[Iron-Man]

Thanks Iron-Man, these actually look promising!

I looked into the specs/manuals of the motors, and what I am not clear about is the incremental encoder wiring (see pg 125, section 6.2.2 in the pdf you linked to). PS and /PS are serial signal (I found in another manual them to be serial data + and -). The question is, are those quadrature signals, or some other scheme/protocol? Do you know?

Diagram 6.2.2 Encoder Connector (CN2) Terminal Layout and diagram shows the connections for a absolute encoder. Remember that an absolute encoder stores true position. See 6.13 page 132 "With an absolute encoder: Outputs serial data corresponding to the number of revolutions (RS-422 or the equivalent).

With Yaskawa, you must make sure that the {Yaskawa motors and encoders} are compatible with the {Yaskawa amp} that you select. Their documentation is not straight forward but with a little study it becomes clear.

Hope this helps,

Iron-Man