Electrical Interfaces
AGD155 Product Manual Rev.2.2
Page 32
3.4.11 Interface X2: Main Encoder
The X2 encoder port is designed to interface with the main (primary position feedback) encoder for
the axis. This port supports digital quadrature incremental encoders (AqB), analog sin/cos
incremental encoders, absolute BiSS-C encoders, and absolute EnDat2.2 encoders. The type of
encoder connected to the AGD155 is configured in the Agito PCSuite software.
Figure 20. Main Encoder Connector
Connector X2: ENC (MAIN)
Pin # Name
Encoder Types
Description
AqB Sin/Cos BiSS-C EnDat 2.2
1
5V
5V power supply (limited to 0.5A per
connector)
2
GND
5V return and reference for differential
signals
3
En
CLOCK+ CLOCK+ Clock+ pin for absolute encoders
4
Encoder_1-
CLOCK- CLOCK- Clock- pin for absolute encoders
5
En A+ SIN+
A+ (for AqB) or sin+ (for analog sin/cos)
6
Encoder_2- A- SIN-
A- (for AqB) or sin- (for analog sin/cos)
7
En B+ COS+
B+ (for AqB) or cos+ (for analog sin/cos)
8
Encoder_3- B- COS-
B- (for AqB) or cos- (for analog sin/cos)
9
En Z+ Z+
DATA+ DATA+
Data+ for absolute encoders, or
Z+ for both AqB and analog sin/cos encoder
10 Encoder_4- Z- Z-
DATA- DATA-
Data- for absolute encoders, or
Z- for both AqB and analog sin/cos encoder
Connector manufacturer
3M
Mating connector part number 36210- 36310-3200-008
(Sunchu equivalent: SC-10-4P)
Wiring
AWG 26, insulation rated for 100 V
