Staubli RX60 project

Hi all.

I'm lucky enough to have recently acquired an old Staubli RX60 CR robot. This is an ‘upgrade’ from my other robot, a Puma 560. Neither of them have a controller although I have successfully used a Galil Motion Controller for the Puma. There are two areas that I need help with regarding the RX60; finding suitable parts to drive the robot (servo amplifiers etc) and then controlling it in coordinated motion, preferably using some form of GUI or teach-pendant. It seems that the STMBL cards could be suitable, but I'm unable to find information on where you can buy them from, or the part-assembled PCB's at least.

I see that 'Wireline' has done exactly what I'm trying to do which is encouraging! It would be amazing if I could get some help and advice with this in general, particularly as I'm new to LinuxCNC but have a pretty good understanding of hardware. It's a personal project so I have a very limited budget, but lots of enthusiasm!

Jonathan

Hi Andy. Thanks for your reply. I'll have a look for the IRAM256-2067A2, but it seems like you've already done this to no avail. Do you have six PCB's just in case please?

Also, assuming the the STMBL system isn't available, do you know of any other amplifiers that could be suitable? It looks like the motors are rated at 200V (the manual states 180 to 220 for the bus voltage) which is considerably higher than anything I've managed to find already.

What's the best way to share my postal address? And I'd like to offer you something for the PCB's, postage at the very least.

Thanks, Jonathan

There are two of the large ones (the yellow label), one of the other, then three small ones which I haven't got to yet.

Worst case is the two largest (joins 1 and 2) so if they're covered, the others would be too. It looks like 4.35A stall and 17A peak! The RX60 is known for its speed, but I'm happy to restrict that to bring the current down if needed.

They have resolvers and I don't think there are any hall sensors. I can convert the resolvers to incremental if needed using an AD2S90, possibly.

It looks like the IRAM256-1567A2 might be available which looks to be the same except rated at 15A. Do you think that could work?

The Mesa 8i20 is nice but is expensive for 6 of them!


Link to IRAM256-1567A2:

www.aliexpress.com/item/100-New-original...&transAbTest=ae803_4

Hi Andy,

I am working on similar project to drive Fanuc 5 axis arm with 5 STMBLs and Mesa 7i92 and linuxCNC and stuck at LinuxCNC config. I have 5 STMBL drives attached to robot and i can move each motor using servoterm. Are LinuxCNC config files for Staubli project available?