Difference between revisions of "Equipment/Staubli"
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| − | {{ | + | {{EquipmentInfobox |
| − | + | |name=Staubli robot arm <!-- Name of the item. --> | |
| − | + | |image=StaubliOnPillar.jpg <!-- Image of the item. Leave with placeholder image if none exists. --> | |
| + | |model=RX60L <!-- Model --> | ||
| + | |category=Equipment <!-- Main category. Please leave alone to keep item in this category --> | ||
| + | |subcat=Robotics <!-- Sub-category if one exists. Please check main listing to see other categories contained within the main one --> | ||
| + | |status=Under Construction <!-- Set to one of; Good working order, Faulty, Out of order, Under construction, Out of consumables, Scrapped, or Unknown --> | ||
| + | |consumables=Filament,cnc<!-- Any items used up in normal operation, such as; ink, paper, saw-blades, cutting disks, oil, etc.. --> | ||
| + | |accessories=PLA/ABS extruder + heated bed, spindle motor, accessory electronics<!-- Any items associated with the equipment but not consumable, such as; drill bits, safety gloves, goggles, etc.. --> | ||
| + | |reqtraining=Yes<!-- Is training required to use this equipment? Yes or no. --> | ||
| + | |trainlink=<!-- If training is required, provide a link to training signup or contact page. Otherwise leave blank. --> | ||
| + | |acnodeYES=<!-- Is the equipment ACnode locked? --> | ||
| + | |owner=Mentar<!-- Provide a link to owners members page if other than LHS --> | ||
| + | |origin=Donation<!-- If via pledge, please link to the completed pledge page on the wiki --> | ||
| + | |location=Basement, Robotics area<!-- Floor, room/zone and location within that area --> | ||
| + | |maintainers=mentar, padski, JonRussel <!-- NO LINKS PLEASE; it currently breaks the template. If someone is nominated as managing the upkeep of this item, please list them here. --> | ||
| + | |template_ver=1.1 <!-- Please do not change. Used for tracking out-of-date templates --> | ||
| + | }} | ||
Kindly donated to us by Queen Mary's University, missing cable. | Kindly donated to us by Queen Mary's University, missing cable. | ||
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Arm is now fully functional, mounted and [https://www.dropbox.com/s/dbvbrv7yxbrl2g7/GcodeMovementFast.mp4 able to intepret] g-code movement commands! | Arm is now fully functional, mounted and [https://www.dropbox.com/s/dbvbrv7yxbrl2g7/GcodeMovementFast.mp4 able to intepret] g-code movement commands! | ||
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<br> | <br> | ||
Revision as of 21:55, 21 April 2014
| Staubli robot arm | |
|---|---|
 | |
| Model | RX60L |
| Sub-category | Robotics |
| Status | Under Construction |
| Last updated | 4 August 2022 21:26:32 |
| Consumables | Filament,cnc |
| Accessories | PLA/ABS extruder + heated bed, spindle motor, accessory electronics |
| Training requirement | Yes |
| Owner | Mentar |
| Origin | Donation |
| Location | Basement, Robotics area |
| Maintainers | mentar, padski, JonRussel |
Kindly donated to us by Queen Mary's University, missing cable.
The plan is to Replace the cable and use the arm for 3d printing, precision welding/cutting, sculpting.
Applications
- Currently worked on
- 3D printing (Dependent on the G-code interpreter)
- CNC (Dependent on the G-code interpreter)
- PCB manufacture:
- milling
- solder paste application for SMT components
- pick and place for SMT components
- Potential applications
- 3D scanning possibly using KinectFusion
- Persistence of vision experiments (such as this display at Trafalgar Square)
- High speed orbital photography
Status
Arm is now fully functional, mounted and able to intepret g-code movement commands!
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 the joints as per manual instructions 1st 5 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.aspxReplace the battery 6v 8AH lead acid battery - this one: http://uk.rs-online.com/web/p/lead-acid-rechargeable-batteries/2651975/- Get/print the housings for the robot arm cable
- Write the G-code interpreter for CNCing and 3d printing.
- Hook up the arm to ROS
Write the ros serial server to run on the controller- Rewrite the ROS Industrial libraries to use a serial stream instead of IP+port combo
Install it in it's dedicated area- Build a smooth solid table surrounding the entire circumference of the arms reach.
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)