D2 Drive User Guide v1.8 3. Operation Principles
HIWIN Mikrosystem Corp. 26
3.2. Encoder type
The encoder usually plays an important role in the servo motor control. It provides the
information of drive position or angle to realize the servo-loop control. There are two types of
commonly used encoder: digital type and analog type. D2-series drives only support the
digital encoder presently, but not analog encoder.
(1) Digital type
The digital or so-called incremental encoder normally outputs the differential signal of TTL
RS422. The main feature of this signal is two digital pulses with the 90°-phase difference.
The definition of resolution for this signal is given in Fig. 3-2
Fig. 3-2
(2) Analog type
The analog encoder has two-phase signals: sin and cos. The hardware normally takes
the differential signal of 1 Vpp. The main feature of this signal is two sinusoidal signals
with the 90°-phase difference. Its specification is normally represented by the grating
period. For example, the grating period of common linear analog scale is 40 um.
Fig. 3-3
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