19
5
10
4
9
3
8
2
7
1
15
14
13
12
11
6
Encoder B+ signal
Encoder B- signal
Encoder A+ signal
Encoder A- signal
Shielded layer
connect to PE
Encoder Z- signal
Encoder U- signal
Encoder V- signal
Encoder W- signal
Encoder power
supply 5V
Encoder Z+ signal
Encoder U+ signal
Encoder V+ signal
Encoder W+ signal
GND
5
10
4
9
3
8
2
7
1
15
14
13
12
11
6
Shielded layer
connect to PE
Encoder power
supply 5V
SD+
SD-
GND
CN5 2500ppr incremental encoder terminal definition
CN5 17-bit encoder terminal definition
It indicates that the
terminal Is Left,
and do not connect
Note: When connected to
the wire-saving encoder, U
+ / U-, V + / V-, W + / W-,
Need not to be connected.
Figure 4-5 CN5 terminal pinout
2KΩ
100Ω
100Ω
1
33
34
上位机装置
100Ω
100Ω
31
32
14
16
PULSE
+
PULSE
-
SIGN
+
SIGN
-
GND
PE
GND
GND
伺服驱动器
普通脉冲位置指令
最小脉冲宽度
1us
最大输入频率为
500kpps
PULHIP
PULHIS
1
6
11
5
10
15
Figure 4-6 CN 5 terminal welding pinout
4.3.2 Encoder terminal definition of servo motor side
There are two shapes encoder terminal in the servo motor side.
AMP plug
，
for motor with 60, 80 flange, the pin defined in Table 4-3a, 3b, 3c
Plugs in motor side
Shape
2500ppr incremental encoder
17 bit encoder
4
5
3
2
1
9
10
7
6
14 15
13
12
11
8
Motor side
3
2
1
6
4
9
8
7
5
Motor side
Encoder cable connector
1
5
6
10
11
15
2
3
4
9
7
12
13
14
8
1
2
3
6
4
7
8
9
5
Shell model
：
C4140-HM-3*5P
Plug model
：
C4140F-TP-L
Shell model
：
C4140-HM-3*3P
Plug model
：
C4140F-TP-L
Aviation plug: for motor with 110 flange and above, the pin defined in Table 4-3a, 3b, 3c
2500ppr incremental encoder
17 bit encoder
2
5
14
13
15
11
10
6
3
1
Terminal type
：
YD28K15TS
Note: Due to the product improvement, the aviation plug model may be changed.
Table 4-3a 17-bit incremental encoder cable connection
Function
Description
Drive side DB15
Servo motor side
AMP plug
Aviation plug
Signal name
Pin
Pin
Pin
Encoder power
supply
+5V
5
1
2
Encoder power
GND
10
2
3
