Hello all. I have an old 1995 fanuc P-155 paint robot that I retrofitted with large stepper motors for fun and am configuring on a Chinese retrofit controller. The controller and pendant work well thus far but a very big issue I have is I do not know the gear ratios of all the axes. As the robot is setup with steppers it’s very very picky about acceleration and the true value of acceleration is dependent on the gear ratios. of course it’s possible to calculate, or to take the whole thing apart and count teeth but either would be tricky to say the least. I was wondering if anyone had any clue of what the ratios were off hand. Also if anyone had a drawing that outlined all the cardinal dimensions of the robot, as it’s also very tricky to accurately measure from joint to joint. I know it’s ancient but figured I’d ask anyway.