Editing Template:EncoderPinoutD15

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! Pin # !! Pin name !! Electrical type (in most feedback device modes) ||Quadrature encoder|| SinCos encoder || BiSS-C encoder || SSI encoder || AMS SSI encoder
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| Shell|| class="powpin" |GND|| colspan="6" |Earth/case
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| 1|| class="inpin" |HALL_W|| colspan="3" |Hall sensor digital input, phase W || - || - || -
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| 2|| class="inpin" |HALL_V|| colspan="3" |Hall sensor digital input, phase V || - || - || -
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| 3|| class="inpin" |HALL_U|| colspan="3" |Hall sensor digital input, phase U || - || - || -
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| 4|| class="powpin" |GND|| colspan="6" |Encoder supply ground 
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| 5|| class="inpin" |B-||Differential input B-|| Channel B- || SinCos input B- || - || - || -
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| 6|| class="inpin" |B+||Differential input B+ || Channel B+ || SinCos input B+ || - || - || -
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| 7|| class="inpin" |A-||Differential input A- || Channel A- || SinCos input A- || - || - || -
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| 8|| class="inpin" |A+||Differential input A+ || Channel A+ || SinCos input A+ || - || - || -
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| 9|| class="powpin" |5V_OUT|| colspan="6" | Encoder supply 5V output 
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| 10|| class="powpin" |GND || colspan="6" | Encoder supply ground 
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| 11|| class="inpin" |GPI3|| colspan="3" | Axis negative direction end limit switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA- || Clock- || CLK
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| 12|| class="inpin" |GPI2|| colspan="3" | Axis positive direction end limit switch (optional).Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Fault limits tab. || Clock/MA+ || Clock+ || CSn
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| 13|| class="inpin" |GPI1|| colspan="5" | Axis home switch switch (optional). Normally closed (NC) switch is highly recommended for safety reasons.<br /> Connect it between this pin and GND pin. Normally open (NO) switch can be used, and the switch polarity can be changed in Granity/Goals tab in Homing section. || DO
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| 14|| class="inpin" |C-|| Differential input C- || Index channel Z- || Index channel Z+ || Data/SLO- || Data- || -
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| 15|| class="inpin" | C+|| Differential input C+ || Index channel Z+ || Index channel Z+ || Data/SLO+ || Data+ || -
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| Pin layout || colspan = 7 | Female D-sub 15 connector as it appears from outside of drive. Note: counterpart (male) connector has mirrored pin layout if viewed from pin side, and same layout if viewed from soldering side.

[[File:d15_pinout.png|frameless|500x500px]]
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