1.2.2.3.1 Encoder accuracy
When mounted properly, the encoder allows for high accuracy which guarantees the precise positioning of
the actuator and also reduces encoder-based distortions in the control loop and leads to vibration-free
motion.
A precise encoder allows achieving:
faster reaction time,
sharper position and velocity loops tuning,
better tracking of the dynamic trajectories.
The total angle measurement error (non-linearity) of the encoder system is composed of 2 parts:
Wide angle errors (installation-dependent non-linearity): Non-linearity caused by imperfect mechanical
installation.
Narrow angle errors (encoder system-specific non-linearity) - encoder system limits and magnetic ring
magnetization imperfections.
The following figure shows a typical non-linearity of the encoder:
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