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)

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

• 

  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