ABB IRB 6400 retrofitting

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.