Hi,

I have an issue with an old Baldor servo motor(from a very old Staubli RX90L) and its feedback system.
Yahoo! - 302 Found
Yahoo! - 302 Found
My first impression when i opened the motor was that clearly the feedback device was a resolver but then i realized that the shaft was also connected to a series of gears and a totally apart circuit. It seems to be a kind of encoder or something based on this link: (yes sorry, thats all i got)

FSI International 280309 002 Encoder for RX90 Joints 1 2 3 4 Imas 70 | eBay

More Images:
Yahoo! - 302 Found
Yahoo! - 302 Found
http://flic.kr/p/kD2AGT
http://flic.kr/p/kD4mvo

Video of mechanics of encoder:
https://www.youtube.com/watch?v=fVdE...RVBJgoX-4X6BFg


After a big search it came to me the term: "multispeed resolver" but i'm not sure because this is an old motor(1995-1997?). The two cilinders on top of circuit (optic encoders may be) are connected through the gears to the shaft rotation. Below that circuit and cilinders is the resolver: Tamagawa TS2620N271E14.
Anyone recognize this system ? someone can tell me how it works?? the gears ratios are 1:4 and 1:80(more or less, 1 cycle needs multiple shaft turns) i need more info about the output of this and why is used???? I seems i got 3 signals, one from the tamagawa resolver, one from the reduction 1:4 gear ratio encoder and one from the reduction 1:80 gear ratio encoder. This 3 signals go through the circuit(brown red). HELP!

BTW: Let me know if the images are down. Thanks