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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.

I misunderstood what you wanted. If you want to output a signal when the machine is on then change this:


to:

Thanks for the quick reply Tommy,
I decided to disassemble my computer piece by piece and clean it.

the result was that after I assembled it and turned it back on, the light on my computer's ethernet port came back on and I could ping 10.10.10.10...I was very relieved.

It seems like the dust from the last job cutting ACM got sucked into my computer and made my computer a little confused... (luckily it didn't cause blue smoke to come out)

Now I add an additional filter wire to hold back a little dust from entering.

Thank You

CB

Gmoccapy started now without error, but the button does not change the state of pin 16 unfortunately.  I've attached pic of line 55 added.
Any more ideas?
Thanks, Dougal.

Da ich mich noch nicht so auskenne, muss ich mit etwas anfangen, ja, ich hoffe, dass ich am WE etwas Zeit dafür finde.

Also ein paar Sachen sind schon ganz gut und das mit der Pause ist für den Anfang denke ich ganz gut.

Ich danke dir schon mal, wenn ich mit irgendwas nicht zurechtkomme, melde ich mich wieder. .-)

you might have an accel / decell problem.
there is special accel parameters for jogging..

setp joint.0.jog-accel-fraction .2

you can find it in the docs. look carefully.

check out Brekoflex. www.brecoflex.com/

i've used them for all kinds of machines. have them on my mill tool.

Hallo
Danke für die Info, das Ref. fahren ist ja OK ist wird er Endschalter angefahren Motor verändert die Drehrichtung und wiederholt nochmal das ganze und Endschalter wird frei gefahren. Aber wenn mann Jog gefahren wird werden die Endschalter überfahren.
Ein zweites Problem habe ich das bei der x Achse beide Motoren Blockieren da die Geschwindigkeit zu hoch ist (1500) Wo kann ich das Einstellen auf 1300?
Tastadur ist auf US man muss jedesmal wenn Computer hochfährt auf DE umstellen, kann mann die US rauslöschen?
Gruß Hans

Maybe try debian 13, according to this that comes with python 3.12.5:
forum.linuxcnc.org/qtpyvcp/53790-probe-b...-installation#309684

This example should create the 'G55.1' code that requires the operator to input X,Y and Z words and saves those values to numbered parameters #1,#2 and #3 respectively.

1. save the ngc code below as 'g551remap.ngc' to a folder in a path defined in your ini '[RS274NGC]' - 'SUBROUTINE_PATH':

2. Add this to the [RS274NGC] section of your ini file:

Many thanks for your reply!
I will go and try that right now and report back.

############  after an investigation see that need to install a rip version on my so ##########
############ but need to know witch version dowload for work with python 3.12 ###########

************* short story ****************

using rip-istall of Lcnc-master(2.10.0) no problem with python 3.12 on mint22
some trouble with sudo make install .... but whit . ./scripts/rip-environment all works fine

********************************************
 



there is a version that can utilize phyton 3.12 .... or still need to use 3.11  ?? or there is a trik for use 3.12 instead 3.11?? I try to use builbot repo but seems 2.9.3 need phyton 3.11 instead default 3.12 installed on my so.

thanks

regards

ok, my issue was a FlexGUI bug, somewhere. i confirmed by testing again with flex to make sure no changes. then i switched GUIs to Axis and performed the same test, only in Axis everything worked as it was supposed to.

my tool changer routine contains a M66 line. with the digital pin in the M66 cleared (spindle not running), the routine works fine. i issue a "T1 M6", and it changes tools and probes the tool and returns to resting position.
with the digital pin not cleared (spindle running), i issue a "T1 M6", and it stops the spindle, waits for it to stop (GUI Hangs), then changes and starts probing but aborts when the GUI stops hanging.

again, under Axis, this is not an issue, as to say it all works as it is supposed to.

i used Hal Show to view the pin status while in FlexGUI, and the pin changes when it is supposed to, without hang. it is the GUI hanging during a M66 wait.

Good morning- long time reader, first time caller!

I'm working on a project for my Tormach PathPilot using a rotary, very similar to how DWO on Haas controllers works. I'm using G54 as my center of rotation and G55 is where all my work is done. Essentially my subroutine is looking at the difference of G55 relative to center of rotation and calculating the cos/sin location after a rotation and applying the new "DWO" to G55. However, writing to G55 presents an issue should the subroutine be called a second time. SO, in order to rectify this issue I plan to setup a checksum of sorts using an if,else statement comparing G55 and what would be G55.1. G55 would be the updated DWO WCS and G55.1 would be the constant to do checksum against.

Now, reading this forum, all the documents, and digging through PP, I'm trying to put 2 and 2 together but I simply cannot follow how the remaps work. I see the various remaps in the .py and .ini files on PP but it's simply not clicking.

What I'd like to do is:
Establish #G55.1 and assign XnYnZn with numbered variables similar to the rest of the work coordinates. I'd like to write coordinates using a G10 L2 P# XnYnZn in the subroutine, or a similar fashion

Thanks in advance for any help!

 

Yes you can use it and yes it might cause issue during use.
I have 3 of those, a very old 10Mb one, a 100Mb one and a USB-C to 1Gb one, by far the best is the old one.
The new 1Gb one is very good until you stick a USB flash drive or keyboard or anything as it also has HDMI and USB-A ports, so using it only for network works OK, with anything else plugged in it does not work reliably.
Again, not advisable, better get a network add on card, they are cheap.