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Encoder Cable and Connector
The encoder cable, which connects the controller to
the motor encoders and optical home switches,
contains 36 leads.
Figure 8-3 shows the D37 female connector that joins
the encoder cable to the controller’s back panel.
The following table details the connector pin functions
and describes the cable wiring.
Figure 8-3:
D37 Connector
Encoder Cable and D37 Connector
Pin
ID
Pin Description
Robot Side (J1)
Telephone
Cable Color
Pin Description
Controller Side (J2)
1
+5V
red
+5V
8
COMMON
yellow
COMMON 0
5
CHA1 (Encoder Pulse A)
green
CHA 0
6
CHB1 (Encoder Pulse B)
white
CHB 0
7
CHC1(Encoder Index Pulse)
black
CHC 0
31
MSWITCH (Home Switch)
blue
MSWITCH
1
+5V
red
+5V
12
COMMON
yellow
COMMON 1
9
CHA2 (Encoder Pulse A)
green
CHA 1
10
CHB2 (Encoder Pulse B)
white
CHB 1
11
CHC2 (Encoder Index Pulse)
black
CHC 1
32
MSWITCH (Home Switch)
blue
MSWITCH
1
+5V
red
+5V
16
COMMON
yellow
COMMON 2
13
CHA3 (Encoder Pulse A)
green
CHA 2
14
CHB3 (Encoder Pulse B)
white
CHB 2
15
CHC3 (Encoder Index Pulse)
black
CHC 2
33
MSWITCH (Home Switch)
blue
MSWITCH
User’s Manual
9603
Axis
1
2
3
8-3
SCORBOT-ER IX