🚀 go-pugleaf

Hello all:

	Have the following problem that I need "approach pointers" on -

I have an IBM 7540 SCARA type robot which has two servoed joints driven by
12V DC servo motors.  The motors are Yaskawa Print Motors of type - 

Joint 1 = PMES-16-SA13
Joint 2 = PMES-12-SA21

Each motor has a built-in "AB quadrature output and zero index channel" 
type optical encoder.  These encoders output voltages in the range 0.5 to 
6 V DC via 4 leads - A, B, I, and ground.

Now, how can I use the voltages from the encoders to compute joint positions ?
Is there a Yaskawa representative that I can call in the US ? Are there any
standard texts explaining the decoding procedure ?

Please email responses to - ska@raphael.acpub.duke.edu

Thanks in advance.

-santosh