Omron E6B2-CWZ6C incremental encoder (A/B/Z) with ESP32

Supply 5-24 V Bus GPIO Measures rotation, position, speed

Pins and ESP32 wiring

Pin	Role	ESP32 pin	Notes
BROWN	Power	3V3	Supply +. Needs 5 to 24 V: use VIN (5 V)
BLUE	Ground	GND	0 V
BLACK	Output (the part drives it)	D25	Phase A. NPN open collector: use INPUT_PULLUP or 4.7 kΩ to 3V3, never to the supply
WHITE	Output (the part drives it)	D26	Phase B. NPN open collector: pull-up to 3V3 only
ORANGE	Output (the part drives it)	D27	Phase Z (one pulse per turn). NPN open collector: pull-up to 3V3 only
SHIELD	Not wired to the ESP32	—	Leave unconnected or tie to GND

Suggested wiring for the 30-pin ESP32 DevKit, avoiding flash, input-only and strapping pins. BoardPilot checks it for you as you wire.

void setup() {
  Serial.begin(115200);
  pinMode(25, INPUT);  // BLACK
}

void loop() {
  Serial.println(digitalRead(25));
  delay(100);
}

Omron E6B2-C datasheet, E6B2-CWZ6C: 5 to 24 V DC, NPN open-collector outputs A, B, Z
Omron E6B2-C datasheet, Wire colours: brown +, blue 0 V, black A, white B, orange Z, shield

Part data: CC BY 4.0, free to reuse with credit to BoardPilot.