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I pushed HALColorRGB and HALColorFlip functions to master.
I added them to the docs too.

thank you for your feedback.

- yes, I was mistaken about these motors, they're not called encoders but resolvers.

-how to recognize the model of my resolvers?
motor :1fk6032-6AK71-1ZZ9
doc : cache.industry.siemens.com/dl/files/364/.../v1/PFK6_0503_fr.pdf (sorry is in french)
but the resolver reference is not indicated ... zz is not in the command reference.
i found this video on youtube that look like my motor :

on my motor i have a 12 pin connector but only 8 pins are functional.
To finish with my questions about the cos/sin resolvers, is it indicate absolute position or relative position?

-For Pico systems,do you think your brushless PWM servo Amp can drive my motor and the robot's largest motors? (unfortunately, I don't have the nameplates of the largest motors, but I was able to look up on a kuka KR16 that the motors are 2.5KW 5.4A 185V).

 

I power read through the entire 44 pages of this thread and made some notes along the way.

IIRC somewhere buried on one of those pages was a link to an excellent video demonstrating most if not all of the lathe macros.  I think the first segment was facing and then a minute or two for each macro feature .

Does anyone know where this video is hiding?

Much appreciated.

 

You are welcome to know that I am extremely grateful for your extraordinary achievements here, I really enjoy using all of these great tools
 

The pdos you use in ethercat-conf.xml don't agree with the pdos the devices actually have.