Eng - D28057804D

Arm - RX series 260 family
Technical specifications
Stubli Faverges 2008
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Foreword
The information contained in the present document is the property of STUBLI and it cannot be
reproduced, in full or in part, without our prior written approval.
The specifications contained in the present document can be modified without notice. Although all
necessary precautions have been taken to ensure that the information contained in this document is correct,
STUBLI cannot be held responsible for any errors or omissions found in the illustrations, drawings and
specifications contained in the said document.
If any difficulties are met with during operation or servicing of the robot that are not referred to in this
document, or if further information is required, please contact the STUBLI After Sales Department, "Robot
Division".
STUBLI , UNIMATION , VAL
are brands registered by STUBLI INTERNATIONAL AG.
Objective of this manual

The objective of this manual is to provide information concerning the installation, operation and
maintenance of STUBLI robots. It provides help for the persons working on the equipment, for reference
purposes only. Indeed, in order to understand the present document and the use of STUBLI robots, it is
necessary for staff to acquire the corresponding knowledge by following a "robots" training course as
provided by STUBLI.
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TABLE OF CONTENTS
1 - GENERAL SAFETY INSTRUCTIONS................................................. 11

1.1. REMINDER CONCERNING THE SAFETY STANDARDS ..................................................... 13
1.2. RESPONSIBILITY................................................................................................................... 14
1.3. SAFETY INSTRUCTIONS ...................................................................................................... 15

1.3.1. Purpose ....................................................................................................................... 15
1.3.2. Definitions.................................................................................................................... 15
1.3.3. application ................................................................................................................... 16
1.3.4. Operating modes......................................................................................................... 16
2 - GENERAL DESCRIPTION .................................................................. 21

2.1. RX260 ROBOT........................................................................................................................ 23
2.2. MECHANICAL ROBOT ELEMENTS ...................................................................................... 25
2.3. INTERCHANGEABILITY ........................................................................................................ 26
2.4. RECOVERY ............................................................................................................................ 26
3 - TECHNICAL CHARACTERISTICS ..................................................... 27

3.1. GENERAL INFORMATION..................................................................................................... 29
4 - WORKING AREAS AND ROBOT FOOTPRINTS ............................... 35
5 - ROBOT FLANGE................................................................................. 43
6 - LOADS ON WRIST AND EXTRA LOADS .......................................... 49

6.1. GENERAL INFORMATION..................................................................................................... 51
6.2. DETERMINING THE MAXIMUM LOADS ON THE WRIST FLANGE (QF)............................ 52

6.3. EXTRA LOADS (QS) .............................................................................................................. 54
6.4. STOPPING ANGLES IN THE CASE OF AN EMERGENCY STOP ....................................... 56
6.5. ACCELERATIONS, DECELERATIONS ................................................................................. 56
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7 - ROBOT TRANSPORT ......................................................................... 57
7.1. STABILITY AND TRANSPORT POSITION............................................................................ 59
7.1.1. Lifting option using a forklift truck ................................................................................ 60
7.2. FOOTPRINT AND TRANSPORT POSITION ......................................................................... 61
7.3. WEIGHT AND PACKAGING .................................................................................................. 62
7.4. LIFTING THE ROBOT OVER THE FIXING PLATE ............................................................... 62
8 - INSTALLING THE ROBOT.................................................................. 65

8.1. SURROUNDING CONDITIONS .............................................................................................. 67
8.1.1. Characteristics of the working area ............................................................................. 67
8.1.2. Working space............................................................................................................. 67
8.2. FIXING ON A STEEL PLATE ................................................................................................. 68
8.3. FIXING ON AN ADJUSTABLE PLATE (OPTION) ................................................................. 70
8.4. FIXING ON A SPECIFIC HOLDER ......................................................................................... 72
8.5. STRESSES ON THE HOLDER............................................................................................... 72
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9 - OPTIONS ............................................................................................. 75
9.1. GENERAL DESCRIPTION ..................................................................................................... 77
9.2. ADJUSTABLE MECHANICAL LIMIT SWITCH UNIT FOR AXIS 1 ....................................... 78

9.2.1. Description .................................................................................................................. 79

9.3.1. Description .................................................................................................................. 82

9.4.1. Description .................................................................................................................. 84
9.5. ADJUSTABLE PLATE UNIT .................................................................................................. 85

9.5.1. Description .................................................................................................................. 86
9.6. RECOVERY TOOL ................................................................................................................. 87

9.6.1. Description .................................................................................................................. 87
9.7. EXAMPLE OF USE OF THE RECOVERY TOOL .................................................................. 88
9.8. RECOVERY TOOL UNIT FOR AXES 5-6 (FOR RX260 / RX260 L ONLY) ........................... 88
9.9. LIFTING SYSTEM WITH FORKLIFT TRUCK ........................................................................ 90

9.9.1. Description .................................................................................................................. 90
9.10. PROTECTION UNIT FOR DISTRIBUTION CONNECTIONS ................................................. 91

9.10.1. Description .................................................................................................................. 91
9.11. BRAKE RELEASE TOOL ....................................................................................................... 92

9.11.1. Description .................................................................................................................. 92
9.12. HANDLING OPTION ............................................................................................................... 93

