Equipment/Staubli: Difference between revisions

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|category=Equipment <!-- Main category. Please leave alone to keep item in this category -->
|category=Equipment <!-- Main category. Please leave alone to keep item in this category -->
|subcat=Robotics <!-- Sub-category if one exists. Please check main listing to see other categories contained within the main one -->
|subcat=Robotics <!-- Sub-category if one exists. Please check main listing to see other categories contained within the main one -->
|status=Under Construction <!-- Set to one of; Good working order, Faulty, Out of order, Under construction, Out of consumables, Scrapped, or Unknown -->
|status=retired and scrapped
|consumables=Filament,cnc<!-- Any items used up in normal operation, such as; ink, paper, saw-blades, cutting disks, oil, etc.. -->
|reqtraining=None<!-- Is training required to use this equipment? Yes or no. -->
|accessories=PLA/ABS extruder + heated bed, spindle motor, accessory electronics, spare arm for parts (on loan from Mentar+Artag)<!-- Any items associated with the equipment but not consumable, such as; drill bits, safety gloves, goggles, etc.. -->
|reqtraining=Yes<!-- Is training required to use this equipment? Yes or no. -->
|trainlink=<!-- If training is required, provide a link to training signup or contact page. Otherwise leave blank. -->
|trainlink=<!-- If training is required, provide a link to training signup or contact page. Otherwise leave blank. -->
|acnode=no
|owner=Robotics group<!-- Provide a link to owners members page if other than LHS -->
|owner=Robotics group<!-- Provide a link to owners members page if other than LHS -->
|origin=Donation<!-- If via pledge, please link to the completed pledge page on the wiki -->
|origin=Donation<!-- If via pledge, please link to the completed pledge page on the wiki -->
|location=Basement, Robotics/CNC area <!-- Floor, room/zone and location within that area -->
|maintainers= <!-- NO LINKS PLEASE; it currently breaks the template. If someone is nominated as managing the upkeep of this item, please list them here. -->
|maintainers=mentar, padski, JonRussell <!-- NO LINKS PLEASE; it currently breaks the template. If someone is nominated as managing the upkeep of this item, please list them here. -->
|acnode=YES<!-- Is the equipment ACnode locked? -->
|template_ver=1.1 <!-- Please do not change. Used for tracking out-of-date templates -->
|template_ver=1.1 <!-- Please do not change. Used for tracking out-of-date templates -->
}}
}}
__NOTOC__
__NOTOC__
 
Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables.  
 
A copy of the original cable was made and used until the failure of the controller - it was then scrapped
 
A generic one was then made up using RJ45 for the encoder cables and SPECON for the servo motors themselves
Kindly donated to us by Queen Mary's University,  was missing arm and power cables.
 
The arm is being worked on by the robotics group (more help welcome) and the plan is to turn it into a cnc/3d printer/plasma cutting machine and open up to the general membership once safe to do so.
 
== Applications ==
 
*Currently worked on
** 3D printing (Dependent on the  [[Equipment/Staubli/gdmux|G-code interpreter]])
** CNC (Dependent on the [[Equipment/Staubli/gdmux|G-code interpreter]])
** PCB manufacture:
*** Milling
*** Drilling
*** solder paste application for SMT components
*** pick and place for SMT components
*Potential applications
** 3D scanning possibly using [http://www.youtube.com/watch?v=quGhaggn3cQ KinectFusion]
** Persistence of vision experiments (such as [http://www.youtube.com/watch?v=vywf9P_-e_s this] display at Trafalgar Square)
** High speed orbital photography


== Status ==
== Status ==


Arm is able to interpret g-code. Some PCB milling has been done but can not control speed well currently and due to lack of a stationary table the positioning of the stock is tricky. Table top should be arriving soon.
retired and scrapped
<br>
<br>


== Specs ==
== Specs ==
It was driven by an open source controller due to failure of the original controller
* Robot arm
* Robot arm
** Type: RX60L
** Type: RX60L
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** Masse kg 42Kg
** Masse kg 42Kg


* Controller
* STMBL
** Type CS7 - M RX60
** Type 4.1
** 3 x 400V - 50/60 Hz
** The STMBL along with Messa cards driven by linuxcnc have been used to control the arm, massive support has been received from the open source community (STMBL and LinuxCNC) as well as Messa who did a custom firmware reactivity for us while we were having a hack weekend - great international and multidisciplinary team work.
** 4000VA
 
