Introduction to the Stubli

RX60
Sebastian van Delden
USC Upstate
svandelden@uscupstate.edu

Some Background

Stubli was first named Unimation

Bought by Westing House in the 80s

Stubli has three divisions:

Many workers left and formed Adept Technologies

Textile, Connectors, Robotics

Owns relatively small portion of robotics market

ABB hold largest portion

Stublis 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

Stublis new VAL3 programming language,

controller, and teach pendant are all
developed in house.
The Stubli 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 Stubli
and is still used in industry, but is dated and
becoming obsolete.

Stubli Robotics Studio

Robot Arm Emulator

Stubli 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.

1.

1.
2.

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.

2.
3.
1.

Youll be taken to the command prompt (.)

Booting Up Arm not in

ready

1.

2.

3.

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:

To power down arm:

enable power at prompt or COMP/PWR button on teach

pendant, followed by pressing green button on the controller.
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?
1.
Power up the Arm
Press the MAN/HALT button to enter manual mode.

2.

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.

3.
4.

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.

Press here and movement will be fast.

Dont use for small, precise movements

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
RY/5
RZ/6

rotate around XT
rotate around YT
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

Dont Forget it!!!! Your very own built-in

coordinate system

Its 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.