What is position encoder！

Gray codes are used in position encoders (linear encoders and rotary encoders), in preference to straightforward binary encoding. This avoids the possibility that, when several bits change in the binary representation of an angle, a misread will result from some of the bits changing before others. Originally, the code pattern was electrically conductive, supported (in a rotary encoder) by an insulating disk. Each track had its own stationary metal spring contact; one more contact made the connection to the pattern. That common contact was connected by the pattern to whichever of the track contacts were resting on the conductive pattern. However, sliding contacts wear out and need maintenance, which favors optical encoders.

Regardless of the care in aligning the contacts, and accuracy of the pattern, a natural-binary code would have errors at specific disk positions, because it is impossible to make all bits change at exactly the same time as the disk rotates. The same is true of an optical encoder; transitions between opaque and transparent cannot be made to happen simultaneously for certain exact positions. Rotary encoders benefit from the cyclic nature of Gray codes, because consecutive positions of the sequence differ by only one bit. This means that, for a transition from state A to state B, timing mismatches can only affect when the A → B transition occurs, rather than inserting one or more (up to N − 1 for an N-bit codeword) false intermediate states, as would occur if a standard binary code were used.

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