Equipment/Staubli: Difference between revisions
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* Grippers | * Grippers | ||
** MG995 gripper $19.50 [http://www.dfrobot.com/index.php?route=product/product&filter_name=gripper&product_id=860#.Um58_XiVJc8 without servos] (Jon ordered 2) $39.20 [http://dx.com/p/mg995-aluminum-alloy-robot-gripper-w-2-servo-for-arduino-works-with-official-arduino-boards-206534 with servos] | ** MG995 gripper $19.50 [http://www.dfrobot.com/index.php?route=product/product&filter_name=gripper&product_id=860#.Um58_XiVJc8 without servos] (Jon ordered 2) $39.20 [http://dx.com/p/mg995-aluminum-alloy-robot-gripper-w-2-servo-for-arduino-works-with-official-arduino-boards-206534 with servos] | ||
** Robotiq 2-Finger Adaptive Robot Gripper - 85 for a mere $3500 [http://robotiq.com/en/products/industrial-robot-gripper link] | |||
== Docs == | == Docs == | ||
Revision as of 15:20, 28 October 2013
| Staubli Robot arm | |
|---|---|
| Created | 07/06/2013 |
| Members | Mentar,Padski,tgreer,JonRussell |
| QR code | |
Status
Oil changed on joints 3,4,5,6, still need to do 1 and 2 but don't have a hex key that's long enough! 08-OCT-13
Description
Kindly donated to us by Queen Mary's University, was missing control and power cables.
The cable has been replaced with a DIY one, now the members of the [Robotics] group are figuring out a way to securely mount it so that it can be used for 3d printing, precision cutting, milling, sculpting (maybe welding later)
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(most done just need to oil joints 1 and 2) the joints as per manual instructions 1st 4 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: step files here for the arm, and controller
- 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 controllerDone 24/8/13 PadskiMake 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.
Augmentations
- Grippers
- MG995 gripper $19.50 without servos (Jon ordered 2) $39.20 with servos
- Robotiq 2-Finger Adaptive Robot Gripper - 85 for a mere $3500 link
Docs
Robot startup/shutdown procedure
GZipped image of the 840MB drive
Technical manual with schematics
STEP 3d-model of the similar arm RX60BL-HB
We also have:
- 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)
