# Open Questions for Cédric

## Table interface

- Confirm KBSI-240D opto-isolated interface or replacement.
- Confirm table encoder transport and transceiver.
- Confirm whether the table drive or command path changes electrically.

## Spindle / ODrive

- Define ODrive runtime command and telemetry path; CAN 2.0B at 1 Mbps is preferred unless replaced.
- Define command scaling for velocity, enable/disable, fault reset, and safe stop.
- Define telemetry subset: actual RPM, drive state/error, DC bus voltage, q-axis current, motor temperature if available.
- Export final ODrive config with release.
- Define spindle enable/fault I/O into HOA + safety chain.

## 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.