Equipment/Staubli: Difference between revisions

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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]]

Revision as of 15:40, 10 March 2018

Staubli robot arm
StaubliOnPillar.jpg
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)

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 driven by an open source controller due to failure of the original controller however 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
    • The STMBL along with Messa cards driven by linuscnc 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.

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

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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