What different types of encoders exist?！

The most widely used classification refers to the type of movement (linear or rotary encoder). In both cases they can be incremental, semi-absolute or absolute.
Incremental information is obtained by simply counting the pulses. Therefore, it depends on the previous state and the value of the transition. Its biggest drawback consists in the need for defining a starting position reference: this information is lost whenever the system is powered down or is turned off. In contrast, in absolute encoders (of angular encoder or linear type) each position is properly referenced with a unique code, Figure 1, corresponding to a unique pattern of bits in the various tracks. So, the position is always known and it is not necessary to define a reference if the system is powered down or is turned off.

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