The new KCI 120 Dplus dual encoder from HEIDENHAIN delivers motor feedback and position measurement in just one rotary encoder. By measuring the position downstream from the gearbox, the KCI 120 Dplus compensates for inaccuracies inherent in highly mobile and dynamic robots. This is necessary because, in order to achieve the desired mobility, articulated robots, operate with serial kinematics and up to six axes. Each of them influences the accuracy. In order to perform its dual functions, the KCI 120 Dplus encoder has one central scanning unit and two separate circular scales. It is thus very compact and easy to integrate. The purely serial EnDat 2.2 interface with functional safety permits its use in safety-related applications such as human-robot collaboration.