# Open Questions for Cédric

## Table interface

- Confirm KBSI-240D opto-isolated interface or replacement.
- Confirm ordered BiSS-C table/arm encoder frame timing, CRC/status bits, RS422 transceiver/pinout, shielding, and startup/error handling.
- Confirm whether the table drive or command path changes electrically.

## Spindle / AK60

- Define AK60 runtime command and telemetry path; freeze CAN topology, IDs, frame rates, stale-frame timeout, startup behavior, and error isolation.
- Define command scaling for velocity, direction mapping, enable/disable, fault reset, ramp-to-zero / live-reversal policy, and safe stop behavior.
- Define telemetry subset: actual RPM, actuator state/error, bus/supply voltage, torque/current if available, motor/drive temperature if available.
- Export final AK60 commissioning parameters with each machine software release.
- Define spindle enable/fault I/O and the hardwired AK60 power-removal path through HOA + safety chain; prove E-stop/power-loss behavior on bench.

## Z-axis / force actuator

- Confirm SV2A-2150 torque/current command mode and scaling.
- Confirm enable/fault wiring and Iq/current monitor path.
- Define Z limit-switch / hard-stop wiring into safety chain.
- Define NC 24 VDC brake coil driver and brake-engaged diagnostic feedback.

## Cross-cutting

- Select safety relay model.
- Confirm KWR75B-CAN frame map, byte order, scaling, status bits, and update rate.
- Confirm final serial/protocol wire format.
