Hi, I bought on ebay this christmas an old motoman sv3 robot without the controller, I will use it as something educational in the makerspace of my city, Sevilla.
I have already started to test the servos with some drivers made with H-bridges and an arduino to generate the 3 PWM signals for the coils, the brakes and the servos all working properly.
Now it is time to test the encoders, I put the 3.6V battery in BAT and 0BAT, and 5V and 0V, but in the DATA+ and DATA- pins there is no change when moving the encoder axis. The encoder of B junction I'm testing is a Yaskawa SGMAH-A5A1A-YR11
Where you can find low level information on how this encoder works, DATA+ DATA- is a differential RS485 line ?
Does anyone know how to make the encoder send the position data?
Thanks