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=retired and scrapped | ||
| + | |reqtraining=None<!-- 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. --> | ||
| + | |acnode=no | ||
| + | |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 --> | ||
| + | |maintainers= <!-- 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 Used for tracking out-of-date templates --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__ | __NOTOC__ | ||
| + | Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables. | ||
| + | A copy of the original cable was made and used until the failure of the controller - it was then scrapped | ||
| + | A generic one was then made up using RJ45 for the encoder cables and SPECON for the servo motors themselves | ||
| − | + | == Status == | |
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| + | retired and scrapped | ||
| + | <br> | ||
| + | == Specs == | ||
| − | + | It was driven by an open source controller due to failure of the original controller | |
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* Robot arm | * Robot arm | ||
** Type: RX60L | ** Type: RX60L | ||
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** Masse kg 42Kg | ** Masse kg 42Kg | ||
| − | * | + | * STMBL |
| − | ** Type | + | ** Type 4.1 |
| − | ** | + | ** The STMBL along with Messa cards driven by linuxcnc 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. |
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| − | + | <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/ | + | [https://www.dropbox.com/sh/3f2cdk8zv61xskm/sqK9HMZb1_ 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 [[Equipment/Staubli/BinderConnector|Binder Connector]]. |
| − | [ | + | == Docs/Links == |
| + | [[Equipment/Staubli/gcode_demos|Gcode demos]] | ||
| − | [ | + | [[media:StaubliStartStop.pdf|Robot startup/shutdown procedure]] |
| − | [https://www.dropbox.com/s/ | + | [https://www.dropbox.com/s/i0lw46lhj2pszak/D28046300A.pdf Technical manual with schematics] |
| − | [https://www.dropbox.com/s/ | + | [https://www.dropbox.com/s/oqp4sriv2i3i4nv/D28045004E.pdf Arm Manual] |
| − | + | [https://www.dropbox.com/s/d8w0m5gdf8hc4sn/UserManual_CS7M_Jul97_V0.0_EN.pdf CS7 User Guide] | |
| − | + | [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] | ||
| − | [[ | + | [[Equipment/Staubli/Controller|The Linux setup on the ARM controller board]] |
| − | |||
Latest revision as of 21:26, 4 August 2022
| Staubli robot arm | |
|---|---|
 | |
| Model | RX60L |
| Sub-category | Robotics |
| Status | retired and scrapped |
| Last updated | 4 August 2022 21:26:32 |
| Training requirement | None |
| ACnode | no |
| Owner | Robotics group |
| Origin | Donation |
Kindly donated to us by Queen Mary University's School of Electronic Engineering & Computer Science was missing arm and power cables. A copy of the original cable was made and used until the failure of the controller - it was then scrapped A generic one was then made up using RJ45 for the encoder cables and SPECON for the servo motors themselves
Status
retired and scrapped
Specs
It was driven by an open source controller due to failure of the original controller
- 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 linuxcnc 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.
Docs/Links
Robot startup/shutdown procedure