Retrofitting SCM Record 121

I will send you a mp,

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Looks like the spindle is a regular analog command. I'm not certain about the most recent mesa hardware but with most boards a max voltage swing of 15V (eg -7.5/+7.5V) used to be possible so for -10..+10V you might need to use a relay to switch the analog output voltage from the board. Your KEB Cmbivert might also provide parameters to scale the spindle speed to other voltage ranges like 0..10V or -5..+5V or a reversal using digital inputs.

Mesa 7i77 can do +-11V on all 6 analog outputs, measured with a DVM and no load.
This is limited in hal to 10V usually, and that works properly as i have checked several times, limiting that to 5V will actually limit the output voltage to +-5V.
I tend to use this when tuning stubborn servo drives to avoid something flying off of the machine, by setting that to 1, then 3, then 5, and finally to full out when tuning is roughly ok. Be aware that this hinders tuning a lot.

Isn't the 7i77 only for analog motor interface?
The thing is that in this case a step/dir card is needed for the axes motors so buying a 7i77 just for the spindle may be a bit excessive.

  Scheme in zip and pdf format. Unintentional errors are possible. 

So if I understand my yaskawa servo drives can accept 2 types of signal:
- digital (pulses of 12V) for position control
- analog for speed/torque control (+/-10V) but can be adjusted lower to +/-5V for example.
Am I right?

If we talk about the tool changer, it is driven by a stepper motor stepsyn 103h8221-6241 12-300v.