The utility model discloses a novel
encoder, which comprises an
encoder moving disc and an
encoder static disc provided with a PCB (
printed circuit board), the encoder static disc is provided with a reading head electrically connected with the PCB, the encoder static disc is provided with a central through hole A, and the aperture of the central through hole A is larger than the
diameter of a
motor shaft. The encoder static disc is installed at the
tail end of the motor shell in the using state, the encoder movable disc is installed at the
tail end of the
motor shaft in the using state, a gap is reserved between the encoder static disc and the encoder movable disc, and the reading head is used for detecting rotation information of the encoder movable disc. According to the utility model, the encoder static disc is directly installed at the
tail part of the motor shell, no extra support for installing the encoder static disc is needed, and the encoder static disc is located between the encoder dynamic disc and the motor, thereby reducing the occupied space of the encoder, reducing the length of the motor on the whole, reducing the occupied space when the
servo motor is used, and improving the service life of the
servo motor. And meanwhile, an encoder static disc bracket is not arranged, so that the cost of the encoder is reduced.