Page 12 - OBARA New SV Gun

A-format Encoder

Basic Specifications:

A-format encoder is made by Nikon

Off-the-shelf item

Encoder power backup:

Approximately 3 hours with capacitor on encoder

Recommended external backup battery (if required):

Lithium battery ER6 (3.6V) / capacity-2000mAh

Encoder Connector

Encoder Part Number
Connector Gun side Robot side Maker
Housing XMR-04V XMP-04V
Contact SXM-001GW-P0.6 SXA-001GW-P0.6 JST
Retainer XMS-04V XMS-04V
Pin# Encoder Wire Color Wire size
1 SD+ Blue AWG26
2 SD- Purple AWG26
3 Vcc White AWG26
4 0V Black AWG26

Motor Connector

Item Part Number Maker
Housing 1-179554-3 AMP
Contact (Motor / Earth) 917512-3 AMP
Contact (Brake) 175288-3 AMP
Pin# Motor Wire Color Wire size
B1 U Red AWG16
A2 V White AWG16
B2 W Black AWG16
A1 Earth Green / Yellow AWG16
A3 Brake (+) Yellow AWG20
B3 Brake (-) Yellow AWG20

Example of Conversion cables

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