Appendix A – Specifications
67
Encoder
If you use a motor with encoder feedback, connect your encoder to pins 1 – 10, as
shown in the figure below.
681
Ω
Internal Connections
681
Ω
681
Ω
Same circuit as Encoder A+/A–
E5V
E5V
Encoder Ground
Encoder Ground
Encoder A+
Encoder A–
Encoder B+
Encoder B–
Encoder Z+
Encoder Z-
1
2
3
4
5
6
7
8
9
10
MOTOR FEEDBACK Connector
+5V
250 mA maximum:
E5V and Hall +5V combined
Encoder Input Connections
Because the wire used in many encoder cables is very thin, we provide two pins
for e5VDC (pins 1 and 2) and for encoder ground (pins 3 and 4). Connect
two wires in your encoder cable to the +5VDC pins, and connect two wires to the
encoder ground pins. We recommend that you splice each pair of wires to a larger
diameter wire, as shown in the next drawing.
Encoder Cable
E5
E5
Encoder Ground
Encoder Ground
1
2
3
4
To Encoder
MOTOR FEEDBACK Connector
Splice wire pair to thicker gauge wire
Splicing Wires Together
Splicing to a larger wire provides more wire for current conduction, minimizing
voltage drop at the encoder. (Gemini motor feedback cables use this technique.)
Resolver
If you use a motor with resolver feedback, connect the resolver to pins 19 – 26, as
shown in the figure below.
Internal Connections
Ref 1+
Ref 1–
Reserved
Reserved
Sin+
Sin–
Cos+
Cos–
19
20
21
22
23
24
25
26
MOTOR FEEDBACK Connector
4.25V rms
±
5%
at 7kHz
±
5%
(sine wave)
To RDC
Sin
±
and Cos
±
input voltage: 2V rms
±
5%
To RDC
Resolver Input Connections
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