Introduction to the Stäubli RX60

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

2. 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.

3. Some Background

4. Some Background • First 6 dof machine history: • Puma, RX series, TX series

5. Some Background • Staubli also makes SCARA (3 dof) arms, and heavy payload arms (6 dof).

6. 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.

7. Stäubli Robotics StudioRobot Arm Emulator

8. Stäubli Robotics StudioController and teach pendant emulator

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

11. TheRX60

12. 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.

13. 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

14. 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.

15. 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 (.)…

16. 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.

17. The Different Modes

18. 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.

19. The Teach Pendant

20. 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

21. 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

22. 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

23. 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

24. 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

25. 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

26. 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

27. 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

28. Right Hand Rule • Don’t Forget it!!!! Your very own built-in coordinate system…

29. 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.