ABB IRB 6400 retrofitting
06 Jun 2021 18:47 #211315
by Deckerjwd
Replied by Deckerjwd on topic ABB IRB 6400 retrofitting
just put a irb2400 with an s4 controller in. plan on leaving the controller but was thinking it would be cool if i could send it G-code to RAP over serial, without gutting the system.
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06 Jun 2021 21:12 #211353
by Aciera
Replied by Aciera on topic ABB IRB 6400 retrofitting
Have a look at roboDK, that offers a Gcode import function if I remember correctly
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31 Aug 2022 22:35 - 01 Sep 2022 19:11 #250900
by Freak
Replied by Freak on topic ABB IRB 6400 retrofitting
Hi, It's been a while since I couldn't continue the project. Right now I'm trying to debug the old intel nuc + 7i94 + custom stmbl.
I installed debian bullseye and linuxcnc from testing and also the rt kernel. The latency is very good.
I can connect to the 7i94 but I don't know how the smart serial works. There aren't any "sserial" entry inside the "show Hal configuration", am I missing something?
(I've loaded the 7i94ssd firmware, and the hal conf is:
In the meanwhile I post some pics about the first assembled stmbl
I installed debian bullseye and linuxcnc from testing and also the rt kernel. The latency is very good.
I can connect to the 7i94 but I don't know how the smart serial works. There aren't any "sserial" entry inside the "show Hal configuration", am I missing something?
(I've loaded the 7i94ssd firmware, and the hal conf is:
loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10 sserial_port_0=0120xxxx" setp hm2_7i94.0.watchdog.timeout_ns 25000000 addf hm2_7i94.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf hm2_7i94.0.write servo-thread setp hm2_7i94.0.dpll.01.timer-us -50
Last edit: 01 Sep 2022 19:11 by Freak.
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02 Sep 2022 08:57 #250985
by fins
Replied by fins on topic ABB IRB 6400 retrofitting
Hi,
What's the output of:
Check this post
for a good explanation of the sserial_port mode settings, your current one would have 4 ports enables in mode 0,1,2 and 0 respectively, and the other 4 diabled.
What's the output of:
mesaflash --device 7i94 --readhmid
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02 Sep 2022 13:37 #251002
by Freak
Replied by Freak on topic ABB IRB 6400 retrofitting
Hi! I tried to set all 8 sserial to mode 2 i can't see any sserial in "show hal configuration" and the 4 leds are always on (lights up) whether I try to toggle'em with "setp ...".
mesaflash --device 7i94 --addr 10.10.10.10 --readhmid
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I94
FPGA Size: 9 KGates
FPGA Pins: 144
Number of IO Ports: 2
Width of one I/O port: 21
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256
Modules in configuration:
Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: IOPort
There are 2 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes
Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Configuration pin-out:
IO Connections for Expansion+Serial 0..1
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
P1-01/DB25-01 0 IOPort None
P1-02/DB25-14 1 IOPort None
P1-03/DB25-02 2 IOPort None
P1-04/DB25-15 3 IOPort None
P1-05/DB25-03 4 IOPort None
P1-06/DB25-16 5 IOPort None
P1-07/DB25-04 6 IOPort None
P1-08/DB25-17 7 IOPort None
P1-09/DB25-05 8 IOPort None
P1-11/DB25-06 9 IOPort None
P1-13/DB25-07 10 IOPort None
P1-15/DB25-08 11 IOPort None
P1-17/DB25-09 12 IOPort None
P1-19/DB25-10 13 IOPort None
P1-21/DB25-11 14 IOPort None
P1-23/DB25-12 15 IOPort None
P1-25/DB25-13 16 IOPort None
J6 1,2 17 IOPort SSerial 0 RXData0 (In)
J6 3,6 18 IOPort SSerial 0 TXData0 (Out)
J6 TXEN 19 IOPort SSerial 0 TXEn0 (Out)
J7 1,2 20 IOPort SSerial 0 RXData1 (In)
IO Connections for Serial 1..7
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
J7-3,6 21 IOPort SSerial 0 TXData1 (Out)
J7-TXEN 22 IOPort SSerial 0 TXEn1 (Out)
J8-1,2 23 IOPort SSerial 0 RXData2 (In)
J8-3,6 24 IOPort SSerial 0 TXData2 (Out)
J8-TXEN 25 IOPort SSerial 0 TXEn2 (Out)
J9-1,2 26 IOPort SSerial 0 RXData3 (In)
J9-3,6 27 IOPort SSerial 0 TXData3 (Out)
J9-TXEN 28 IOPort SSerial 0 TXEn3 (Out)
J4-1,2 29 IOPort SSerial 0 RXData4 (In)
J4-3,6 30 IOPort SSerial 0 TXData4 (Out)
J4-TXEN 31 IOPort SSerial 0 TXEn4 (Out)
J3-1,2 32 IOPort SSerial 0 RXData5 (In)
J3-3,6 33 IOPort SSerial 0 TXData5 (Out)
J3-TXEN 34 IOPort SSerial 0 TXEn5 (Out)
J2-1,2 35 IOPort SSerial 0 RXData6 (In)
J2-3,6 36 IOPort SSerial 0 TXData6 (Out)
J2-TXEN 37 IOPort SSerial 0 TXEn6 (Out)
J1-1,2 38 IOPort SSerial 0 RXData7 (In)
J1-3,6 39 IOPort SSerial 0 TXData7 (Out)
J1-TXEN 40 IOPort SSerial 0 TXEn7 (Out)
P2-/ENA 41 IOPort None Please Log in or Create an account to join the conversation.
