Equipment/Staubli

Staubli robot arm
Model	RX60L
Sub-category	Robotics
Status	Under construction
Last updated	4 August 2022 21:26:32
Training requirement	Yes
ACnode	no
Owner	Robotics group
Origin	Donation
Maintainers	Dean, padski, JonRussell

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

• Potential applications
  • 3D scanning possibly using KinectFusion
  • Persistence of vision experiments (such as this display at Trafalgar Square)
  • High speed orbital photography
  • CNC (Dependent on the G-code interpreter)
  • PCB manufacture:
    • Milling
    • Drilling
    • solder paste application for SMT components
    • pick and place for SMT components

• Currently worked on

Status

The arm is currently a work in progress. It is sdriven by some open source controller but we still need to complete the kinematics for it

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

• STMBL
  • Type 4.1
  • 3 x 400V - 50/60 Hz

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.

There is a 50 way connector (J11) at the back of the controller containing the digital IO lines.

TODO

• Necessary
  • Build a smooth solid table surrounding the arm.

• Nice to have
  • Document .

Docs/Links

Gcode demos

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)

The Linux setup on the ARM controller board