n<h5>Incremental encoders with a central magnet<\/h5>\n<p>A cylindrical samarium &#8211; cobalt (SmCo) or neodymium (NdFeB) magnet placed in the center of the incremental encoder drive axis is made up of 2 poles (north and south).<br \/>\nWhen the magnet turns, it causes a potential difference across the Hall cells. This signal (potential difference) is sinusoidal and is equivalent to one sinusoid per encoder revolution (0 to 360\u00b0).<\/p>\n<p>[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1&#8243;]<br \/>\n[vc_single_image image=&#8221;1270&#8243; img_size=&#8221;full&#8221; alignment=&#8221;center&#8221; src=&#8221;https:\/\/ak-industries.com\/en\/wp-content\/uploads\/sites\/2\/2020\/01\/faq171.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Encoder with central magnet<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<p>Advantages of the magnetic reading :<\/p>\n<ul>\n<li>The encoder can whitstand high temperatures (more than 120\u00b0C)<\/li>\n<li>Simple conception<\/li>\n<li>Easy assembly and adjustment<\/li>\n<li>Lower requirement for precision<\/li>\n<li>Possible miniaturization<\/li>\n<li>operation in harsh environments (electric motors)<\/li>\n<li>Low cost<\/li>\n<\/ul>\n<p>Inconvenients of the magnetic reading :<\/p>\n<ul>\n<li>Low precision<\/li>\n<li>Low resolution (1024 points per revolution)<\/li>\n<li>High jitter due to the interpolation of the single sinusoidal signal for an encoder turn<\/li>\n<\/ul>\n<h5>Incremental encoder with magnetic disc<\/h5>\n<p>This principle works like the optical encoder but the technology used is magnetic.<br \/>\n[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1&#8243;]<br \/>\n[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq18.png&#8221;]<br \/>\n<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Magnetic disc<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<p>The magnetic disc is divided into several magnetic zones (64 north and south pole pairs).<\/p>\n<ul>\n<li>Better accuracy on duty cycles and on phase shift. Less than the optical disc but significantly better than the principle with the central magnet<\/li>\n<li>A single processing PCB instead of 2 on the optical reading<\/li>\n<li>Possibility of high resolution (up to 65536 points per revolution)<\/li>\n<\/ul>\n<h4><strong>Inductive incremental encoder<\/strong><\/h4>\n<p>Inductive encoders are remarkable encoders for their robustness, their resistance to temperature, vibrations, accelerations and their precision.<br \/>\nThe technology used to read a target (disc) is the induction.<br \/>\nThe target made of ferromagnetic conductive materials (copper) is etched on a substrate (the most common is FR4).<br \/>\nInductive technology has been known since 1833, stated by Heinrich Emil LENZ, Russian physicist. But the essential elements of this type of encoder are the differential coils traversed by a high frequency current which produce in the space surrounding its ends a variable electromagnetic field.<br \/>\nWhen the conductive track of the engraved disc enters this zone, it will be the seat of eddy currents, and according to the law of LENZ, these currents oppose the cause which gave them birth and therefore create an induction in the contrary direction to the induction of the coils, which leads to a reduction in its self-induction coefficient.<\/p>\n<p>[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1\/2&#8243;][vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq7-1.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Standard inductive disc<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][vc_column_inner width=&#8221;1\/2&#8243;][vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq6.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Inductive differential disc<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<br \/>\nWith regard to the 2 photos above, two reading principles are possible:<\/p>\n<ul>\n<li style=\"list-style-type: none;\">\n<ol>Standard reading which functions as an inductive proximity switch<\/ol>\n<\/li>\n<li style=\"list-style-type: none;\">\n<ol>Differential reading is best suited for inductive encoders, it guarantees better immunity to electromagnetic disturbances generated by inductive external loads such as motors, drives, solenoid valves etc. Differential reading works according to the well-known differential transformer principle, which has long proven itself with LVDT (Linear Variable Differential Transformer) sensors.