SCSC Introduction to Computer Vision

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					Introduction to the Stäubli RX60

    Sebastian van Delden
    USC Upstate
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


      Basic I/O wiring
   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
   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


                       indicator lights

 Travel               Switch to
 Speed                Manual Control
                      Switch to
                      Computer Control

Dead Man

                      Control Keys
 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
  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.

                                                    around an axis that is
                                                    pointing towards you is a
Press here and movement will be fast.               Positive rotation.
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.

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