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We have a purchase for 225 units. We expect some of these to arrive next on Apr 1, 2015.

Incoming stock values are estimates, and subject to change without warning.

Description: This 1024 pulse per rotation rotary encoder outputs gray code which you can interpret using a microcontroller and find out which direction the shaft is turning and by how much. This allows you to add feedback to motor control systems. Encoders of this kind are often used in balancing robots and dead reckoning navigation but it could also be used as a very precise input knob.


  • Resolution: 1024 Pulse/Rotation
  • Input Voltage: 5 - 12VDC
  • Maximum Rotating Speed: 6000rpm
  • Allowable Radial Load: 5N
  • Allowable Axial Load: 3N
  • Cable Length: 50cm
  • Shaft Diameter: 6mm


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Customer Comments

  • What color is “Smeld”

    • It is a perfectly normal color for a ROTAR

    • I puzzled over this for a bit, but it’s clear that “Smeld” should read “Shield”.

      My guess is that to someone unfamiliar with alphanumeric characters could have easily mistaken the “hi” in Shield with an “m”.

    • I think it refers to the braided shielding. (For noise isolation.)

  • Here’s an arduino library for reading encoders that I found works well with this encoder.(although I’m not using it for high speed applications). Just hook up the black and white wires to your interrupt pins and run the basic example. Boom, you’re reading from an encoder. I also found that using this library I had more like 4000 counts per revolution.

    • Your ~4000 counts should be expected. With quadrature encoding, you get 4x as much resolution as pulses per rev (P/R), so this should give you 4096 counts/rev with full quadrature encoding (e.g. using the Arduino’s encoder library)

  • Hmm, looks like the orange wire changes state every 45 degrees? That would be very handy for high speed indexing when the direction of rotation is already known. Built in 128x speed multiplier, very nice.

  • help plz :) what is the best driver shield for this motor !!?

    • This isn’t a motor. As for best driver shield, that depends on your motor and what you are trying to do. Also, don’t limit yourself to shields, there are a lot more options as breakout boards that may be easier to use and/or more powerful.

  • “Calling this output “gray code” obfuscates. This type of output is commonly called quadrature.” Thanks for suggestion. java code 128 encoder library

  • Calling this output “gray code” obfuscates. This type of output is commonly called quadrature.

  • Looks like this may be a re-badged or a copy of an Omron encoder. Here is the data sheet for the Omron encoder with the same part number and specs.

  • I can confirm my encoder (E6B2-CWZ3E) operates in multiples or 1024 not 1000 or 2000 as stated in the data sheet. Note I tested this visually with a pen marks.

  • if anyone else was wondering- this is an optical encoder.

  • Fast CodeVisionAVR code available for this rotary encoder (without Z).

  • I am confused on the Z out. I don’t seem to get anything on the Z out of my encoder. With what frequency is the pulse supposed to repeat? Why would A and B be fully functional, yet I get no output on Z? Any help would be appreciated.

    Edit: I should say, I get a constant high on Z.

    • Without reading the datasheet (I’m bad, I know), Z is usually an absolute position reference. You can set this up on an interrupt (or, if you’re using an Uno, etc. with only 2 interrupts, using PinChangeInt) successfully. Knowing that it is constant high, set up an interrupt to detect a rising edge to set the value of the encoder

  • HI do you have encoders with three channels [index, phase A and phase B] NOT gray code ? If so please put a link. (This is for a motor speed and position application)

  • Don’t you have a quadrature encoder (not gray code) that outputs INDEX, PHASE-A and PHASE-B?

  • Does anyone know why this is priced the same as the COM-10932? It looks like the COM-10932 is essentially the same thing with a lower resolution. Why would they be priced the same?

  • Hi folks - can anyone advise on the best approach (code would be great) to measuring the speed or distance a rotary encoder has been rotated (mean change) from when it is started turning to when it is no longer turning anymore. Much appreciated!

  • According to datasheet the resolution is 2000, not 1024 p/r? Which information to rely on?

  • is it only speed, and position in one direction? like previous one the 200P/R

    • no. we have 2 200 P/R, one that’s quadrature, and one that’s not. this one is a quadrature, so you can determine direction.

  • It looks like this is an incremental encoder and gray code does not apply. See:

    • Actually what this outputs is a two bit form of gray code. Which is exactly what a traditional incremental encoder does (according to that wikipedia entry)

  • My Chinese isn’t that good but it looks like the shaft diameter is .20". Is that correct? I’d like to use these to attache to the back of my stepper motor shafts on my CNC machine to use as a DRO (Digital Read Out) of the current position. They seem like they would be accurate for this purpose with 2.84 pulses per degree of rotation. Any thoughts from my fellow tinkerers? ;^)

    • I just received this encoder and measured the shaft. The diameter is 6.00mm (0.24 inches). There is a flat spot to better accept the collar and set screw. That flat spot is 1.00mm deep (across the diameter) and 10mm long.

      The length of the shaft is about 14.00mm. I say about because at the base of the shaft is a C clip. It has a bit of play (between 0.01-0.05 mm is my best guess).

      As far as accuracy - no real idea yet.

    • You should actually be able to get 4096 discrete positions out of this encoder as the count is usually the number of lines and you get 4 edges per line. NB not tested with this encoder.

    • I was actually thinking of attaching to the spindle motor on a mill to facilitate things like tapping, or on a lathe for constant SFM or C-axis live tooling.

  • What sort of rotational friction does this offer to the system? Does is spin freely if giving a snap of the fingers, or is there a definite drag so it stops almost immediately after removing the rotational force?

    • I’m holding this encoder in my hand now. It takes very little force to spin the shaft. But it will not continue to spin after I’ve tried my hardest (a severe “snap of the fingers”). At best it continues rotating for maybe an eighth of a rotation, if even that.

    • Checking my textbooks (and the datasheet) the time for the encoder to spin down from it’s max speed to zero would be under ½ a second. So if you spun it with your fingers it would stop right away!

      • Not quite. The starting torque above is ~0.14oz-in. Compare that to a few motors you may or may not have to get an idea of how much that is. Also, that’s starting torque induced by stiction (or static friction). If it’s moving, it experiences classic or dyanamic friction, which is always less than stiction. The difference depends a lot of the mating materials. Let’s just say it’s 0.1oz-in, which may be completely off (in either direction).

        If you had 5oz-in of torque at near-stall (but still rotating), you’d still be delivering 4.9oz-in to the rest of the system. Of course this may do a little damage to top speed, especially true of brushed DC motors (due to how they operate), but it’s not designed to be used on cheap, weak brushed motors. Think more torque-y big motors and stepper motors.

        Also keep in mind the encoder weighs 100g (~3.5oz), so you’re probably not going to be putting two of these on a robot with low-torque motors anyway. In that case you generally do not need this much resolution and can actually make a cheap encoder yourself :) (Google, perhaps? Quadrature Encoder is usually what people are looking for)

    • The datasheet specifies that it has a starting torque of .98mN*M so there should be very little friction introduced to a system. I wouldn’t know how long it would spin if you snap it however.

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