I’ve been working on re-tooling our Staubli RX-160 for milling. The robot was purchased used and we have been working with ROS and some other libraries to be able to communicate with it over TCP/IP. I bought a Chinese 1.5kw spindle for it and a special tool-changer for it. I had the mounting plates for the spindle laser cut out of 3mm thick steel and I put the mounting holes in the wrong place so I used the HAAS VF2 CNC to mill out an adapter plate for it. This is hopefully the last step in the process of getting this robot operating as a 6 axis mill.
