Difference between revisions of "Equipment/Staubli"
Jump to navigation
Jump to search
Deanforbes (talk | contribs) |
|||
(6 intermediate revisions by one other user not shown) | |||
Line 15: | Line 15: | ||
}} | }} | ||
__NOTOC__ | __NOTOC__ | ||
− | + | Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables. | |
− | |||
− | |||
− | Kindly donated to us by Queen Mary's | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
== Status == | == Status == | ||
Line 48: | Line 28: | ||
** Fabrication Le F - 12 - 1997 | ** Fabrication Le F - 12 - 1997 | ||
** Masse kg 42Kg | ** Masse kg 42Kg | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
* STMBL | * STMBL | ||
Line 72: | Line 46: | ||
There is a [[Equipment/Staubli/J11|50 way connector (J11)]] at the back of the controller containing the digital IO lines. | There is a [[Equipment/Staubli/J11|50 way connector (J11)]] at the back of the controller containing the digital IO lines. | ||
− | |||
− | |||
== TODO == | == TODO == | ||
* Necessary | * Necessary | ||
− | ** <s> | + | ** <s>One.</s> |
* Nice to have | * Nice to have | ||
− | ** <s> | + | ** <s>two .</s> |
== Docs/Links == | == Docs/Links == | ||
Line 96: | Line 68: | ||
[https://docs.google.com/spreadsheet/ccc?key=0AqarnpYKaciedFZjTUg4eWd6TDJhblh1UU9xUjFZSWc&usp=sharing Padski's Cable Schematic] | [https://docs.google.com/spreadsheet/ccc?key=0AqarnpYKaciedFZjTUg4eWd6TDJhblh1UU9xUjFZSWc&usp=sharing Padski's Cable Schematic] | ||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
[[Equipment/Staubli/Controller|The Linux setup on the ARM controller board]] | [[Equipment/Staubli/Controller|The Linux setup on the ARM controller board]] |
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.
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
Robot startup/shutdown procedure