ABB IRB 6400 retrofitting

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          

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 -1