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This Concept Map, created with IHMC CmapTools, has information related to: TAQOZ_Tachyon_Incremental_Encoder, A quadrature setup shows two input pins where both pins form a 2-bit gray code counter. A cray code is a binary code where with every count only one bit changes. A 2-bit counter counts 00, 01, 11, 10, 00 etc As only one bit changes per step the bit change can be used to clock the input. The counting direction is derived from the signal sequence itself. Both signals carry the same information. Therefor the signal quality has to be equal. With the same bandwidth as in step/direction the quadrature signal can run four times faster., there is another CMap with documentation as a start ???? CMap0096_Routine_Drehgeber_Beschreibung, While this map mainly documents the incremental encoder software, it uses a technique to communicate documented in the linked CMap ???? Prop Assisted Living ;-), A step/direction setup shows two input pins where one input controls the steps and a second input determines the direction of the movement, e.g. left/right A step is executed with the rising or falling edge of the step pulse, the direction signal has to be stable when said transition takes place. If there is a physical movement, change of direction will only happen at low velocity, so the direction signal can safely change between two step pulses. The bandwidth of the step must be high for fast speed If the movement is just a signal like light, or if there is noise, then the bandwidth of the direction signal has also to be high. Anyway, only a step change will count the position., step/direction vs. quadrature signal A step/direction setup shows two input pins where one input controls the steps and a second input determines the direction of the movement, e.g. left/right A step is executed with the rising or falling edge of the step pulse, the direction signal has to be stable when said transition takes place., step/direction vs. quadrature signal A quadrature setup shows two input pins where both pins form a 2-bit gray code counter. A cray code is a binary code where with every count only one bit changes. A 2-bit counter counts 00, 01, 11, 10, 00 etc As only one bit changes per step the bit change can be used to clock the input. The counting direction is derived from the signal sequence itself., Both signals carry the same information. Therefor the signal quality has to be equal. With the same bandwidth as in step/direction the quadrature signal can run four times faster. Any single bit error in the signal due to noise will not lead to an position error, that is: if a signal changes to low and high very fast, the counter may not be able to detect a glitch, or he just counts up and down resulting in no error., If there is a physical movement, change of direction will only happen at low velocity, so the direction signal can safely change between two step pulses. The bandwidth of the step must be high for fast speed If the movement is just a signal like light, or if there is noise, then the bandwidth of the direction signal has also to be high. Anyway, only a step change will count the position. A glitch in the step signal will lead to wrong counting A glitch in the direction signal can result in a wrong count., As a reference: this is the current code ???? Codebase as of July 31rst 2021 as a starting point and reference