Equipment/Staubli

Staubli Robot arm
Created	07/06/2013
Members	Mentar,Padski,tgreer,JonRussell
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Staubli RX60L on arrival

Status

Oil changed on joints 3,4,5,6, still need to do 1 and 2 but don't have a hex key that's long enough! 08-OCT-13

Description

Kindly donated to us by Queen Mary's University, was missing control and power cables.

The cable has been replaced with a DIY one, now the members of the [Robotics] group are figuring out a way to securely mount it so that it can be used for 3d printing, precision cutting, milling, sculpting (maybe welding later)

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 (most done just need to oil joints 1 and 2) the joints as per manual instructions 1st 4 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, * Replace the battery 6v 8AH lead acid battery
• Get/print the housings for the robot arm cable: step files here for the arm, and controller
• Figure out how to do useful things with it!
• Install it in it's dedicated area
• Make the cable from the arm (han-dd108m, han-dd72/han-K6/36 straight/angled) to the controller Done 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)Thanks cepmender!!
• Get dummy plug for teaching pendant socket: Mouser Pt.Nos. # 571-66360-4 x 5 and # 571-2060371 x 1.

Augmentations

• Grippers
  • MG995 gripper from DealXtreme $39.20 (link)

Docs

Robot startup/shutdown procedure

GZipped image of the 840MB drive

Technical manual with schematics

Arm Manual

V+ Language Reference

V+ Language User Guide

CS7 User Guide

CS7 Electrical Diagrams

Padski's Cable Schematic

STEP 3d-model of the similar arm RX60BL-HB

We also have:

• 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)