[sudo-discuss] robot encoder data format

[Jake]

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 at spaz.org> wrote:
> Hi Lenson,
>
> I got that robot I showed you a picture of, and we have it at our
> hackerspace now:
>
> http://spaz.org/~jake/pix/giantrobot/
> http://spaz.org/~jake/pix/giantrobot2/
>
> 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
> are model:
>
> UTMAH-B15AS
>
> and they look like this:
>
> http://spaz.org/~jake/pix/giantrobot/IMG_20140707_151629.jpg
>
> any help or advice or schematics / documents / info you can give me will be
> greatly appreciated.
>
> take care and thank you
> -jake