Hi all!
Inaugural post -- thanks for existing, I hope I can be of service.
I'm working with a Kuka KR16-L6 arm, and I'm on a project trying to find alternative means of controlling the robot without any other Kuka hardware. I've started looking into some other drives, but I'm having trouble identifying which types of encoders are used in the motors. I know the Kuka-branded motors are variants of Siemens motors, but Siemens' documentation for the relevant series (1FK7) doesn't seem to have details the sub-type/model specification for the Kuka version (referring to "1ZZ9"). Unfortunately, I don't have access to Kuka manuals.
The motor models:
1FK7081-5AZ91-1ZZ9-Z (Axes 1 & 2)
1FK7060-5AF71-1ZZ9-Z (Axis 3)
1FK7032-5AK71-1ZZ9-Z (Axes 4-6)
So, generally, I'm wondering if anyone here has good experience with using any particular drives with this Kuka arm or one similar, or at least if anyone can help me determine the type of encoder used in the motors.
Thank you for the help!