How to read encoder with RS-232/RS-422

[jobi 0]

Hi everyone, I've been working with a Smartstep servomotor, model R7M-A20030-S1, with the corresponding driver. I'm doing a simple positioning PID control to study the influences of the gains in the system's response. I need, obviously, to read the encoder's information, and I only dispose of the R88A-CPU002SN-V1 cable and either of a RS-232 or a RS-422 cable. Does anyone have some information to give me about it? Like the communication protocol, connections, etc. The point is just to read information from the encoder. Thank you for the help, Jobi