[ernestop]

I have a question about Fanuc Pulse Coders.

Looking at Fanuc Pulse coders, I noticed some of them have 14 pins, and the pinouts are explained in this thread:

PIN
14 O ( or 0 ) - I think it's GND
13 +5 - That's easy, don't even tell
12 A - A-channel?
11 A* - second interlaced pulse for A?
10 B - B-channel?
9 B* -
8 Z - Zero or home, why two?
7 Z*
6 C1 - These are four C's somekind absolute counter?
5 C2 - Bits for what?
4 C4 -
3 C8 -
2 +5
1 O

BUT some of them have 17 pins. I believe these extra pins are used for communication, for the servos used in Robots, as the ArcMate 100i

A__SPDJ1____H__SG____R__+6VA
B___________J_+5V____S___0VA
C___________K_+5V____T___0V
D__*SPDJ1___L
E___________M
F__SPRQJ1___N__0V
G_*SPRQJ1___P

Now the pinout for 15 pin.

1_0V________6_*SPRQJ4__11
2_0V________7_(+6VB)___12_SPDJ4
3___________8__+5______13_*SPDJ5
4___________9__(0VB)___14_+6VA
5_SPRQJ4____10__DVA____15_+5V

And Another:
B1__0V______B2_+5V_____B3_*SPRQJ5
B4_*SPDJ5___B5_________B6_SG
A1__0V______A2__+5_____A3_SPQJ5
A4__SPDJ5___A5__+6VA___A6_0VA


These encoders use R-422 Communication I believe.

The question is:

Am I right in asumming only certain types of pulse coders (abosolute) are capable of this comunication? While other pulse coders use A,B,Index pins?

The information is form the Manual for the ArcMate 100i Robot, I have the information of the motors, but I'm only interested in the pulse coders, How can I know the type of pulsecoder the servo uses? as this information can't be found in the manual,and curretly I don't have the servomotors.

I don't know much about this pulse coders, so any more information or reading material will be much appreciated.

Ernesto.

[Al_The_Man]

The first listing shows the standard differential encoder which can be used, but the C signals are for motor commutation, and is Fanuc proprietary.
If you show a number I may be able to tell from either motor or encoder No?
Al.

[ernestop]

The controller is dated 2001:

The servomotor that the robot uses are:

ARC Mate 100i (with 6-axis brake) A05B-1210-B601
M-6i (with 6-axis break) A05B-1210-B602


Specifications___Axis___Remarks

A06B-0162-B175___J1_____M6/3000B_brake

A06B-0123-B175___J2 ____a_3/3000B_brake

A06B-0371-B175___J3_____a_1/3000B_brake

A06B-0371-B175___J4 ____a_1/3000B_brake

A06B-0113-B175#0008_J5__b_0.5/3000B_brake

A06B-0113-B175#0008_J6 b_0.5/3000B_brake

They all end in -B175, but i don't know what that means, I'm thinking in buying a encoder to try to catch the communication between contoller and servos, but i'm not sure the number part of the enconder, it needs to be the right one.

[Al_The_Man]

Robots traditionally use absolute encoder and the B175 seems to confirm it.
Al.