Staubli robot arm lives! (with an open source controller)

kobin · October 4, 2021, 9:53pm

Took me 9 months but I got a servo motor to turn on the big yellow Staubli RX60 arm:

Most of the work so far has been in understanding the open source controller. It was actually pretty simple to wire it up to the arm.
So now I need to make 5 more controllers (one for each servo). Oh yeah and a sturdier base to mount the arm. One bite at a time…

Evan_Lott · October 6, 2021, 12:56am

Awesome work! Count me in if you want extra hands to solder the remaining 5 controllers.

kobin · October 6, 2021, 5:10am

Awesome! I think I’ll take you up on that offer

chimpera · October 7, 2021, 12:00pm

I would be interested in the details of how you did it. Is that documented anywhere?

kobin · October 7, 2021, 2:44pm

I have the setup of the STMBL drive to Joint 6 of the Staubli RX60 documented here:

And the setup of the STMBL drive in general is here:

github.com

rene-dev/stmbl/blob/master/docs/src/Getting Started.adoc

:lang: en

= STMBL Getting Started Guide

== Description

STMBL is a motor drive controlled by the STM32 microprocessor. It can 
power motors of up to 2.2kW and up to around 380V DC bus voltage. 

The name "STMBL" is based on the combination of the STM32 microprocessor
and BrushLess motor. However the drive is also capable of powering AC
induction or DC motors. The hardware is also capable of driving 3-phase
stepper motors.

The drive is configurable for a wide range of command and feedback types
through a hardware abstraction layer (HAL) analagous to that used by 
http://linuxcnc.org/docs/2.7/html/hal/intro.html[LinuxCNC]. 

Currently supported command interfaces are:

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