Difference between revisions of "Equipment/Staubli"
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[[File:Staubli.jpg|thumb|Staubli RX60L on arrival]] | [[File:Staubli.jpg|thumb|Staubli RX60L on arrival]] | ||
| − | + | == Status == | |
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| + | 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 | ||
| + | == 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) | |
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== Specs == | == Specs == | ||
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== TODO == | == TODO == | ||
| − | * Check and top up oil all the joints as per manual instructions 1st | + | * 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 |
| − | * Replace the battery 6v 8AH lead acid battery | ||
* 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] | * 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] | ||
* Figure out how to do useful things with it! | * Figure out how to do useful things with it! | ||
Revision as of 14:35, 9 October 2013
| Staubli Robot arm | |
|---|---|
| Created | 07/06/2013 |
| Members | Mentar,Padski,tgreer,JonRussell |
| QR code | |
Status
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
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)
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(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 - Get/print the housings for the robot arm cable: step files here for the arm, and controller
- 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 controllerDone 24/8/13 PadskiMake 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
- 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)