<\/ol>\n<\/li>\n<li style=\"list-style-type: none;\">\n<ol>A high frequency sine wave (1 &#8211; 2 MHz) travels through the primary coil of the transformer and generates an electromagnetic field. The two secondary coils are arranged in a perfectly symmetrical differential configuration with respect to the primary coil. The alternating electromagnetic field generated by the primary coil induces in each of the secondary coils a voltage according to the law of Michael Faraday (1791-1867 English physicist, chemist): (E = -d\u03a6 \/ dt).<\/ol>\n<\/li>\n<\/ul>\n<p><strong>Each technology has its advantages and disadvantages<\/strong><\/p>\n<h3>Characteristics and accuracy of output signals<\/h3>\n<p>We distinguish 2 signals called channel A (in yellow) and channel B (in green). For a clockwise rotation direction (clockwise with view on the axis of the encoder), we note that the 1st rising edge of signal B (green) rises before the 1st rising edge of A (yellow). It\u2019s thanks to this order that the signal processing electronics can know the direction of rotation of the encoder. This is called the discrimination of rotation direction.<br \/>\n[vc_row_inner][vc_column_inner width=&#8221;1&#8243;][vc_single_image image=&#8221;1268&#8243; img_size=&#8221;full&#8221; alignment=&#8221;center&#8221; src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq8-1.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>A, B, Z signals on an oscilloscope<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][\/vc_row_inner]<br \/>\n<strong>Output signals:<\/strong><\/p>\n<p>[vc_row_inner][vc_column_inner width=&#8221;1\/3&#8243;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Encoder \/ Treatment<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq10.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>NPN output<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][vc_column_inner width=&#8221;1\/3&#8243;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Encoder \/ Treatment<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq9.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>PNP output<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][vc_column_inner width=&#8221;1\/3&#8243;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Encoder \/ treatment<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq11.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Push-Pull output<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][\/vc_row_inner]<\/p>\n<p>The transistored output stages are very rarely used any more. They are replaced by specific integrated circuits with protections against reverse polarity; overvoltages; short circuits; excessive temperatures and allow very high output frequencies, on the order of MHz.<\/p>\n<p><strong>Output with integrated circuits :<\/strong><br \/>\n[vc_row_inner][vc_column_inner width=&#8221;1\/2&#8243;][vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq12.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Line driver output<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][vc_column_inner width=&#8221;1\/2&#8243;][vc_single_image source=&#8221;external_link&#8221; alignment=&#8221;center&#8221; custom_src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq13.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Push-pull output<span class=\"separator-holder separator-right\"><\/span><\/div><\/div>[\/vc_column_inner][\/vc_row_inner]<\/p>\n<h2>Frequently asked questions<\/h2>\n<h3><strong>What is a duty cycle ?<\/strong><\/h3>\n<p>On the diagram below, the duty cycle corresponds to T. The duty cycle is expressed in %.<br \/>\nIf T = 100% then T\/2 = 50% and corresponds to t<sub>whi<\/sub> on the diagram.<br \/>\nThe maximum tolerance is +\/- 10%, i.e. t<sub>whi<\/sub>max = 60% and t<sub>whi<\/sub> mini = 40%. Or A <sub> Arel <\/sub> = 20%<\/p>\n<h3><strong> What is a phase shift? <\/strong><\/h3>\n<p>The phase shift is the position of channel A with respect to channel B. This corresponds to the value T<sub>AB<\/sub> on the diagram above. he theoretical value of T <sub>AB<\/sub> is 90 \u00b0 electrical. The tolerance for the T<sub>AB<\/sub> value is 25%. Then T<sub>AB<\/sub> max = 112.5 \u00b0 and T <sub> AB <\/sub> mini = 67.5 \u00b0<\/p>\n<p>[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1&#8243;][vc_single_image image=&#8221;1272&#8243; img_size=&#8221;full&#8221; alignment=&#8221;center&#8221; src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq14.png&#8221;]<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Incremental signals<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<h3><strong> What is jitter? <\/strong><\/h3>\n<p>In theory, channels A and B should have exactly the same duty cycle. In reality, there is a gap, called &#8220;jitter&#8221;. The jitter comes from many factors: type of encoder (quality and placement of the disc or magnet), rotation speed, encoder resolution, etc.