Help Identifying Surplus Scara Electronics

I purchased a Scara Robot frame from a University Surplus Auction I am trying to figure out what I have and have been unable to locate any information on it. It was made by US Robotics from Japan in the 90’s. I needs some help with identifying a couple wires. First It has Sanyo Denki 350w 75v 6.4a 1750 rpm motor C-200t-2553e08 with Tacho 7v/krpm and an Optcoder that has 6 wires 5v, 0v S1,s2 and M and stranded wire I assume is ground. I am unsure what the M wire does. The motors are connected to shafts that each have two sensors installed offset by 90 deg. I think these are hard stops but am unsure what they actually are or how they work. They are in a tube that points at the shaft but nothing is noticeable on the shaft. The end of the tub has three wires coming out one side, I believe are + s -. the other side of the tube looks like wax or plastic covering up the end of the tube. There are four of these sensors two on both the x and y . The robot didn’t come with anything on the z. Can someone tell me what these four sensors are and how they work or if two work together is some way. Also what is the M wire? . Below are a couple pictures. Thanks in advance, Scott.
I bought this just for fun and to learn.

... "optcoder" and the signal names points to an encoder-type sensor - it will generate signals (S1,S2,M) while turning -- "M" could be an index-signal ... my encoders signals are named A,B,I

The "tubes" could be inductive sensors -- [+]/[-] could be +24V/GND, 's' will then be the switching output, when a conductive surface comes into sensing distace ...

Edited 1 time(s). Last edit at 07/02/2019 03:29AM by VDX.

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Viktor
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Aufruf zum Projekt "Müll-freie Meere" - [reprap.org] -- Deutsche Facebook-Gruppe - [www.facebook.com]

Call for the project "garbage-free seas" - [reprap.org]

There are a lot of SCARA's on Ebay... most of them do not have controllers.

How hard would it be to get one going without a manufacturer controller?

... not really hard -- you'll need a program to calculate the paths.

Look at RoboDK - the educational version is affordable -- [robodk.com]

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Viktor
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Aufruf zum Projekt "Müll-freie Meere" - [reprap.org] -- Deutsche Facebook-Gruppe - [www.facebook.com]

Call for the project "garbage-free seas" - [reprap.org]