Equipment/Staubli: Difference between revisions

From London Hackspace Wiki
m (Reverted edits by Mentar (talk) to last revision by Padski)
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[[File:Staubli.jpg|thumb|Staubli RX60L on arrival]]
[[File:Staubli.jpg|thumb|Staubli RX60L on arrival]]


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


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


== 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)


== Status ==
Arm is now fully functional and moving ! 20-9-13<br>
Grr well it was but a problem has occurred with the cable...not the robot thank goodness! 20-9-13<br>


== Specs ==
== Specs ==
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== TODO ==  
== TODO ==  
* Check and top up oil <s>all</s> (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
* 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
* Get/print the housings for the robot arm cable: step files here for the [https://www.dropbox.com/s/w6kl3qkjqabn9x4/StaubliArmCableHousing.STEP arm], and [https://www.dropbox.com/s/vs93xunly6aef80/StaubliControllerCableHousing.STEP controller]
* 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!
* Figure out how to do useful things with it!
* Install it in it's dedicated area
* Install it in it's dedicated area
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* <s>Make a mobile but stable platform for the robot and the controller (volunteers welcome)</s>Thanks cepmender!!
* <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>
* <s>Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.</s>
== Augmentations ==
* 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]
** Robotiq 2-Finger Adaptive Robot Gripper - 85 for a mere $3500 [http://robotiq.com/en/products/industrial-robot-gripper link]


== Docs ==  
== Docs ==  
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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]


[https://www.dropbox.com/s/0z67ugedy5jwoe8/RX60BL-HB.stp STEP 3d-model] of the similar arm RX60BL-HB
* Note Teaching Pendant connector needs pins 6+7 (estop), 14+16 (deadman) linked. DUMMY PLUG NOW MADE Padski 20-9-13  :)<br>


We also have:
Paper printed manual covering: General, arm, controller, controller options, spare parts
* 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)
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)




[[Category:Projects]]
[[Category:Projects]]
[[Category:Space_Infrastructure_Projects]]
[[Category:Space_Infrastructure_Projects]]

Revision as of 10:33, 9 January 2014


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
Grr well it was but a problem has occurred with the cable...not the robot thank goodness! 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. DUMMY PLUG NOW MADE Padski 20-9-13  :)

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)

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