Difference between revisions of "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

Revision as of 23:45, 31 March 2019

Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables.

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

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
- ~~One.~~

Nice to have
- ~~two .~~

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

@@ Line 1: / Line 1: @@
-__NOTOC__
 {{EquipmentInfobox
 |name=Staubli robot arm <!-- Name of the item. -->
@@ Line 7: / Line 5: @@
 |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 -->
+|status=Under construction
-|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? -->
+|acnode=no
-|owner=Mentar<!-- Provide a link to owners members page if other than LHS -->
+|owner=Robotics group<!-- 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=Dean, padski, JonRussell <!-- NO LINKS PLEASE; it currently breaks the template. If someone is nominated as managing the upkeep of this item, please list them here. -->
-|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 -->
 }}
+__NOTOC__
-Kindly donated to us by Queen Mary's University, missing cable.
+Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables.
-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  [[Equipment/Staubli/gdmux|G-code interpreter]])
-** CNC (Dependent on the [[Equipment/Staubli/gdmux|G-code interpreter]])
-** PCB manufacture:
-*** milling
-*** solder paste application for SMT components
-*** pick and place for SMT components
-*Potential applications
-** 3D scanning possibly using [http://www.youtube.com/watch?v=quGhaggn3cQ KinectFusion]
-** Persistence of vision experiments (such as [http://www.youtube.com/watch?v=vywf9P_-e_s this] display at Trafalgar Square)
-** High speed orbital photography
 == Status ==
-Arm is now fully functional, mounted and [https://www.dropbox.com/s/dbvbrv7yxbrl2g7/GcodeMovementFast.mp4 able to intepret] g-code movement commands!
+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
 <br>
@@ Line 50: / Line 29: @@
 ** Masse kg 42Kg
-* Controller
+* STMBL
-** Type CS7 - M RX60
+** Type 4.1
-** 3 x 400V - 50/60 Hz
+** 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.
-** 4000VA
-** Masse kg 80Kg
+<gallery>
+stmblbox.jpg|STMBL Case
+STMBLTEAM.jpg|Hackspace, STMBL and Linuxcnc Team
+</gallery>
+We have movement
+https://flic.kr/p/21GzpWj
 [https://www.dropbox.com/sh/3f2cdk8zv61xskm/sqK9HMZb1_ Some photos/videos of the beast]
-== TODO ==
+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 [[Equipment/Staubli/BinderConnector|Binder Connector]].
-* <s>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.aspx</s>
-* <s>Replace the battery 6v 8AH lead acid battery - this one: http://uk.rs-online.com/web/p/lead-acid-rechargeable-batteries/2651975/</s>
-* Get/print the housings for the robot arm cable
-* Write the [[Equipment/Staubli/g-code_interpreter|G-code interpreter]] for CNCing and 3d printing.
-* Hook up the arm to ROS
-** <s>Write the ros serial server to run on the controller </s>
-** Rewrite the ROS Industrial libraries to use a serial stream instead of IP+port combo
-* <s>Install it in it's dedicated area</s>
-* Build a smooth solid table surrounding the entire circumference of the arms reach.
-* <s>Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller</s>  Done 24/8/13 Padski
-* <s>Make the cable for 3 phase power to controller.</s>
-* <s>Make a mobile but stable platform for the robot and the controller (volunteers welcome)</s>Thanks cepmender!!
-* <s>Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.</s>
-== Docs ==
+There is a [[Equipment/Staubli/J11|50 way connector (J11)]] at the back of the controller containing the digital IO lines.
-[[media:StaubliStartStop.pdf|Robot startup/shutdown procedure]]
+== TODO ==
+* Necessary
+** <s>One.</s>
-[https://dl.dropboxusercontent.com/u/18407938/ToShare/cs7hdd.img.gz GZipped image of the 840MB drive]
+* Nice to have
+** <s>two .</s>
-[https://www.dropbox.com/s/q0r7e937oqw8kp1/D28046300A.pdf Technical manual with schematics]
+== Docs/Links ==
+[[Equipment/Staubli/gcode_demos|Gcode demos]]
-[https://www.dropbox.com/s/354khzhw2kbgk8d/D28045004E.pdf Arm Manual]
+[[media:StaubliStartStop.pdf|Robot startup/shutdown procedure]]
-[https://dl.dropboxusercontent.com/u/18407938/V%2B%20Lang%20Ref.pdf V+ Language Reference]
+[https://www.dropbox.com/s/i0lw46lhj2pszak/D28046300A.pdf Technical manual with schematics]
-[https://dl.dropboxusercontent.com/u/18407938/V%2B%20Lang%20User.pdf V+ Language User Guide]
+[https://www.dropbox.com/s/oqp4sriv2i3i4nv/D28045004E.pdf Arm Manual]
-[https://www.dropbox.com/s/lw3l9nvv5lejnse/UserManual_CS7M_Jul97_V0.0_EN.pdf CS7 User Guide]
+[https://www.dropbox.com/s/d8w0m5gdf8hc4sn/UserManual_CS7M_Jul97_V0.0_EN.pdf CS7 User Guide]
-[https://www.dropbox.com/s/s7u1oux3bngv22v/ElectricalCS7.pdf CS7 Electrical Diagrams]
+[https://www.dropbox.com/s/8b85uvchuihzdbb/ElectricalCS7.pdf CS7 Electrical Diagrams]
 [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]]
-[[Category:Projects]]
-[[Category:Space_Infrastructure_Projects]]