Traub Bosch cc100 retrofit

just fit the drives in place now i have a small problem . Cncbasher hook the wires for the encoders and some of the limits but i dont know if all of them . I will try to rewire the machine on the mesa and see exacly what is instaled . Also the M19 is the POS on the spindle module and it was working then i got the bosch plc out

I just rewire some of the old changer wires but i was thinking that i will use like a normal axis the all tool changer . That mens we have power on the tool changer all the time , I was thinking my drives are to small for this . I will connect them in the safety loop . Based on the encoder i know exsclly the tool position after homing thats the good part .

I solve the wiring now we go to the unknown part the linuxcnc setup

i have a quick question if i dont have torque on stand still it can be a problem . The encoder will compensate when it will start agen the next tool change ? Or it will give a error on the FF vautes ?