3 Wiring and Connection3.7.1 Encoder Signal (CN21) Names and Functions3-363.7 Encoder ConnectionThis section describes the multi-winding drive unit’s encoder signal (CN21) names, functions, and connectionexamples.3.7.1 Encoder Signal (CN21) Names and FunctionsThe 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 ExamplesThe following diagrams show connection examples of the encoder, the multi-winding drive unit, and the hostcontroller.(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 encodercable using two turns.∗3. : represents shielded twisted-pair wires.Signal Name Pin No. FunctionPG 5 V 1 Encoder power supply +5 VPG 0 V 2 Encoder power supply 0 VBAT (+)* 3 Battery (+)BAT (-)* 4 Battery (-)PS 5 Serial data (+)/PS 6 Serial data (-)Shield Shell –350 V SG1PAO/PAOPBO/PBOPCO/PCO1256CN213334361920ENCCN1Incremental encoderConnector shellConnectorshellPhase APhase BPhase CMulti-winding drive unit∗3CN1∗1 ∗2PSFG/PSPG5VPG0V0 VPhase APhase BPhase CHost controllerRRRShielded wire∗3Output line-driver SN75ALS174manufactured by TexasInstruments or the equivalentR (terminating resistance): 220 to 470 ΩApplicable line receiver: SN75ALS175 or MC3486manufactured by TexasInstruments, or the equivalentME-CHA
