Hello everyone,
I recently got a DENSO VS-6577G-B (2007/03) (aka KUKA KR5 sixx R850) from a friend of mine.
Sadly the controller unit does not exist anymore, so I am aiming for bringing this little fella back to live by using something maybe like "LinuxCnc".
But I am having a very hard time, figuring out the exact technical specifications of the robot - especially the servos motors used in this model.
By that, I have no idea, what type of servo controller could be used for powering up the servo motors.
Here is what I found out so far for the servo motors:
J1: Panasonic MSMA082T2U2 -> 750W, 200VAC | 06100146N | 410622-1570 | 11H10
J2: Panasonic MQMA042T3V2 -> 400W, 200VAC | 09060086N | 410622-1580 | 10H26
J3: Panasonic MQMA022T3V2 -> 200W, 200VAC | ?...................| 410622-1590 | 11H09
J4: Panasonic MQMA012T3V2 -> 100W, 200VAC | 06100035N | 410622-1600 | 11H13
J5: Panasonic MSMA8A2T5U2 -> 80W, 200VAC...| ?................... | ?......................| ?
J6: ?[maybe the same as J5?] -> ?....... , ?.............. | ?................... | ?......................| ?
But sadly I am completely missing further informations like the encoder type (mentioned above) and all those other motor parameters like Torque, Inertia, Poles Per Revolution, Winding Resistance/Inductance, Speed, Continuous Current, Acceleration, etc...
As far as I understood, the original Denso controller-unit was the "RC7M" (or for the KUKA variant "KR C2 sr"?).
So... is here anybody around who has additional information to complete, verify or falsify any of these informations?
Maybe somebody has any experience in using conventional AC servo drivers for a robot like this?
Also any kind of service manuals could be helpful.
I would really apreciate any help in this topic.
