Hi jasonmbeamer
You can get a PDF from the Yaskawa site for your correct wiring of the encoder motor & drive I would not get it from anywere else the encoder wiring is not the same on all the motors you have to make sure you have the wiring for the SGM motor & for incremental encoder because that is what you have on your motor it is also a 2048 encoder
I have said in other post that Position control is not so good for CNC but because you have it that is what you have to use
This is quite easy to set up because of control software like Mach & others that have step/dir output & because of the yaskawa drive you have
Your drives have electronic gearing so this is how it works When your electronic gear ratio is set 1/1(in drive) the motor will move (1) reference unit per pulse input so the electronic gear ratio represents the number of encoder pulses per reference units from your Control
0.01mm,0,1deg or 0.01inches=1-pulse input moves axes by (1) reference unit
Reference unit=0,1um so if 50,000 pulses are input the axes moves 5mm
50,000x0.1=5000um=5mm
This will never be as good as using Velocity (speed)/Torque control but will work quite well for a home built machine if set set up correctly