Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Analog Voltage and Pulse Train Reference - Manual (Page 90)

3.5 Encoder Connection
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3.5 Encoder Connection
This section describes the encoder signal (CN2) names, functions, and connection examples.
3.5.1 Encoder Signal (CN2) Names and Functions
The following table shows the names and functions of encoder signals (CN2).
∗ These do not need to be connected for an incremental encoder.
3.5.2 Encoder Connection Examples
The following diagrams show connection examples of the encoder, the SERVOPACK, and the host controller.
(1) Incremental Encoder
∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.
∗2. : 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
/P AO
PBO
/PBO
PCO
/PCO
1
2
5
6
CN2
33
34
36
19
20
ENC
CN1
CN1
PS
/PS
PG5 V
PG0 V
0 V
R
R
R
Incremental encoder
Shielded wire (Shell)
Connector shell
Connector
shell
Output line-driver SN75ALS174
or the equivalent
Phase A
Phase A
Phase B
Phase B
Phase C
Phase C
SERVOPACK Host controller
∗1 ∗2
∗2
R (terminating resistance): 220 to 470 Ω
Applicable line receiver: SN75ALS175 or MC3486
manufactured by Texas
Instruments, or the equivalent
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