Dobot Magician E6 - Encoder Interface; Tool I;O Interface

Dobot Magician E6 User Guide
Issue V1.3（2023-01-16） User Guide Copyright © Yuejiang Technology Co., Ltd.
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The wiring of DO connected to external load is shown below.
Figure 6.4 DO connected to external load
6.1.4 Encoder interface
The socket pins of the encoder interface are distributed and defined as follows.
Pin Name Definition
1 En_A+
ABZ encoder data interface
2 En_A-
3 En_B+
4 En_B-
5 En_Z+
6 En_Z-
7 EX_5VDC 5V output
8 GND Ground
9 - Reserved
6.2 Tool I/O interface
The tool interface is an aviation socket located on the side of the end flange. The socket pins