Adding encoder on SDC2130, how to connect it?

I\'m using the SDC2130 motor controller by controlling it with a C application under Ubuntu and it works great!

At the moment, i need to read values from two encoders which are installed on my two DC motors.

This is the encoder diagram and information: encoder information .

Can i connect these encoders directly to the SDC2130 motor controller and read their values from the serial connection in my C application?
Or SDC2130 does not support any addition inputs?

I hope you can help me, thanks a lot!

Yes it is possible.

See datasheet for pins to use on the connector.

You will then need to enable the encoders in the configuration menu of the PC utility

You should also disable the pulse capture on these pins.

thanks for the answer!

Your motor controller just need to enable the pins and then it is able to outputs rpm, distance and direction? or I have to calculate all these parameters by reading data from it?