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An encoder is a device, circuit, transducer, software program and algorithm that convert into an electronically encoded pattern that can be read by a circuit or processing system. An encoder have both linear and rotary configurations with two basic forms as absolute or Incremental. In the absolute encoder, a unique digital word corresponds to each rotational position of the shaft. Incremental encoder produces digital pulses as the shaft rotates, allowing measurement of relative position of shaft.

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