ROBOT DENSO VS6577 – identifying motor encoder type for LinuxCNC retrofit

Hi all,

I have a DENSO VS6577 robot. I tried working with the original RC7M controller, but for various reasons decided to switch to LinuxCNC instead.

Has anyone done this before and could help? Right now what I'm looking for is to determine what motors and encoders are actually in this robot.

Thanks!

Take some pictures of ...everything and post them here.