3 phase full bridge

I got a used puma robot arm that servo drives are not complete servo drives.
Not complete i mean that they have power stage(bridge rectifier/6pack igbt)
an mcu that does very basic error handing and driving the power stage
but these drives do not get the resolvers feedback.
Resolvers are connected directly to controller and controller drives the servo drives via propetiary interbus protocol.
So servo drives do not have any resolver feedback/pid loop/position control
Can i read the resolvers with some mesa hardware and linuxcnc make the
work now does the propetiary controller?
linuxcnc/mesa must output commands via interbus but if this is not possible due to unknown interbus protocol
maybe can drive directly the 3 phase full bridges with some breakout board
skipping drives interbus/mcu subcircuits.
Have mesa firmware/linuxcnc such capabilities?

You will be better UP to go for a full reset of Drives and Servos Hybrid

BUT YES the 3Phase are available on mesa and you shoudt add new Envoders at 25USD eatch for direct 7i77 staging

Yes thats a good solution to replace "hybrid" drives
but they are 48A and at this current a replacement of 6 drives would be very costly.
Mesa has solution for reading resolvers this is not problem..
my problem is how to drive the 6pack igbt... pcb has driver for gates of igbts
but this drivers must be driven from some microcontroller.
Iam looking solution for this..
In other words i want the logic stage of servo drive the power stage exists...

Photos of hybrid drivers but 16A version
power stage (in the bottom side of white rectangle goes the 6pack igbt & rectifier module)

logic stage (the 2 rj45 connectors shown on the right is the interbus connection)

Is there _any_ documentation on the interface protocol?

Driving the bare IGBTs is possible with the Hostmot2 3PWM module but what you really need is something that read the currents (I see three hall effect current sensors..)
and the resolvers and runs the motors with standard field oriented control.

Maybe Rene can be convinced to make a STMBL variant that can drive a separate generic power stage, this would also make driving Fanuc digital servos a possibility (They also consist of a power stage, current sensing and fault logic, but no real brains)

Well iam not having the robot in my hands now i will have it in about 10days.
So i will post better photos.
That i know is that the protocol is interbus from phoenix contact
The 6 drives are connected in ring topology one rj45 is input and the other rj45 is output to the next drive.
Documentation i have not found yet the only thing a have found is for generic interbus..
But i have cheap usb logic analyzer so i will use it when i get the robot.
The 3 blue rectangles are the current sensors ?
For reading resolvers i can use a mesa card that reads resolvers..
Can linuxcnc do field oriented control using mesa 3pwm and input from resolvers ?
Or this must be done on servo driver level ?
--update--
I found that these drives are made by lenze and use lenze interbus
I think are from lenze 9300 series but iam not sure..

PCW wrote:

Is there _any_ documentation on the interface protocol?

I found something www.wtech.com.tw/public/download/manual/...ical%20Servicing.pdf
(pages 67/71 in pdf /not marked in the footer of page)
Also has details how all systems are interconnected.
I want if it is possible to replace the controller but keep the servo-drives