Equipment/Staubli
| Staubli Robot arm | |
|---|---|
| Created | 07/06/2013 |
| Members | Mentar,Padski,tgreer,JonRussell |
| QR code | |
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.
Status
Replacement cable arm and power cable made, 3-phase socket installed (2 SEP 2013)
Socket made live (temporary atm need 20mm hole punch..) 6-9-13
Switched on!!! Have 1 e-stop error and 4 axis errors.
Terminal seems to be working fine..
Think axis errors are due to controller expecting shorted thermal cutouts which arm does not have on axes 3-6. 6-9-13 Padski
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
TODO
Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controllerDone 24/8/13 Padski- Make the cable for 3 phase power to controller.
- Make a mobile but stable platform for the robot and the controller (volunteers welcome)
- 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
Technical manual with schematics
- Note Teaching Pendant connector needs pins 6+7 (estop), 14+16 (deadman) linked.
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)