Hello all,
Some time ago we got a Staubli RX60L arm and a CS7 controller and people on this forum have helped us getting it going. Since then we've managed to write a basic g-code interpreter and would like to share it with the community as it seems hobbyist and universities still are using these robot arms
So the link to our project: http://hack.rs/e/Staubli
We've also made a g-code interpreter for it that uses 2 serial lines, one for terminal control (and auto upload). It's all open-sourced and is on github: https://github.com/LHSRobotics/gdmux
Currently we have issues doing arcs properly (the problem seems to be that we got our maths wrong), and we are also having trouble controlling the speed in consistent way. Right now it stops after making every move, making interpolated arcs somewhat slow to follow.
We use a linux machine with 2 serial ports (USB-RS232 adapters work fine) but it should work on windows and the like with the minor modifications to the serial communication code.
The meat of the V+ code is at https://github.com/LHSRobotics/gd…i/V%2B/gcode.pg so if you have something to add to address the speed problem feel free to fork it or reply to the thread!
Thanks
mentar