Incremental Encoders！

Incremental encoders usually provide two channels of square
wave output signals. Each pulse represents an increment of rotation of relative position. These encoders often contain a third slot called the reference slot used to calibrate the encoder. Dual channel encoders are more accurate than single channel types. They register direction, and when a code wheel stops on the edge
of a slot, incident vibrations cannot generate an error count, as
it does for single-channel sensors.

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