Preparing the published article.
Encoder and Feedback Options in Robot Joints
The feedback chain decides accuracy, and also how quickly the machine can be recovered.
Common options
| Type | Strength | Limitation |
|---|---|---|
| Incremental encoder | Simple and inexpensive | Needs a homing routine after power loss |
| Absolute encoder | Keeps position without battery | Higher cost per axis |
| Multi-turn absolute | Tracks position across many turns | More complex to service |
| Dual feedback | Detects joint and motor deviation | Adds wiring and cost |
Maintenance implications
- Battery-backed systems need a documented replacement interval.
- Plan the homing procedure before you need it in a breakdown.
- Record zero offsets whenever a joint is worked on.
Encoder technology varies between manufacturers. Follow the service manual for the specific model.