An encoder is an electrical mechanical device that converts linear or rotary displacement into digital or pulse signals. The most popular type of encoder is the optical encoder.
This consists of a rotating disk, a light source, and a photo detector (light sensor). The disk, which is mounted on the rotating shaft, has patterns of opaque
and transparent sectors coded into the disk (see Figure 1). As the disk rotates, these patterns interrupt the light emitted onto the photo detector, generating a digital or pulse signal output.
An incremental encoder generates a pulse for each incremental step in it's rotation. Although the incremental encoder does not output absolute position, it can provide high resolution at an acceptable price. For example, an incremental encoder with a single code track, referred to as a tachometer encoder, generates a pulse signal whose frequency indicates the velocity of displacement. However, the output of the single-channel encoder does not indicate direction. To determine
direction, a two-channel, or quadrature, encoder uses two detectors and two code tracks.
The most common type of incremental encoder uses two output channels (A and B) to sense position. Using two code tracks with sectors positioned 90° out of phase, the two output channels of the quadrature encoder indicate both position and direction of rotation. If A leads B, for example, the disk is rotating in a clockwise direction. If B leads A, then the disk is rotating in
a counter-clockwise direction. Therefore, by monitoring both the number of pulses and the relative phase of signals A and B, you can track both the position and direction of rotation.
In addition, some quadrature detectors include a third output channel, called a zero or reference signal, which supplies a single pulse per revolution. This single pulse can be used for precise determination of a reference position