[sudo-discuss] robot encoder data format

whoa... the encoders are serial? I guess there's a lot of stuff in there. the pinout is on page 26 but look on page 31: http://servo-repair.com/documents/yaskawa/CACR-SR.pdf apparently the encoders power on, and report their absolute position with a serial data packet, and then they switch over to quadrature to report movement pulses. Maybe this is why the pinout includes "battery" and there is supposed to be a battery to allow the encoders to "remember" where they were before? i guess if we fix the battery, and fix whatever loose wires are causing servos 1 and 2 to not pass tests, then it will probably work. ------ forwarded message ------- There are more Yaskawa documents here: http://servo-repair.com/documents.php The robot was made by Yaskawa which is now know as Motoman (subsidiary of Yaskawa). However, it seems like Yaskawa does not put any documentation about this on their website. I don't know who made the encoder but I think it might be Stegmann. On Thu, Jul 31, 2014 at 4:18 PM, Jake <jake(a)spaz.org> wrote: