87
MS-130ST-T10015BZ-21P5
MS-130ST-T06025B-21P5
MS-130ST-T06025BZ-21P5
Power cable CM-L15-02
encoder
5-10-1. Absolute enocder servo encoder cable
15-core aviation plug—encoder cable
5
4 blue (SD+)
3 blue/black(SD-)
2
1 shield
10
9 green()
8 red(5V)
7 green/black(battery-) 6 black (0V)
15
14
13
12
11
DB9 female port related to the 15-core aviation plug
5 shield
4 blue (SD+)
3 blue/black(SD-)
2
1
10
9 green()
8 red(5V)
7 green/black(battery-) 6 black(0V)
15
14
13
12
11
15-core AMP plug –encoder cable
5 shield
4 blue(SD+)
3 blue/black(SD-) 2
1
10
9 green()
8 red(5V)
7 green/black(battery-) 6 black(0V)
15
14
13
12
11
DB9 female port related to 15-core AMP plug
5 shield
4 blue(SD+)
3 blue/black(SD-) 2
1
10
9 green()
8 red(5V)
7 green/black(battery-) 6 black(0V)
15
14
13
12
11
5-10-2. Read the absolute encoder servo position
The encoder position information is transferred through RS485 port according to Modbus-RTU
protocol.
17-bit absolute encoder, the pulse per circle is 131072.
U0-57(Modbus address is H1039), double word, encoder present position.
RS-485 communication
CN1 (DB9 male port): the
pin definition at drive side
Pin
Name
CN1-2
A
CN1-3
B
Communication parameter explanation:
RS485 port default communication parameters:
baud rate 19200bps, data bit 8, stop bit 1, even
parity, modbus station no. 1.
Modbus station number can be set through P7-00:
Parameter
Function
Default setting
Setting range
Effective time
P7-00
Modbus station no.
1
0~255
Servo OFF
P7-00 is RS485 port modbus station no.
1
5 9
6