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Each pulse from Channel A or B increases the counter by one when the encoder is turning counter-clockwise and reduces by one for each pulse from the encoder when it is turning clockwise. The pulse count can be converted into distance based on the relationship between the shaft the encoder is coupled to and the mechanics that convert rotary encoder motion to linear travel. The index channel pulse occurs only once per revolution. Often the index channel is used to initialize the position of the shaft the encoder is attached to. A motor turns the encoder until the index channel is detected as a zero, or starting point, and the automated process can begin. The number of complete revolutions the encoder shaft has moved can be read and recorded. The counter adds one revolution when the index occurs during counter-clockwise rotation and subtracts one turn when it occurs during clockwise rotation. By adding the turns count to the pulse count, complete and accurate rotation information can be maintained, as long as the encoder is powered.
