Stäubli Robotics Studio - USC Upstate: Faculty

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2 Νοε 2013 (πριν από 3 χρόνια και 9 μήνες)

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Introduction to the Stäubli RX60

Sebastian van Delden

USC Upstate

svandelden@uscupstate.edu

Some Background


St
ä
ubli was first named Unimation


Bought by Westing House in the 80s


Many workers left and formed Adept Technologies


St
ä
ubli has three divisions:


Textile, Connectors, Robotics


Owns relatively small portion of robotics market


ABB hold largest portion


St
ä
ublis 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 St
ä
ubli
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

E
-
Stop

Ethernet
Connection

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

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 X
W



Y/2

translate along Y
W



Z/3

translate along Z
W



WORLD Jogging Mode cont…


Allows you to move the end effector w.r.t. the
world frame


RX/4

rotate around X
W



RY/5

rotate around Y
W



RZ/6

rotate around Z
W



TOOL Jogging Mode


Allows you to move the end effector w.r.t. the
tool frame




X/1

translate along X
T



Y/2

translate along Y
T



Z/3

translate along Z
T



TOOL Jogging Mode


Allows you to move the end effector w.r.t. the
tool frame




RX/4

rotate around X
T



RY/5

rotate around Y
T



RZ/6

rotate around Z
T



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.