Rotary Encoder Module RobotDYN

Features

• 24 steps per revolution (24 PPR)
• Full 360° continuous rotation
• Built-in push-button switch (SW pin)
• 5V operating voltage
• Quadrature output (2-bit Gray code)
• Onboard power indicator LED

Specifications

• Operating Voltage: 5V DC
• Mechanical Angle: 360° continuous
• Positions per Revolution: 24
• Output Signal: 2-bit Gray code (CLK and DT)
• Integrated Push Button: Yes (SW)

Working Principle

Inside the encoder, a slotted disc connects to the common ground (C). Two output pins (A and B) generate signals as the shaft rotates.

The signals from pins A and B are 90° out of phase (quadrature encoding). The order in which these signals change determines the direction of rotation:

• If B ≠ A when A changes → Clockwise rotation
• If B = A when A changes → Counterclockwise rotation

By monitoring these transitions, a microcontroller can determine both direction and position increment/decrement.

Pinout

Applications

• Robotic arm control
• Servo and stepper motor positioning
• Menu navigation systems
• CNC machines
• Volume and parameter adjustment interfaces

Arduino Connection Example

• VCC → 5V
• GND → GND
• CLK → Pin 6
• DT → Pin 7
• SW → Optional digital pin

Arduino Example Code

#define outputA 6
#define outputB 7

int counter = 0;
int aState;
int aLastState;

void setup() {
  pinMode(outputA, INPUT);
  pinMode(outputB, INPUT);
  Serial.begin(9600);
  aLastState = digitalRead(outputA);
}

void loop() {
  aState = digitalRead(outputA);

  if (aState != aLastState) {
    if (digitalRead(outputB) != aState) {
      counter++;
    } else {
      counter--;
    }

    Serial.print("Position: ");
    Serial.println(counter);
  }

  aLastState = aState;
}

Library

No external library is required. The module works using standard Arduino digitalRead() functions to detect quadrature signals.

Comparison with Potentiometer

Unlike potentiometers, which have a limited rotation angle (typically 270°) and provide absolute position, rotary encoders rotate endlessly and detect relative movement. This makes them ideal for increment/decrement control applications rather than fixed position measurement.