Omron GRT1-ML2 Hardware Reference Manual page 84

Hardware reference
MECHATROLINK-II connectors (CN1A & CN1B)
Connect to the MECHATROLINK-II network as in the figure using a suitable
MECHATROLINK-II cable. Both connectors are parallelled so you can
connect both cables to both connectors. Connect a MECHATROLINK-II
terminator resistor in one of the connectors if the Servo Driver is the last
device in the network.
CN4 Full-closed encoder connector
CN4 is for connecting a full-closed encoder, that is, the position is controlled
based in one external encoder, and the speed and torque loop based in the
motor encoder. This is used when you install the motor in machines where
you have to measure directly on the load because either:
• There is slip or backlash in the mechanical transmission.
• The precision required is very high.
The supported encoder is line driver and the pinout is shown in the figure.
The table shows the CN4 connector terminal layout and connector
specifications.
HARDWARE REFERENCE MANUAL
fig. 38
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