Pinouts
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Interfaces:
- Mesa SmartSerial = full-duplex UART
- Encoder = QUAD
- Resolver = SIN/COS
- SSI, BiSS, EnDAT = half-duplex SPI
- Misu 02 = half-duplex UART
- Sanyo Denki = half-duplex UART
- Hyperface = SIN/COS + half-duplex UART
Command connector wiring:
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| Pin | Color | Smart Serial | Step/Dir | Quadrature |
|---|
| 1 | Orange Stripe | RX+ | Step+ | A+ |
| 2 | Orange | RX- | Step- | A- |
| 3 | Green Stripe | TX+ | Dir+ | B+ |
| 4 | Blue | | Err- | |
| 5 | Blue Stripe | | Err+ | |
| 6 | Green | TX- | Dir- | B- |
| 7 | Brown Stripe | | Enbl+ | |
| 8 | Brown | | Enbl- | |
Feedback connector wiring - encoders etc
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| Pin | Color | Resolver | Encoder | 1Vpp | UVW | Mitsubishi | Sanyo-Denki | Yaskawa | Omron |
|---|
| 1 | Orange Stripe | Sin+ | A+ | Sin+ | U+ | | | | |
| 2 | Orange | Sin- | A- | Sin- | U- | | | | |
| 3 | Green Stripe | Cos+ | B+ | Cos+ | V+ | | | | |
| 4 | Blue | Ref- | Z- | | W- | 2 | Blue | 6 | 4 |
| 5 | Blue Stripe | Ref+ | Z+ | | W+ | 1 | Brown | 5 | 7 |
| 6 | Green | Cos- | B- | Cos- | V- | | | | |
| 7 | Brown Stripe | AIN | VCC | VCC | VCC | VCC | Red | 1 | 6 |
| 8 | Brown | GND | GND | GND | GND | GND | Black | 2 | 3 |
Connector wiring - serial protocols
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| Pin | Color | RS485 | RS422 | UART | USART | UART HD | USART HD | SPI | SPI HD |
|---|
| 1 | Orange Stripe | | A | RX+ | RX+ | | | MISO+ | CS+ |
| 2 | Orange | | B | RX- | RX- | | | MISO- | CS- |
| 3 | Green Stripe | | | | CLK+ | | CLK+ | CLK+ | CLK+ |
| 4 | Blue | B | Z | TX- | TX- | TX/RX- | TX/RX- | MOSI- | MOSI- |
| 5 | Blue Stripe | A | Y | TX+ | TX+ | TX/RX+ | TX/RX+ | MOSI+ | MOSI+ |
| 6 | Green | | | | CLK- | | CLK- | CLK- | CLK- |
| 7 | Brown Stripe | VCC | VCC | VCC | VCC | VCC | VCC | VCC | VCC |
| 8 | Brown | GND | GND | GND | GND | GND | GND | GND | GND |