Mitsubishi Electric CR800 Series Instruction Manual page 36

5 Connection of Equipment
The wiring example by the thing is shown below.
(Please note that the connector shape is different depending on the controller)
Figure 5-1 Wiring example from an encoder to a robot [D type or R type]
Figure 5-2 The encoder and the wiring diagram of the encoder cable [D type or R type]
* Refer to "Table 18-4 Connectors: CNENC/CNUSR Pin Assignment" with pin assignment of connector.
5-24 Connection of Equipment [D type or R type]