Absolute Encoders

The SPARK MAX does not need to be configured to a specific mode to accept input from an absolute encoder as long as the encoder is connected to the SPARK MAX Data Port.

Absolute Encoder Specifications

Parameter	Specification
Encoder Output Voltage Level	5.0V
Encoder Type Supported	Duty Cycle or PWM

Absolute encoder input is supported by SPARK MAX Firmware Version 1.6.0 and newer,

Connecting an Absolute Encoder

Connecting an absolute encoder that is not a Through Bore Encoder will likely require a custom wiring harness or SPARK MAX Data Port Breakout Board to connect the necessary encoder power, ground, and signals to the SPARK MAX Data Port. When using an Absolute Encoder use the following pinout information for the Data Port:

Data Port Connector Information

Connector Pin	Pin Type	Pin Function
1	Power	+3.3V
2	Power	+5V
3	Analog	Analog Input
4	Digital	Forward Limit Switch Input
5	Digital	Encoder B
6	Digital	Absolute/PWM Input
7	Digital	Encoder A
8	Digital	Reverse Limit Switch Input
9	Digital	Encoder C / Index
10	Ground	Ground