# Help with Motor encoder connection with motorcontroller

I am new to building drones and bots. I started out using motors without encoders with my Roboclaw Motor Controller for my pet project. Here is the controller's link. Connection seemed simple and it was working the way it was supposed to. Now I got these new motors with encoders for better control. There are 6 pins from the encoder. on top of that, I can see two metal prongs (marked M+ and M-), much like my earlier motor, connected to the motor itself. And I am confused about the connection. I don't know which pin goes where.

I tried contacting customer service to no avail. I am not super confident about trial and error either. Can anyone please explain the connection details? Thank you.

Sorry if this question seems too naive. Also, if this is not the appropriate place for this question, any pointer to where it should go will be highly appreciated.

• 6 wires are 2-differential pairs for A and B channels and the power. Power is likely to be the red/black pair. The others you can figure out by connecting the power and observing the waveforms when rotating the shaft. There might be a case you can use only one wire from a pair as a single-ended connection. Otherwise you might need something like RS-422 receiver. – Eugene Sh. Nov 5 '15 at 17:54
• And M+/- are the motor power, of course.. – Eugene Sh. Nov 5 '15 at 18:02
• I inspected closely and figured that the M+/- prongs are indeed connected to the encoder via the pcb. I am mostly confused about the rest 4 wires - green/yellow/brown/orange. Which pins do I connect them to? – Sidmeister Nov 5 '15 at 18:07
• On the link in your question there is a perfectly visible table that explains this and further down there is a data sheet that goes into further detail. – Andy aka Nov 5 '15 at 18:10
• I understand; but I clearly lack the capability to decipher them. I just started getting myself familiar with these. – Sidmeister Nov 5 '15 at 18:12