Thank you, Yellowdog. I saw a device working. That device had just 4 wires for an encoder and 3 wires for a BLDC 3-Phase motor. In total just seven wires for one motor. Why does this encoder require eight SPI wires plus three PWM wires? Here is a discussion with the encoder AS5048A pins chart: Gimbal 12V motor with encoder AS5048A? - #42 by PaulZC Thank you.