Introduction to the Stäubli RX60 Sebastian van Delden USC Upstate svandelden@uscupstate.edu

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 Studio Robot Arm Emulator

Stäubli Robotics Studio Controller and teach pendant emulator

Actual Images Ethernet Connection E-Stop Serial Connection (COM1) Basic I/O wiring

The RX60

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 Open the Tera-term program and make a serial connection to COM1. Make a remote connection to the controller. Windows’ Hyperterminal could also be used, but it behaves funky. Flip on the large grey switch on the CS7B. Enter “y” if the arm is in the ready position. You’ll be taken to the command prompt (.)…

Booting Up – Arm not in ‘ready’ If arm is not in ready position: Enter “n” when asked if the arm is in the ready position. Enter “y” when asked if you can move it to the ready position. 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 Switch to Computer Control Dead Man Switch Manual Control Keys

How Can I get the Arm to Move? Power up the Arm 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. Select one of the “Manual Control Keys”. 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 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. Press here and movement will be fast. Don’t use for small, precise movements

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.