3 Wiring and Connection
3.7.1 Encoder Signal (CN21) Names and Functions
3-36
3.7 Encoder Connection
This section describes the multi-winding drive unit’s encoder signal (CN21) names, functions, and connection
examples.
3.7.1 Encoder Signal (CN21) Names and Functions
The following table shows the names and functions of encoder signals (CN21).
∗ These do not need to be connected for an incremental encoder.
3.7.2 Encoder Connection Examples
The following diagrams show connection examples of the encoder, the multi-winding drive unit, and the host
controller.
(1) Incremental Encoder
∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.
∗2. To prevent the influence of external noise, we recommend you connect a ferrite core on the motor end of the encoder
cable using two turns.
∗3. : represents shielded twisted-pair wires.
Signal Name Pin No. Function
PG 5 V 1 Encoder power supply +5 V
PG 0 V 2 Encoder power supply 0 V
BAT (+)* 3 Battery (+)
BAT (-)* 4 Battery (-)
PS 5 Serial data (+)
/PS 6 Serial data (-)
Shield Shell –
35
0 V
SG
1
PA
O
/PAO
PBO
/PBO
PCO
/PCO
1
2
5
6
CN21
33
34
36
19
20
ENC
CN1
Incremental encoder
Connector shell
Connector
shell
Phase A
Phase B
Phase C
Multi-winding drive unit
∗3
CN1
∗1 ∗2
PS
FG
/PS
PG5V
PG0V
0 V
Phase A
Phase B
Phase C
Host controller
R
R
R
Shielded wire
∗3
Output line-driver SN75ALS174
manufactured by Texas
Instruments or the equivalent
R (terminating resistance): 220 to 470 Ω
Applicable line receiver:
SN75ALS175 or MC3486
manufactured by Texas
Instruments,
or the equivalent
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