Robot

Hi I am also working on using EMC2 Just starting on two welding robots. Plan to use existing Analog Servos and drives I will post some pictures as soon as I get them apart

I had the same idea, except I would make a new cabinet with used servo drives Beckhoff AX5xxx with Ethercat.

I saw KUKA robot arms KR125 very cheap second hand without KRC1 electronics. As far I know KUKA uses Siemens servo motors with different nameplates. The major problem is to find all necessary data from motors, encoders and reference switches (if they are any).

With forward and inverse kinematics similar to Puma, I think a KUKA robot arm shall work like a gun. Of course many hours to train brains is necessary.

I saw Beckhoff AX drives supports many servo motors of different brands yet pre-configured. I am not sure for KUKA servomotors (quite sure for Siemens models), but it could be also set up knowing parameters of servo motor. Also it supports quite all possible types of encoders (sin/cos, resolver, ttl, ...)

Did I miss something? Where are hidden problems?

That would make sense, it would also make easier to implement stop limits on inteligent servo drive to prevent cable tear or damage to the arm in case of wrong computation of EMC2.
Extra problem is the calibration, if the offset is stored in KUKA controller instead in absolute multiturn resolver.

I don't own a robotic arm, but I was asked to calculate the cost (and risk) of making such retrofit.

If someone has nameplates of KUKA KR125 servo motors I would be pleased if he/she can post it.