The incremental encoder, sometimes called a relative encoder, is simpler in design than the absolute encoder. It consists of two tracks and two sensors whose outputs are called channels A and B. As the shaft rotates, pulse trains occur on these channels at a frequency proportional to the shaft speed, and the phase relationship between the signals yields the direction of rotation.
Whenever mechanical rotary motions have to be monitored, the encoder is the most important interface between the mechanics and the control unit.
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