Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 181)

5.9 Absolute Encoders
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5.9.1 Connecting the Absolute Encoder
The following diagram shows the connection between a servomotor with an absolute encoder, the SERVO-
PACK, and the host controller.
(1) Using an Encoder Cable with a Battery Case
∗1. The absolute encoder pin numbers for the connector wiring depend on the servomotors.
∗2. : represents shielded twisted-pair wires.
∗3. When using an absolute encoder, provide power by installing an encoder cable with a JUSP-BA01-E Battery Case or
install a battery on the host controller.
/PCO
ENC
3
4
4
2 SG
SEN
CN2
33
34
35
36
19
20
CN1
SG 1
PA O
/P AO
PBO
/PBO
PCO
Absolute encoder
(Shell)
Battery*3
SERVOPACK
Phase A
Phase B
Phase C
Connector
shell
Connector
shell
CN1
*2
*2 *1
0 V
+5 V
Host controller
5
6
1
2 PG5 V
PG0 V
PS
/PS
BAT(+)
BAT(-)
Phase A
Phase B
Phase C
R
R
R
Applicable line receiver: SN75ALS175
or MC3486 manufactured by Texas
Instruments or the equivalent
Terminating resistance R: 220 to 470 Ω
Encoder cable
with battery case
SN75ALS174
output line driver or
the equivalent
45