02-01-2022, 06:55 PM
Hello,
After a few failed attempts at getting RoboDk working with my robot arm, I found the RoboDk library's Staubli Rx90B arm's software model is quite different from my pre-B series arm. My arm is the standard Rx90 from 1994 (not long-arm model).
Physically it seems it's the same arm, but the software locations of various axis are quite different from my arm. I attribute this to Staubli changing their controllers from their original Adept models. While it's possible mine was customized for some reason, I don't think that is the case.
I spent some time moving joints on my arm to their most extended rotations, recorded those, and rebuilt the Rx90 model in Robodk.
If RoboDk or anyone else would like a file with a copy of this model I'm happy to share. It would likely save someone else with an older machine some time, and provide more options in RoboDk's library.
Other tips for users of older Staubli arms: Be sure to select the correct post processor. The "Staubli" posts listed under Staubli not work with the Adept controllers. Try looking under Adept - Adept Staubli V+ Custom. That worked best for me, although I had to snip out a few lines of code preceeding the machining locations.
I suspect the Adept V+ post might work also, but have not tried it.
Mostly, I mention this because Staubli users might only be looking under the Staubli name, as opposed to Adept. I'm not sure the best way to improve this, other than to include the Adept Staubli V+ custom post with the rest of the Staubli posts. I would make that change, as I can't see any Adept robot users wanting or needing the Staubli V+ post.
Best,
David Earle
After a few failed attempts at getting RoboDk working with my robot arm, I found the RoboDk library's Staubli Rx90B arm's software model is quite different from my pre-B series arm. My arm is the standard Rx90 from 1994 (not long-arm model).
Physically it seems it's the same arm, but the software locations of various axis are quite different from my arm. I attribute this to Staubli changing their controllers from their original Adept models. While it's possible mine was customized for some reason, I don't think that is the case.
I spent some time moving joints on my arm to their most extended rotations, recorded those, and rebuilt the Rx90 model in Robodk.
If RoboDk or anyone else would like a file with a copy of this model I'm happy to share. It would likely save someone else with an older machine some time, and provide more options in RoboDk's library.
Other tips for users of older Staubli arms: Be sure to select the correct post processor. The "Staubli" posts listed under Staubli not work with the Adept controllers. Try looking under Adept - Adept Staubli V+ Custom. That worked best for me, although I had to snip out a few lines of code preceeding the machining locations.
I suspect the Adept V+ post might work also, but have not tried it.
Mostly, I mention this because Staubli users might only be looking under the Staubli name, as opposed to Adept. I'm not sure the best way to improve this, other than to include the Adept Staubli V+ custom post with the rest of the Staubli posts. I would make that change, as I can't see any Adept robot users wanting or needing the Staubli V+ post.
Best,
David Earle
