Equipment/Staubli

From London Hackspace Wiki
< Equipment
Revision as of 23:45, 31 March 2019 by Mentar (talk | contribs)
(diff) ← Older revision | Latest revision (diff) | Newer revision → (diff)
Jump to: navigation, search
Staubli robot arm
StaubliOnPillar.jpg
Model RX60L
Sub-category Robotics
Status Under construction
Last updated 31 March 2019 23:45:28
Training requirement Yes
ACnode no
Owner Robotics group
Origin Donation
Maintainers Dean, padski, JonRussell

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

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