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 [[attachment:val3referencemanual.275627616.pdf]]
 * CS8C Controller manual: [[attachment:cs8c.pdf]]
 * RoboDK postprocessors: [[https://robodk.com/doc/en/Post-Processors.html]]