This encoder can measure the rotational distance traveled by the motor shaft just like the incremental encoder. Absolute EncoderĪn absolute encoder disk has a slightly complicated design compared to an incremental encoder. When the robot is turned off, the position data for the incremental encoder is lost. Counting the number of pulses allows the robot to determine the relative motion between two positions. Each time the light passes through a slit, a pulse is generated by the encoder sensor receiving the light. As the disk rotates, light passes through the slits, but is blocked by the spaces between the slits. The encoder works by projecting light onto its disk with evenly spaced slits around its circumference. Robots can use optical shaft encoders (an incremental encoder) to measure rotational distance traveled by a motor shaft. A limit switch operates when an object presses against the lever of its switch activating the switch. As the robot joint reaches (in each direction) its motion limit, it will be stopped by the mechanical stop and the limit switch will produce an electrical signal alerting the robot controller that a motion limit is achieved. Limit switches are utilized inside or outside a robot’s joints to set the motion limits along with mechanical (hard) stops.
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