ABB IRB 6400 retrofitting

Deckerjwd
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5 years 4 months ago #211315 by Deckerjwd

Replied by Deckerjwd on topic ABB IRB 6400 retrofitting

just put a irb2400 with an s4 controller in. plan on leaving the controller but was thinking it would be cool if i could send it G-code to RAP over serial, without gutting the system.

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Aciera
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5 years 4 months ago #211353 by Aciera

Replied by Aciera on topic ABB IRB 6400 retrofitting

Have a look at roboDK, that offers a Gcode import function if I remember correctly

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Freak
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4 years 1 month ago #250900 by Freak

Replied by Freak on topic ABB IRB 6400 retrofitting

Hi, It's been a while since I couldn't continue the project. Right now I'm trying to debug the old intel nuc + 7i94 + custom stmbl.
I installed debian bullseye and linuxcnc from testing and also the rt kernel. The latency is very good.

I can connect to the 7i94 but I don't know how the smart serial works. There aren't any "sserial" entry inside the "show Hal configuration", am I missing something?

(I've loaded the 7i94ssd firmware, and the hal conf is:

Code:

loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10 sserial_port_0=0120xxxx" setp hm2_7i94.0.watchdog.timeout_ns 25000000 addf hm2_7i94.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf hm2_7i94.0.write servo-thread setp hm2_7i94.0.dpll.01.timer-us -50

In the meanwhile I post some pics about the first assembled stmbl

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fins
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4 years 1 month ago #250985 by fins

Replied by fins on topic ABB IRB 6400 retrofitting

Hi,

What's the output of:

Code:

mesaflash --device 7i94 --readhmid

 

Check this post for a good explanation of the sserial_port mode settings, your current one would have 4 ports enables in mode 0,1,2 and 0 respectively, and the other 4 diabled.

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Freak
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4 years 1 month ago #251002 by Freak

Replied by Freak on topic ABB IRB 6400 retrofitting

Hi! I tried to set all 8 sserial to mode 2 i can't see any sserial in "show hal configuration" and the 4 leds are always on (lights up) whether I try to toggle'em with "setp ...".

Code:

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          

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tommylight
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4 years 1 month ago #251008 by tommylight

Replied by tommylight on topic ABB IRB 6400 retrofitting

hm2_eth board_ip="10.10.10.10 sserial_port_0=0120xxxx"
should become
hm2_eth board_ip="10.10.10.10 sserial_port_0=01202222"
And you need to check the pins, not mesaflash, to see the actual pins.
Can you start LinuxCNC?
If yes, use the "show hal configuration", on the left choose "pins" then the card name then the rest of the boards that were found.

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Freak
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4 years 1 month ago #251011 by Freak

Replied by Freak on topic ABB IRB 6400 retrofitting

yes the output is in the attachment, is it normal to not see the sserial entry?

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tommylight
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4 years 1 month ago #251032 by tommylight

Replied by tommylight on topic ABB IRB 6400 retrofitting

No.
All Mesa sserial cards i use have a green flashing led when LinuxCNC is up and running and their pins show.

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Freak
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4 years 1 month ago #251095 by Freak

Replied by Freak on topic ABB IRB 6400 retrofitting

Thankyou, so when i tried to load every single component I realized that at the beginning:

Code:

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

I installed linuxcnc 2.9.0~pre0 and the rt kernel through package manager.

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dgarrett
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4 years 1 month ago #251097 by dgarrett

Replied by dgarrett on topic ABB IRB 6400 retrofitting

For this error:
> motmod: dlopen: /usr/lib/linuxcnc/modules/motmod.so: undefined symbol: update_joint_homing_params

In the master branch, you must load required modules
(kinematics, trajectory planning, homing, motion)
in an order that resolves symbols.

Example using trivkins and defaults for the homing and
trajectory planning:

$ halrun
halcmd: loadrt trivkins
Note: Using POSIX realtime
halcmd: loadrt tpmod
halcmd: loadrt homemod
halcmd: loadrt motmod
halcmd:
halcmd: show comp
Loaded HAL Components:
ID Type Name PID State
16 RT __servo-thread ready
15 RT motmod ready
14 User halcmd627680 627680 ready
12 RT homemod ready
7 RT tpmod ready
4 RT trivkins ready

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