Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 74)

3 Wiring and Connection
3.6.1 Encoder Signal (CN2) Names and Functions
3-30
3.6 Encoder Connections
This section shows the names and functions of the encoder signals (CN2) and describes examples of encoder
connection.
3.6.1 Encoder Signal (CN2) Names and Functions
The following table shows the names and functions of the encoder signals (CN2).
∗ If an incremental encoder is used, these signals do not need to be connected.
3.6.2 Examples of Encoder Connection
The following diagrams show examples of connecting an encoder, SERVOPACK, and host controller.
(1) Incremental Encoder
∗1. The pin numbers for the connector wiring of the incremental encoder depend on the servomotor.
∗2. : represents twisted-pair wires.
Signal 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 (–)
Shell Shell –
19
0 V
SG 16
0 V
PA O
/P AO
PBO
/PBO
PCO
/PCO
1
2
5
6
CN2
17
18
20
21
22
ENC
CN1
Applicable line driver: SN75ALS175 manufactured
by Texas Instruments Japan,
or an MC3486 equivalent
CN1
R
R
R
PS
/PS
PG5V
PG0V
Incremental
encoder
Shield wire (Shell)
Connector shell
Connector
shell
Output line driver SN75ALS174
or the equivalent
Phase A
PhaseA
Phase B
PhaseB
Phase C
PhaseC
SERVOPACK Host controller
R (terminating resistance): 220 to 470 Ω
∗1 ∗2
∗2