ABB IRB 6400 retrofitting

it posoble only used for step/dir interface?? So minimize the size and used less component??

Freak wrote:

I have good news, the problem related to the sserial was cause by a wrong component USBLC6-2 instead of USBLC6-4 in the stmbl. After replacing them all worked out of the box. This issue made me mad because the packages were the same between those chips... Anyway now it is communicating with linuxcnc.
I still need to understand why the motors are noisy, I have to check the current part of the board since I canged the Hbridge with a more powerful capable of 60Amp peak.

Hello
I am currently doing something similar to yours
I have an old robot with only servo motors left from its control system
I was looking for a way to drive servo motors until I came across this.
I have attached a photo of the servo motor specifications
Can I start these servos using stmbl?
Your experience and guidance will be very useful for me, so if possible, tell me what stage you are at
Thanks


 

Retrofitting ABB IRB 2000 - Architecture - Mesa - ConversorServo Weg 
This work presents a control architecture proposal for the ABB IRB 2000 robot using the LinuxCNC Numerical Control software to implement an open control architecture solution aligned with Industry 4.0. It uses a Personal Computer running a Linux distribution with RTAI (Real-Time) connected to a MESA 7i95 board, which is responsible for sending pulse train signals from the LinuxCNC control to WEG SCA06 servo drives, which control the motors in each of the robot's six joints.The original mechanical structure of the manipulator, currently housed at the Industrial Automation Innovation Group Laboratory at the University of Brasília, is in excellent condition and can therefore be almost entirely reused. The original control cabinet is also in great condition and can be easily modified to accommodate the new control system. The robot's kinematics, in addition to being part of the control logic, was used to structure a Digital Twin of the robot, created from a Python-written file, to build a real-time 3D digital simulation model of the manipulator as a virtual reality representation of the asset. For the development of the Digital Twin, the ISO 23247 standard, Digital Twin Reference Model for Manufacturing, was used.

@Overspeed
No double posting.