Encoder and servo system

An encoder that detects an operation of a motor that drives an object, the encoder, the motor and the object located in a first location, the encoder comprising:

• a signal generator configured to:
• detect, via a cable connected to the motor, the operation of the motor driven by a servo driver located in a second location remote from the first location;
• and
• generate a feedback signal indicating the detected operation of the motor;
• an input unit comprising a cable terminal that connects a plurality of sensor cables coupled to a plurality of sensors arranged near the motor and the object, the input unit configured to receive, via the plurality of sensor cables, a respective plurality of detected signals output from a respective plurality of sensors, which detect aspects of the object driven by the motor;
• and
• a communication unit configured to:
• receive the feedback signal from the signal generator;
• receive the respective plurality of detected signals from the input unit;
• and
• output, using a single common encoder cable, to the servo driver in the second location, a digital signal encoding data comprising:
• the feedback signal;
• and
• the respective plurality of detected signals, wherein
• the servo driver is configured to:
• receive the digital signal;
• and
• provide a drive current to the motor based on the digital signal.