ABB IRB 6400 retrofitting

Freak wrote: ps: the DC drive rectifier output 340V

Nice, that is easier to work with.

Interesting! Any idea what you are going to do with it?

[edit]
I mean once you get the resolvers and motors working with LCNC.

I would use it for some milling operations on wood, like big carbon fiber molds and so on, but i have to check the actual accuracy and the rigidity.
So yesterday night I had a look to the mesa shop and I found some good candidate boards for the new setup, withing few day I'll share the setup.
In the meanwhile do u have any suggestion?

We need to know how you plan to drive the machine before we can suggest hardware.

Are you keeping the existing drives? What command method fo they accept?

At a guess the resolvers go to the drives. Do the drives output quadrature for position fedback?

It is easy to connect resolvers _only_ to LinuxCNC (7i49) but that only works if the excitation is from LinuxCNC too. You can't Tee-in to resolvers like you can in to encoders.

I have two machine tools using 8i20 and 7i49. But (as I have them) I would also be thinking of using the STMBL drive.

Thank you andypugh, i can't use the original drivers for the reasons i mentioned before.
The resolvers are read and sent to serial inside the robot. It's pretty complex, seem like that one board (called robot computer) controls all 6 the hbridges.
So I was planning a mesa setup with 8i20 + 7i49 as u mentioned, with some other mesa boards for serial and io expansion. But I didn't know about STMBL! It seems very cool! How it is the drive, has it a good dynamic? Thank you!

Freak wrote: But I didn't know about STMBL! It seems very cool! How it is the drive, has it a good dynamic? Thank you!

The STMBL has been used on a number of robots, but has the not inconsiderable issue of being almost unobtainable. There are no vendors, and the main power IC has been discontinued (though one stockholder has quite large stocks).
There is talk of a redesign to use a power stage made of more common discrete devices, but that has been going on for years.
It's not really an option unless you are wanting to have a set of boards made up and can find the IRAM module.