I'm new here, but I'm using an arduino for this project, so I figured this would be the best place to seek help/guidance. I'm working a project and have run into a couple of questions before I proceed. A little background info first..The project uses a Rhino SCARA (See first link below) and an Arduino uno. My objective is to eventually get the robot interfaced with the arduino so that it can be programmed to do simple tasks (such as picking up an object, placing somewhere and moving back to the home position) for the purpose of getting this robot worked back into the cirriculum at the university. The robot's wiring has been completely obliterated by whoever was the last to mess with it, so if you checked out the link to view the SCARA robot I'm working with, picture that, but with no wiring.. The robot was bought by the university back in the 70's (which is why finding info on it is difficult). Since the robot is so old and has apparently been through a lot, my first step of the project is to test all of the components on the bot. I've tested all 5 motors to assure that they are still functioning, which they do. My next step is to figure out a method for testing the encoders attached to each motor's shafts. The second link below has somewhat detailed info on the encoders. The company (Rhino Robotics) is awful about communicating back and the manuals aren't worth a crap..They responded to one of my emails a couple months back and have not done so since, so I know the company still exists. :~ ..... Anywho, could any of you suggest a method for testing these encoders?