Equipment/Staubli
Kindly donated to us by Queen Mary's University, was missing arm and power cables.
| 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 |
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
Robot startup/shutdown procedure
