RX & TX FIELD VALREG PREOCEDURE V1 Edit D

FAVERGES 07.04.09

Recipients: Training attendees on maintenance for RX/TX robots

F. Audouin, A.Brouillard, A. Damois
Field Service Dept.

Refer to « Mechanical Origin Adjustment Information » on Technical Data base for additional
information.

1. Necessary tooling:
1.1. Double pointer at 90°(pointers Y et Z flange o r null tool) ref. D22111901
1.2. Flange interface:
Arm type

RX130(B)(L)

RX170(B)(L)

TX90(L)(XL)
RX60(B)(L)
RX90(B)(L)

RX130BXL
RX160(L)
RS40(B)

TX60(L)
RX260
RX270

TX200
RS20

RS60
RS80

TX40
D131 199 00 X
Interface D131 231 00 X X
Ref. D131 237 00 X X X
D131 339 00 X X X

Note: A tool box including the double pointer, flange interfaces can be ordered with reference
D21122303
1.3. Magnetic pointer set up
1.4. Manual Control Pendant SP1
1.5. Val3 application called ‘FieldValReg’ available on Technical data. CAUTION this
application works only on MST bootable key with version ≥6.6.1

2. Axes sequence to adjust a 6 axes arm:

2.1. Axis 5
2.2. Axis 4
2.3. Axis 3 & 2 (Adjustment on axis 2 & 3 can be done simultaneously for arms without the
offset between joint 1 & 2 and joint 1 & 6)
2.4. Axis 6: This axis has no influence on world coordinates system perpendicularity but
determinate the tool definition. Axis 6 has to be adjusted after axis 5, excepted on
TX90 arm.
2.5. Axis 1: This axis has no influence on world coordinates system perpendicularity but
influence its origin. It is recommended to check if the scribe marks are aligned. If not it
is necessary to re-define the mechanical zero (F1 - adjust at scribe marks).

3. Axes sequence to adjust a 4 axes arm:

3.1. Axis 1: This axis has no influence on world coordinates system perpendicularity but
influence its origin. It is recommended to check it symmetry. In case of asymmetry, it is
necessary to re-define the mechanical zero by finding the middle of envelop.
1/5
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 RX & TX FIELD VALREG PREOCEDURE V1 Edit D
FAVERGES 07.04.09

3.2. Axis 3: This axis has no influence on world coordinates system perpendicularity but
influence its origin. It is recommended to check it symmetry. In case of asymmetry, it is
necessary to re-define the mechanical zero by finding the middle of envelop.
3.3. Axis 2
3.4. Axis 4: This axis has no influence on world coordinates system perpendicularity but
determinate the tool definition.

4. Pointer Z checking on 6 axes arm:

- Align Z pointer with counter pointer
- Move axis 6 and verify that the Z pointer is not bent. If the pointer is not straight, try to
identify the faulty component (pointer or flange interface) and change it.

5. Pointer Z checking on 4 axes arm:

- Align Z pointer with counter pointer
- Move axis 4 and verify that the Z pointer is not bent. If the pointer is not straight, try to
identify the faulty component (pointer or flange interface) and change it.

6. Writing convention used in the following procedure:

jAdj[j_n]: {[X], [Cj], [θjn], [0], [-90], [0]}
(angular position)
pAdj[j_n]: cartesian point
with:
with:
j: joint number to adjust X: any value at any time during the
adjustment
n: points definition order Cj: any value but constant during the
adjustment
With:
j: joint number
θjn: adjustment value to remember or used
for computation
with:
j: joint number
n: position order to remember
(0, 90, …) : required values
Example:
jAdj4_2 {C1, X, θ32, 0, 90, 0}
second angular point for the axis 4 adjustment. The
Coordinates are: any value but constant for joint 1 during all adjustment of axis 4, any value for
joint 2, any value for joint 3 but the value has to be remembered, and fixed value for joints 4, 5
& 6.

2/5
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 RX & TX FIELD VALREG PREOCEDURE V1 Edit D
FAVERGES 07.04.09

7. 6 axes arm adjustment:

Execute Val3 application called ‘FieldValReg’ available on Technical data and use the
pictures bellow.

7.1. Joint 5 adjustment:

7.1.1.

7.2. Joint 4 adjustment:

3/5
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 RX & TX FIELD VALREG PREOCEDURE V1 Edit D
FAVERGES 07.04.09

7.3. Axis 3 adjustment:

7.4. Axis 2 adjustment:

7.5. Axis 6 adjustment:

4/5
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 RX & TX FIELD VALREG PREOCEDURE V1 Edit D
FAVERGES 07.04.09

8. Acceptable offsets on cartesian point with different configurations (RX & TX arms):

Origin of data:
- For RX arm (excepted RX160(L), RX260, RX270): results obtained with V_Regauto tool and
measures done on Y pointer.
- For RX160 & TX arms: results obtained with Val_Reg tool.

RX60(B) RX60(B)L RX90(B) RX90(B)L RX130(B) RX130(B)L RX130BXL RX160 RX160L RX170(B) RX170(B)L
Shoulder
Righty/Lefty (mm) 0.8 1 1.3 1.8 2.5 3 4 2.3 2.3 3.5 4
Wrist
Postive/Negative
(mm) 1 1 1 1 1 1 1.5 0.91 0.91 1 1
To be confirmed

TX40 TX60 TX60L TX90 TX90L TX90XL TX200 TX200L

Shoulder
Righty/Lefty (mm) 0.87 0.88 0.73 0.97 1.05 1.17
To be confirmed
Wrist
Postive/Negative
(mm) 0.6 0.81 0.59 0.59 0.62 0.5
To be confirmed

RX260 RX270
Shoulder
Righty/Lefty (mm)
Wrist
Postive/Negative
(mm)

5/5
STÄUBLI FAVERGES S.C.A au Capital 7 718 400 Euros
Place Robert Stäubli - BP 70 R.C.S Annecy B 325 720 720
74210 FAVERGES FRANCE N° Identification T.V.A FR 80 325 720 720
Tél 33 (0)4 50 65 60 60 - Fax 33(0)4 50 65 60 70 NAF 295 G
www.staubli.com - ISO 9001