Encoder Wiring

Part of my confusion comes from the following instructions in the 7i97 manual:

"Suggested wiring is shielded twisted pair with7I97 AOUTN to drive
AIN+, 7I97 GNDN (adjacent to AOUTN) to drive AIN- as the twisted pair and 7I97 GNDN
connected to the shield at the 7I97 end only. The drives common or GND signal should be
connected to the 7I97 power GND with a separate wire."

This relates to the analog servo interface, but nonetheless there is a suggestion that the shield should be connected to a GND terminal pin on TB3. Is this a case of misleading terminology and how is this different than the encoder connections on TB1 and TB2?

RT

Analog servo interface is completely separated from other stuff, so it has it's own rules, usually there is analog ground and digital ground on them.
Encoders are simple, connect the shielding only on the controller side to actual ground. Most of the time it works even without connecting the shielding at all, but high power stuff causes plenty of interference making use of it mandatory.