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:
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:
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:
I got that robot I showed you a picture of, and we have it at our
and last night we powered it on! But it gives a couple of errors. Basically
it says that the encoders on servos 1 and 2 (but not 3456) are out of wack..
pulse generator errors and absolute position errors and stuff.
Do you know where i can get information about the encoders we have? They
and they look like this:
any help or advice or schematics / documents / info you can give me will be
take care and thank you