introduction to the stäubli rx60 sebastian van delden usc upstate [email protected]
TRANSCRIPT
Some Background Stäubli was first named Unimation Bought by Westing House in the 80s
Many workers left and formed Adept Technologies Stäubli has three divisions:
Textile, Connectors, Robotics Owns relatively small portion of robotics market
ABB hold largest portion Stäublis are very precise and omit few particles,
making then good for clean rooms.
Some Background
Some Background
First 6 dof machine history: Puma, RX series, TX series
Some Background
Staubli also makes SCARA (3 dof) arms, and heavy payload arms (6 dof).
Some Background
Stäubli’s new VAL3 programming language, controller, and teach pendant are all developed ‘in house’.
The Stäubli Robotics Studio software package emulates the controller and provides a 3D view of the robot.
The V+ language and operating system was developed by Adept Technologies for Stäubli and is still used in industry, but is dated and becoming obsolete.
Stäubli Robotics StudioRobot Arm Emulator
Stäubli Robotics StudioController and teach pendant emulator
Actual Images
E-Stop
Ethernet Connection
Serial Connection (COM1)
Basic I/O wiring
TheRX60
Safety In industry, working robots are always located inside of
a ‘safety cage’. The USC Upstate robotics lab does not have safety
cages, so we must follow the rules: Check that no-one is within the robot work envelope when
switching arm power on or moving the robot. Always take tool offsets into account.
When running a program, the speed on the arm MUST NEVER be set higher than 10% without explicit approval from the instructor first.
When debugging or running a program, be prepared to press the Emergency Stop button at any time.
Each time the robot is moved using the teach pendant, the speed of the arm can be set no higher than 10%.
Always be aware of your surroundings. Alert others IMMEDIATELY if you observe a possibly dangerous situation.
Getting Started
The CS7B boots from its D: drive Why D? Because CS7 used C as its boot drive. It also has an optional B: (floppy) drive connection. An NFS drive can be mounted if an Ethernet
connection is made. When controller is booted up, the arm must be
in the “ready” position. “ready” position can be manually set The default is straighten out vertically
Getting Started
You must verify that the arm is in the ready position by making sure that all six pair of witness marks are aligned perfectly.
Booting Up
1. Open the Tera-term program and make a serial connection to COM1.
1. Make a remote connection to the controller.
2. Windows’ Hyperterminal could also be used, but it behaves funky.
2. Flip on the large grey switch on the CS7B.
3. Enter “y” if the arm is in the ready position.1. You’ll be taken to the command prompt (.)…
Booting Up – Arm not in ‘ready’ If arm is not in ready position:
1. Enter “n” when asked if the arm is in the ready position.
2. Enter “y” when asked if you can move it to the ready position.
3. Align all witness marks and press REC/DONE when finished.
The Different Modes
Controlling Arm Power When the controller boots up, the arm is not yet
getting power. To power up arm:
enable power at prompt or COMP/PWR button on teach pendant, followed by pressing green button on the controller.
To power down arm: disable power at prompt or COMP/PWR button or press
green button. Do not use the Emergency Stop (E-STOP) button to
power down. E-STOP halts the motion of the arm immediately and
powers down arm. Wears down brakes if used too much.
The Teach Pendant
The Teach Pendant
E-Stop
Mode indicator lights
Travel Speed Bars
Switch to Manual Control
Manual Control Keys
Switch to Computer Control
Dead Man Switch
How Can I get the Arm to Move?
1. Power up the Arm
2. Press the MAN/HALT button to enter manual mode. When pressed, a “jogging mode light” will illuminate: “World”,
“Tool”, “Joint” or “Free”. We will not use “Free” mode To select a different mode, keep pressing MAN/HALT.
3. Select one of the “Manual Control Keys”.
4. Use travel speed bars to move arm in positive or negative direction.
NOTE: Press towards the ends of the speed bars for fast motion
Travel Bars Speeds
Press here and movement will be fast. Don’t use for small, precise movements
Press here and movement will be slow. Use for small, precise movements
NOTE on Rotations:
Clockwise around an axis that is pointing towards you is a Negative rotation.
Counter-Clockwise around an axis that is pointing towards you is a Positive rotation.
WORLD Jogging Mode Allows you to move the end effector w.r.t. the
world frame X/1 translate along XW
Y/2 translate along YW
Z/3 translate along ZW
WORLD Jogging Mode cont… Allows you to move the end effector w.r.t. the
world frame RX/4 rotate around XW
RY/5 rotate around YW
RZ/6 rotate around ZW
TOOL Jogging Mode
Allows you to move the end effector w.r.t. the tool frame
X/1 translate along XT
Y/2 translate along YT
Z/3 translate along ZT
TOOL Jogging Mode
Allows you to move the end effector w.r.t. the tool frame
RX/4 rotate around XT
RY/5 rotate around YT
RZ/6 rotate around ZT
JOINT Jogging Mode
Move a single joint at a time. Rotations around joint axes X/1 rotate around joint 1 Y/2 rotate around joint 1 Z/3 rotate around joint 1 RX/4 rotate around joint 1 RY/5 rotate around joint 1 RZ/6 rotate around joint 1 T1 controls pneumatics
Right Hand Rule Don’t Forget it!!!! Your very own built-in
coordinate system…
It’s your turn In-Class activity
Each Group Member must take a turn: Opening Tera-term and making a connection to COM1 Booting up a machine Turning on arm power Practice moving arm in World, Tool, and Joint modes.