<\/p>\n<p>[vc_row_inner]<br \/>\n[vc_column_inner width=&#8221;1&#8243;]<br \/>\n[vc_single_image image=&#8221;1274&#8243; img_size=&#8221;full&#8221; alignment=&#8221;center&#8221; src=&#8221;https:\/\/ak-industries.com\/wp-content\/uploads\/2019\/12\/faq16.png&#8221;]<br \/>\n<div class=\"dt-fancy-separator h5-size style-disabled title-color\" style=\"width: 100%;\"><div class=\"dt-fancy-title\"><span class=\"separator-holder separator-left\"><\/span>Jitter on a oscilloscope<span class=\"separator-holder separator-right\"><\/span><\/div><\/div><br \/>\n[\/vc_column_inner]<br \/>\n[\/vc_row_inner]<\/p>\n<h3><strong> What is an output frequency? <\/strong><\/h3>\n<p>The output frequency of an incremental encoder corresponds to the resolution multiplied by the speed of rotation of the encoder shaft.<br \/>\nF = R * RPM (F = frequency; R = Encoder resolution; RPM = encoder rotation in revolutions per minute<br \/>\nExample: for a resolution encoder of 5000 points per revolution and which rotates at a speed of 3000 rpm<br \/>\n5000&#215;3000 = 15,000,000 points per minute i.e. 15,000,000 \/ 60 = 250,000 Hz = 250 kHz<\/p>\n<h3><strong> How to check the good working condition of an encoder? <\/strong><\/h3>\n<p>A minimum of equipment is required: everyone has at least one multimeter in their toolkit.<br \/>\nA very important value is the consumption without load of the encoder, and for most recent design encoders, this consumption is between 30 and 90mA.<br \/>\nIf the incremental encoder consumes 0 mA, there is a good chance that the polarity reversal protection diode is defective but before that it must be checked whether the supply voltage (5 to 32 volts DC, see encoder characteristics) is present at the input of the encoder. On machine-tools, the encoder power cables are subjected to oil vapors and lubricants which are often the cause of cable hardening. It is this stiffening of the cable that causes it to break and very often flush with the connector.<br \/>\nIf the encoder were to consume several amps, there is a good chance that a TVS has amorced and has short-circuited. In this case I advise to send it back to the factory for in-depth expertise. If a TVS has short-circuited, the cause must be investigated on the site.<\/p>\n<p>This first test carried out (5 to 32 Vdc OK, consumption without load between 30 and 90 mA OK) and still no output signal, we strongly recommend looking directly at the encoder output to be sure to eliminate all the problems that could be linked to the transmission cable between encoder and PLC.<br \/>\nCheck the output signals.<br \/>\nFor this test we can use several types of instruments: The multimeter; the oscilloscope or simply an LED with a resistor in series.<\/p>\n<\/div>","protected":false},"excerpt":{"rendered":"<p>What is an incremental encoder ? [vc_column_text]Incremental encoders are rotary automation components (angle sensors). They are the first link in a chain of automation. They exist in several technologies : In optical technology (the most common) In magnetic technology In inductive technology Whatever the technology used, they provide an incremental signal processed by a PLC&hellip;<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":1255,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-1448","page","type-page","status-publish","hentry","description-off"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>FAQ about incremental encoders - AK Industries english version<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ak-industries.com\/en\/frequently-asked-questions\/faq-about-incremental-encoders\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"FAQ about incremental encoders - AK Industries english version\" \/>\n<meta property=\"og:description\" content=\"What is an incremental encoder ? 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[vc_column_text]Incremental encoders are rotary automation components (angle sensors). They are the first link in a chain of automation. 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