Equipment/Staubli: Difference between revisions

From London Hackspace Wiki
Line 29: Line 29:
** Masse kg 80Kg
** Masse kg 80Kg


[https://www.dropbox.com/sh/3f2cdk8zv61xskm/sqK9HMZb1_ Some photos of the beast]
[https://www.dropbox.com/sh/3f2cdk8zv61xskm/sqK9HMZb1_ Some photos/videos of the beast]


== TODO ==  
== TODO ==  

Revision as of 08:29, 20 September 2013


Staubli Robot arm
Created 07/06/2013
Members Mentar,Padski,tgreer,JonRussell
QR code


Staubli RX60L on arrival

Kindly donated to us by Queen Mary's University, missing cable.

The plan is to Replace the cable and use the arm for 3d printing, precision welding/cutting, sculpting.



Status

Arm is now fully functional and moving ! 20-9-13

Specs

  • Robot arm
    • Type: RX60L
    • Reference/machine number: 597411 - 01
    • Fabrication Le F - 12 - 1997
    • Masse kg 42Kg
  • Controller
    • Type CS7 - M RX60
    • 3 x 400V - 50/60 Hz
    • 4000VA
    • Masse kg 80Kg

Some photos/videos of the beast

TODO

  • Check and top up oil all the joints as per manual instructions 1st 5 axes:http://www.alexoil.co.uk/lumach-ep-gear-oil-iso-68--1l_p115.aspx Wrist:http://www.alexoil.co.uk/lumach-ep-gear-oils-iso-150--1l_p125.aspx
  • Replace the battery 6v 8AH lead acid battery
  • Get/print the housings for the robot arm cable
  • Figure out how to do useful things with it!
  • Install it in it's dedicated area
  • Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller Done 24/8/13 Padski
  • Make the cable for 3 phase power to controller.
  • Make a mobile but stable platform for the robot and the controller (volunteers welcome)Thanks cepmender!!
  • Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.

Docs

Robot startup/shutdown procedure

GZipped image of the 840MB drive

Technical manual with schematics

Arm Manual

V+ Language Reference

V+ Language User Guide

CS7 User Guide

CS7 Electrical Diagrams

Padski's Cable Schematic

  • Note Teaching Pendant connector needs pins 6+7 (estop), 14+16 (deadman) linked.

Paper printed manual covering: General, arm, controller, controller options, spare parts

Another paper printed manual covering: Safety, robot coordinates, robot startup, editor, declaration of variables and conversions, commands associated to the main memory, some instructions of the V+ language, digital inputs/outputs, diskette or disc save operations, control of the robot configuration and specific commands, automatic startup-procedure, appendix (both of the manuals are in A4 folders, located in the library first column from the left, 3rd shelf from the top)