As the disk rotates, light passes through the slits, but is blocked by the spaces between the slits. The encoder works by projecting light onto its disk with evenly spaced slits around its circumference. Robots can use optical shaft encoders (an incremental encoder) to measure rotational distance traveled by a motor shaft. A limit switch operates when an object presses against the lever of its switch activating the switch. As the robot joint reaches (in each direction) its motion limit, it will be stopped by the mechanical stop and the limit switch will produce an electrical signal alerting the robot controller that a motion limit is achieved. Limit switches are utilized inside or outside a robot’s joints to set the motion limits along with mechanical (hard) stops.
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