22
5.2.4
Encoder and Hall Signals
15 pole D-Sub socket
Signal
Description
1
GND
Together, for encoder and hall 0V supply, only 1 pin
2
5V Encoder
150 mA for encoder supply
3
Encoder A
Pull up 2,7kΩ to 5V, differential input 26LS32
4
Encoder A*
Middle level: pull up 2,7kΩ to 5V, Pull down 2,2kΩ,
differential input 26LS32, 330
Ω
internal between Pin3/4
5
Encoder B
Pull up 2,7kΩ to 5V,
differential input 26LS32
6
Encoder B*
Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330
Ω
internal between Pin5/6
7
Encoder Z
Pull up 2,7kΩ to 5V, differential input 26LS32
8
Encoder Z*
Middle level: pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32, 330
Ω
E internal between Pin7/8
9
HALL 1
Pull up 2,7kΩ to 5V, differential input 26LS32
10
HALL 1*
Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ,
differential input 26LS32
11
HALL 2 / -TMP
Pull up 2,7kΩ to 5V, differential input 26LS32 / over
temperature signal motor
12
HALL 2*
Middle level: Pull up 2,7kΩ to 5V, Pull down 2,2kΩ, differential
input 26LS32
13
HALL 3 / I2C_SCL
Pull up 2,7kΩ auf 5V,
differential input 26LS32 /
I2C clock signal
14
HALL 3*
Middle level: Pull up 2,7kΩ to 5V, pull down 2,2kΩ, differential
input 26LS32
15
5V Hall / I2C_SDA
5V, 150 mA / I2C data signal
5.2.5
Definition of Rotating Direction for Servo
Motors
Sight on front surface motor shaft, turn the shaft clockwise,
the meter has to count upwards
Switch encoder A/B
/- motor power
Switch rotating direction for DC brush type servo motors
Switch encoder A/B
Switch hall1 with hall3
Switch winding-phase 1 and phase 2
Switch rotating direction for 3phase brushless servo motors
Phase 1 to phase 2, 2 to 3 and 3 to 1
Hall 1 to hall2, 2 to 3 and 3 to 1
Switch phase connection for brushless servo motors without
change of rotating direction