** Masse kg 80Kg
<gallery>
stmblbox.jpg|STMBL Case
STMBLTEAM.jpg|Hackspace, STMBL and Linuxcnc Team
</gallery>
 
We have movement
https://flic.kr/p/21GzpWj


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


There is a 19 way cable running inside the arm, to allow external signals to be routed to the end effector. This uses a 19 way plug on the wrist joint and base called a [[Equipment/Staubli/BinderConnector|Binder Connector]].
There is a 19 way cable running inside the arm, to allow external signals to be routed to the end effector. This uses a 19 way plug on the wrist joint and base called a [[Equipment/Staubli/BinderConnector|Binder Connector]].
There is a [[Equipment/Staubli/J11|50 way connector (J11)]] at the back of the controller containing the digital IO lines.
== TODO ==
* Necessary
** <s>Build a smooth solid table surrounding the arm.</s>
*** <s>Install final top section. (Jon to do this next week)</s>
*** <s>Build square frames to support the rear sections of the table top.</s>
*** Drill frame and screw tops down.
*** Round the two corners so they don't hurt when you bump in to them.
*** Round over the entire edge all the way round with a router.
*** Sand, Varnish (2 coats) & Polish the surface.
*** <s>Drill large hole in rear sections to robot install cable.</s>
** <s>Move 3-phase mains socket to below table top, by locker.</s>
** Install flashing light
** Install two emergency stop buttons on frame at front and wire in to controller.
** Fit batten to long wall and build frames to support 3m long worktop. Fit long work surface
** Mount CS7 controller, off floor, on wooden frame ? to allow airflow from below.
** Write the [[Equipment/Staubli/g-code_interpreter|G-code interpreter]] for CNCing and 3d printing.
** Integrate the armpi with the controller better (power it from the 3 phase socket)
** Design and make the electronics for the controller to talk to the arm base (heated bed, calibration probe etc) and the end effector (spindle, extruder)
** <s>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</s>
** <s>Replace the battery 6v 8AH lead acid battery - this one: http://uk.rs-online.com/web/p/lead-acid-rechargeable-batteries/2651975/</s>
** <s>Install it in it's dedicated area</s>
** <s>Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller</s>  Done 24/8/13 Padski
** <s>Make the cable for 3 phase power to controller.</s>
** <s>Make a mobile but stable platform for the robot and the controller (volunteers welcome)</s>Thanks cepmender!!
** <s>Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.</s>
* Nice to have
** <s>Get/print the housings for the robot arm cable</s> (using new cable)
** Hook up the arm to ROS
*** Rewrite the ROS Industrial libraries to use a serial stream instead of IP+port combo
*** <s>Write the ros serial server to run on the controller </s>


== Docs/Links ==  
== Docs/Links ==  
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[[media:StaubliStartStop.pdf|Robot startup/shutdown procedure]]
[[media:StaubliStartStop.pdf|Robot startup/shutdown procedure]]
[https://dl.dropboxusercontent.com/u/18407938/ToShare/cs7hdd.img.gz GZipped image of the 840MB drive]


[https://www.dropbox.com/s/i0lw46lhj2pszak/D28046300A.pdf Technical manual with schematics]
[https://www.dropbox.com/s/i0lw46lhj2pszak/D28046300A.pdf Technical manual with schematics]


[https://www.dropbox.com/s/oqp4sriv2i3i4nv/D28045004E.pdf Arm Manual]
[https://www.dropbox.com/s/oqp4sriv2i3i4nv/D28045004E.pdf Arm Manual]
[https://dl.dropboxusercontent.com/u/18407938/V%2B%20Lang%20Ref.pdf V+ Language Reference]
[https://dl.dropboxusercontent.com/u/18407938/V%2B%20Lang%20User.pdf V+ Language User Guide]


[https://www.dropbox.com/s/d8w0m5gdf8hc4sn/UserManual_CS7M_Jul97_V0.0_EN.pdf CS7 User Guide]
[https://www.dropbox.com/s/d8w0m5gdf8hc4sn/UserManual_CS7M_Jul97_V0.0_EN.pdf CS7 User Guide]
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[https://docs.google.com/spreadsheet/ccc?key=0AqarnpYKaciedFZjTUg4eWd6TDJhblh1UU9xUjFZSWc&usp=sharing Padski's Cable Schematic]
[https://docs.google.com/spreadsheet/ccc?key=0AqarnpYKaciedFZjTUg4eWd6TDJhblh1UU9xUjFZSWc&usp=sharing Padski's Cable Schematic]
* Note Teaching Pendant connector needs pins 6+7 (estop), 14+16 (deadman) linked. DUMMY PLUG NOW MADE Padski 20-9-13  :)<br>
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)


[[Equipment/Staubli/Controller|The Linux setup on the ARM controller board]]
[[Equipment/Staubli/Controller|The Linux setup on the ARM controller board]]

Latest revision as of 21:26, 4 August 2022

Staubli robot arm
StaubliOnPillar.jpg
Model RX60L
Sub-category Robotics
Status retired and scrapped
Last updated 4 August 2022 21:26:32
Training requirement None
ACnode no
Owner Robotics group
Origin Donation

Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables. A copy of the original cable was made and used until the failure of the controller - it was then scrapped A generic one was then made up using RJ45 for the encoder cables and SPECON for the servo motors themselves

Status

retired and scrapped

Specs

It was driven by an open source controller due to failure of the original controller

  • Robot arm
    • Type: RX60L
    • Reference/machine number: 597411 - 01
    • Fabrication Le F - 12 - 1997
    • Masse kg 42Kg
  • STMBL
    • Type 4.1
    • The STMBL along with Messa cards driven by linuxcnc have been used to control the arm, massive support has been received from the open source community (STMBL and LinuxCNC) as well as Messa who did a custom firmware reactivity for us while we were having a hack weekend - great international and multidisciplinary team work.
  • STMBL Case

    STMBL Case

  • Hackspace, STMBL and Linuxcnc Team

    Hackspace, STMBL and Linuxcnc Team

We have movement https://flic.kr/p/21GzpWj

Some photos/videos of the beast

There is a 19 way cable running inside the arm, to allow external signals to be routed to the end effector. This uses a 19 way plug on the wrist joint and base called a Binder Connector.

Docs/Links

Gcode demos

Robot startup/shutdown procedure

Technical manual with schematics

Arm Manual

CS7 User Guide

CS7 Electrical Diagrams

Padski's Cable Schematic

The Linux setup on the ARM controller board

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