3.3 CN5 encoder signal terminal CN5 is the encoder signal terminal, a 1394 socket; its position and terminal definition are shown in Fig. 3-4: Metal housing Fig. 3-4 CN5 terminal position and pin distribution 3.3.1 Definition of encoder terminals on the servo motor side On the servo motor side, there are three forms of encoder terminals Precautions for encoder wiring: 1) Do reliably ground the shielding screens on the driver side and the motor side; otherwise a warning of the driver will be triggered. 2) Make sure the differential signal corresponds to two core wires of the twisted-pair connecting cable.
For example, A+ and A- forming a differential signal group shall use a twisted-pair cable. 3) When a 17-bit incremental encoder is selected, battery + and - signals do not exist 4) When a 17/23-bit encoder is used with a conductor of less than 5m long, a cable with the cross section area of 0.2mm 2 shall be used. If the conductor exceeds 5m, per each incremental 1 meter, the cross area of the core wire shall increase by 0.05mm 2 .
23 Technical Manual for EA190 Series Servo Driver V100 Serial signal SD+ Power +5V Power +5V Serial signal SD- Power GND Power GND Connector type TE 172161-1 YD28K15TS CM10-SP10S-MD 17/23-bit encoder Signal Pin number Signal Pin number Signal Pin number +5V 1 +5V 2 +5V 4 GND 2 GND 3 GND 9 SD+ 5 SD+ 4 SD+ 1 SD- 6 SD- 7 SD- 2 Battery + 3 Battery + 14 Battery + 6 Battery - 4 Battery - 15 Battery - 5 PE 9 PE 1 PE 10 Note: Graphs in the table are views from the side of the motor