2 encoder extension cable, Standard controller (2 a), Encoder extension cable – IAI America RCP2-CF User Manual
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4.4.2
Encoder Extension Cable
[Standard controller (2 A)]
Connect the encoder extension cable to the ENC connector.
Signal table for the controller-end connector (CN2)
Pin No.
Signal abbreviation
Description
1 F.G
Shielded
wire
2 -
(Not
used)
3 -
(Not
used)
4 -
(Not
used)
5 GND
Encoder
power
output
6 5V
7
VPS
Encoder control signal output
8 -
(Reserved)
9
EN B
Encoder differential signal phase-B input
10 EN
B
11
EN A
Encoder differential signal phase-A input
12 EN
A
13
BK –
Negative side of the brake power supply
14
BK +
Positive side of the brake power supply
15 -
(Reserved)
16 -
(Reserved)
Cable colors and pin assignments for units shipped in and after August 2004 (supporting the absolute
specification)
Housing:
PHDR-16VS
(J.S.T.
Mfg.)
Contact:
SPHD-001T-P0.5
Housing: XMP-18V (J.S.T. Mfg.)
Contact: BXA-001T-P0.6
Retainer: XMS-09V
1
2
15
16
CN
2
CN
1
CB-RCP2-PA * * *
Controller end
CN2 pin assignments
Actuator end
CN1 pin assignments
CN2
CN1
Purple
White (with purple)
Blue
White (with blue)
Yellow
White (with yellow)
-
-
-
Green
-
-
-
BK +
BK –
ENA
ENA
ENB
5V
GND
-
-
-
F.G
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
ENA
ENA
ENB
ENB
GND
5V
BK +
BK –
F.G
-
-
-
-
VPS
-
-
-
-
Red
White (with red)
Ground
(Reserved)
(Reserved)
1
10
9
18
Cable color
Pin No.
Robot cable
Standard cable
-
-
Red
Gray
Brown
Green
Purple
Pink
-
Yellow
Orange
Blue
-
-
-
Ground
(Reserved)
Cable color
Robot cable
Blue
White (with blue)
Yellow
White (with yellow)
-
-
-
-
White (with red)
Red
Green
-
-
-
-
Purple
White (with purple)
Ground
Standard cable
Brown
Green
Purple
Pink
-
-
-
-
Blue
Orange
Yellow
-
-
-
-
Red
Gray
Ground
Pin No.
VPS
CB-RCP2-PA * * *-RB
Standard cable
Robot cable
Signal
abbreviation
Signal
abbreviation
ENB