PROS AND CONS O F ABSOLUTE VS.

INCREMENTAL
ROTARY ENCO DERS

Incremental Encoders generally more susceptible to electrical

An incremental encoder simply generates noise.
pulses proportional to the position. The
principle of the incremental measuring
system is the scanning of a line pattern on a
glass or plastic disc (see Image 1). An opto-
electronic component converts the line
pattern (transparent or not transparent) into
electronic pulses, e.g. transparent equals 5V
and not transparent equals 0V. This reflects
the binary value “1” and “0”. Depending on
the direction of rotation an electronic counter
ads or subtracts the signals while the disc is
turning. The current count is stored in an
electronic buffer and is available for further
evaluation. However, this method has some Image 1: Incremental Disc
serious disadvantages. In an incremental
encoder the pulses generated are counted in Applications with higher requirement
a counter and at power loss it will lose the regarding precision often rely on absolute
count and consequently you will have to rotary encoders. Especially when it is
home the machine before you can start the complicated or not possible at all to return to
operation. Also, an incremental encoder is the reference point.

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FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com
 PROS AND CONS O F ABSOLUTE VS. INCREMENTAL
ROTARY ENCO DERS

Absolute Encoders power is up a precise position value is

An absolute encoder generates a unique available.
code for each position. Every angular
position is unique and identified by a definite
code on a glass or plastic disc. This code is
printed on the disc in the form of transparent
and dark areas within different tracks. This
unique code pattern relates to an absolute
numeric value. Thus the position value is
always directly available, counters and
buffers are not necessary. The position
values are always valid. After a power
outage, with an absolute encoder the
machine operation will pick up from where it
had left off. The absolute encoder will
recognize a movement of the machine even
while the power is down. As soon as the Image 2: Code Disc with absolute Code
Codes

Binary Code
Binary means "two," or "base two." The
binary system is a way of counting using just
the two numbers 0 and 1. It generates a
value from powers to the base of 2.
The binary code for the decimal number 186
for example is 10111010, or:
7 6 5 4 3
1x2 +0x2 +1x2 +1x2+1x2+0x
2 1 0
2 +1x2 +0x2
The binary code is a multi-step code, i.e. the
change from one position to another can
cause a shift of more than one bit at a time.
If the code pattern on the disc is not 100%
precise (e.g. caused by production
tolerances of the print on the code disc)
changes in the different tracks would not
occur simultaneously. Thus the position
value cannot be determined unambiguous.
As a consequence invalid position values
would be transmitted to the machine control.
You can find more detailed technical info at:
www.posital.com/products/awc58/awc58.html

www.posital.com

FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com
 PROS AND CONS O F ABSOLUTE VS. INCREMENTAL
ROTARY ENCO DERS

The following image explains this problem The transfer from one position can be slightly
visually. When the position changes from 7 to shifted by imprecise scanning, but it is not
position 8 more than one bit (in this case the possible that this would cause incorrect
bits 0, 1 and 2) has to change from dark to position values to be given.
transparent at exactly the same time. If for
any reason one of those bits does not change Another advantage of the gray code is the
simultaneously a wrong position value would easy reversibility. Inverting the most
be forwarded. significant bit can easily change the counting
direction. Therefore it is possible to change
Bin. code the counter direction just by using the
complement-entry.
Bit
3
2
2 The gray code has to be converted into a
2
1
binary code, because the single bits of the
2
0
gray code don’t have a determined value. A
2
code converter that consists of a cascad of
Position 0 .. .. .. 6 7 8 9 XORs´ performs this function.

Gray-Code
Gray-Excess-Code
A solution for this problem is a one-step
The "ordinary" single step gray code is valid
code, such as the gray-code. When the
for resolutions that can be described as a
position changes from 7 to position 8 just
power to the base of 2. For other resolutions
one-bit (in this case 3) changes from
the range of gray code combinations is
transparent to dark.
limited by concentric trimming. This range
doesn't begin at 0, but is shifted by a
Gray code determined value. For evaluation half of the
Bit difference between the original and the
3 reduced resolution is subtracted from the
2
2
2 calculated binary value.
1
2
2
0 For example 360° (one degree resolution):
9
A 9 bit gray code (2 = 512 possible values)
Position 0 .. .. .. 6 7 8 9
is cut at both sides by 76 steps, equals:

Image 3: Change of position 512-2 x 76 = 360 steps.

www.posital.com

FRABA Inc.
116 Nassau Drive, Lawrenceville, NJ 08648
Phone (609) 896-1188, Fax (609) 896-1183
www.posital.com, staff@fraba.com