Encoders required for c+s systems

Question

What encoders are needed for c+s systems?

Answer

Use an incremental, quadrature encoder with differential signals of 5V (RS485 level).

"Quadrature" means you have two channels (A & B), allowing you to determine motion direction.  It also increases (quadruples) the number of pulses per revolution, resulting in better resolution.

"Differential" means each channel has a + & - signal.  For example, A+ & A-, where A- is just A+ inverted.  This makes the encoder much more resistant to noise.