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02 Sep 2022 14:25 #251008
by tommylight
Replied by tommylight on topic ABB IRB 6400 retrofitting
hm2_eth board_ip="10.10.10.10 sserial_port_0=0120xxxx"
should become
hm2_eth board_ip="10.10.10.10 sserial_port_0=01202222"
And you need to check the pins, not mesaflash, to see the actual pins.
Can you start LinuxCNC?
If yes, use the "show hal configuration", on the left choose "pins" then the card name then the rest of the boards that were found.
should become
hm2_eth board_ip="10.10.10.10 sserial_port_0=01202222"
And you need to check the pins, not mesaflash, to see the actual pins.
Can you start LinuxCNC?
If yes, use the "show hal configuration", on the left choose "pins" then the card name then the rest of the boards that were found.
The following user(s) said Thank You: Freak
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02 Sep 2022 14:39 #251011
by Freak
Replied by Freak on topic ABB IRB 6400 retrofitting
yes the output is in the attachment, is it normal to not see the sserial entry?
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02 Sep 2022 17:09 #251032
by tommylight
Replied by tommylight on topic ABB IRB 6400 retrofitting
No.
All Mesa sserial cards i use have a green flashing led when LinuxCNC is up and running and their pins show.
All Mesa sserial cards i use have a green flashing led when LinuxCNC is up and running and their pins show.
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03 Sep 2022 11:10 #251095
by Freak
Replied by Freak on topic ABB IRB 6400 retrofitting
Thankyou, so when i tried to load every single component I realized that at the beginning:
I installed linuxcnc 2.9.0~pre0 and the rt kernel through package manager.
halcmd: loadrt trivkins coordinates=XYZ
halcmd: loadrt motmod servo_period_nsec=1000000 num_joints=3
motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: update_joint_homing_params
<stdin>:2: waitpid failed /usr/bin/rtapi_app motmod
<stdin>:2: /usr/bin/rtapi_app exited without becoming ready
<stdin>:2: insmod for motmod failed, returned -1I installed linuxcnc 2.9.0~pre0 and the rt kernel through package manager.
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03 Sep 2022 12:01 #251097
by dgarrett
Replied by dgarrett on topic ABB IRB 6400 retrofitting
For this error:
> motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: update_joint_homing_params
In the master branch, you must load required modules
(kinematics, trajectory planning, homing, motion)
in an order that resolves symbols.
Example using trivkins and defaults for the homing and
trajectory planning:
$ halrun
halcmd: loadrt trivkins
Note: Using POSIX realtime
halcmd: loadrt tpmod
halcmd: loadrt homemod
halcmd: loadrt motmod
halcmd:
halcmd: show comp
Loaded HAL Components:
ID Type Name PID State
16 RT __servo-thread ready
15 RT motmod ready
14 User halcmd627680 627680 ready
12 RT homemod ready
7 RT tpmod ready
4 RT trivkins ready
> motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: update_joint_homing_params
In the master branch, you must load required modules
(kinematics, trajectory planning, homing, motion)
in an order that resolves symbols.
Example using trivkins and defaults for the homing and
trajectory planning:
$ halrun
halcmd: loadrt trivkins
Note: Using POSIX realtime
halcmd: loadrt tpmod
halcmd: loadrt homemod
halcmd: loadrt motmod
halcmd:
halcmd: show comp
Loaded HAL Components:
ID Type Name PID State
16 RT __servo-thread ready
15 RT motmod ready
14 User halcmd627680 627680 ready
12 RT homemod ready
7 RT tpmod ready
4 RT trivkins ready
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