Arm model: RX160
Contorller model: SC8C v7.9
Staubli Robotic Suite Setup
Technarium has a proper licence of SRS. One problem with SRS is that it does not come support for 7.9 controller out of the box. You have to click Help on blue line and find Update/download section there. There you can download support for controller v7.9.
3D printing with RoboDK
- Add RX160 robot arm to station
- Add a new Reference Frame to station
- Add a model of the thing you want to print to this new Reference Frame
Go to Utilities > 3D print project
Go to Program events in 3D print project dialog. Here for the Set extruder feed select Insert code and specify code call Extruder(%1)
Click select object and select model of your object to print
- Slic3r will be run to slice your object, you can click around for Slic3r slicing options.
- Various VAL3 postprocessors can be used to generate VAL3 code. With current implementation there are several gotchas that have to be fixed, but hopefully soon we will have a hacked post processor that does all we need.
Note RoboDK support on Linux is very poor and Slic3r integration does not work since 2018
Gotchas
Staubli_VAL3_Machining post processor generates data points and little VAL3 code that moves robot arm from point to point. Program is fine, but there is some undefined variable used which name I don't remember now
- You have to add Extruder program manually to your project. TBD
Documentation
VAL3 reference val3referencemanual.275627616.pdf
CS8C Controller manual: cs8c.pdf
RoboDK postprocessors: https://robodk.com/doc/en/Post-Processors.html