9.12.1. User connectors for the HANDLING option................................................................. 93
9.12.2. Harness for the Handling option.................................................................................. 97
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Chapter 1 General safety instructions
CHAPTER 1
GENERAL SAFETY INSTRUCTIONS
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1.1. REMINDER CONCERNING THE SAFETY STANDARDS
DANGER:
The robot is a fast moving machine. These movements can be dangerous.
Always comply with the safety standards recommended for robot use and
inform operators about the dangers faced.
The robot is a sub-assembly designed for integration in a robot cell. It has been designed and built to enable
the "robot cell" unit to comply with regulatory provisions. Compliance of the robot cell is the responsibility of
the prime contractor who very frequently is the owner.
The user must make sure that the staff programming, operating, maintaining or repairing the robot or the
robot cell are correctly trained and show the skills necessary to carry out these tasks in full safety.
In France, for example, posters issued by the CRAM are available to remind operators of the safety rules
applicable in the vicinity of robot stations.
The electrical equipment of the robot and the robot cell must comply with standard EN 60204-1.
The characteristics of the power supply and the grounding terminals must comply with the manufacturers'
specifications. The robot and its controller are designed to meet a "Category III" safety level.
Standards applicable
Installation of the robot must be planned in accordance with the standard instructions.
ISO 10218-1, 2006 Robots for industrial environment - Safety
EEC 98 / 37 "Machine Safety" Directive European Directive
Standard EN 292 General principles
Standard EN 294 Safety distances
Standard EN 418 Emergency stop equipment
Standard EN 953 Protective elements
Standard EN 954-1 Machine safety
Standard EN 349 Minimum clearances
Standard EN 1050 Risk assessment
Standard EN 1088 Locking devices
Standard EN 60204-1 Electrical equipment on machines
Standard EN 999 Speed on approach towards the human body
Standard EN 61 000-6-4 Electromagnetic compatibility - Emission
Standard EN 61 000-6-2 Electromagnetic compatibility - Immunity
Standard CEI 34-1 Electrical rotating machines

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1.2. RESPONSIBILITY
When executing all work to assemble and move the Robot, the equipment integrator must comply with the
Safety Standards in force in the Country in which the installation is carried out.
The Integrator is responsible for application and use of the required protection and safety devices, together
with drawing up the declaration of conformity and placing such EC markings as may be necessary on the
installation.
STUBLI cannot be held liable for any accidents resulting from incorrect use or misuse of the Robot, for
damage to circuits, components or software due to such misuse, or for any consequences arising from use
of replacement parts other than those set out in the list of replacement parts.
The persons entrusted with running or supervising the activities set out in the Application paragraph are
responsible for application of these safety instructions, and they must ensure that the Authorized
Personnel is familiar with the instructions set out in this document and complies with them carefully, as well
as with the Safety Standards in force in the Country where the installation takes place.
Failure to comply with Safety Standards may result in bodily harm and damage the Robot.
The installation work must be carried out by qualified installation personnel and the installation must comply
with all national and local standards.
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1.3. SAFETY INSTRUCTIONS
1.3.1. PURPOSE
The purpose of the safety instructions set out here is to draw up a list of procedures and obligations to be
complied with while carrying out the activities dealt with in the Application section.
1.3.2. DEFINITIONS
Robot
The Robot is the functional unit made up of: the Controller, Arm, Manual control pendant and such options
as may be added.
Protected Area
The Protected Area is defined as the zone confined by the safety barriers and used to install and operate
the Robot.
Authorized Personnel
Authorized Personnel is defined as all persons suitably trained and assigned to carry out the activities
referred to in the Application paragraph.
Assigned Personnel
Assigned Personnel are defined as the staff running or supervising the activities to which the subordinate
personnel defined in the item above is assigned.
Installation and Putting into Service
Installation is defined as follows: mechanical, electrical and software integration of the Robot in a given
environment involving controlled movement of the Robot axes, in compliance with the Safety Standards in
force in the Country in which the System installation is carried out.
Programming mode
Operating mode under the operator's control, which excludes automatic operation and enables the following
activities: manual movement of the Robot axes and programming of working cycles at low speed,
programmed cycle testing at low speed, and, when admissible, at working speed.
Operation under Local / Remote control
Operating mode in which the Robot executes the programmed cycle autonomously and at its working
speed, with the personnel located outside the protected area, the protective barriers closed and activated
in the safety circuit, and with a start/stop control that can be local (activated from outside the protected area)
or remote.
Maintenance and Repairs
Maintenance and Repairs are defined as work carried out to inspect periodically and/or replace parts
(mechanical, electrical or software parts) or components used in the Robot, together with troubleshooting
work, in order to restore the Robot to the functional conditions established by the project.
Taking out of Service and Dismantling
Taking out of Service is the activity carried out to disconnect the Robot (mechanically and electrically) from
a production installation or a study environment.
Dismantling is the activity consisting of demolishing and dealing with the parts making up the Robot.
Integrator
The integrator is the professional entity responsible for installing the Robot and putting it into service.
Misuse
Misuse of the system consists of using the system outside the limits specified in the Technical
Documentation.
Field of Action
The Robot's Field of Action is defined as the enveloping volume of the area occupied by the Robot and its
tools during its spatial movements.
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1.3.3. APPLICATION
The present Instructions must be applied when carrying out the following activities:
Installation and Putting into Service.
Programming mode.
Operation under Local / Remote control.
Brake release on the Robot axes.
Maintenance and Repairs.
Taking out of Service and Dismantling.
1.3.4. OPERATING MODES

Installation and Putting into Service
The Robot can only be put into service after it has been fully and suitably installed.
The work to install the system and put it into service must be carried out by authorized personnel.
The work to install the system and put it into service is only authorized within a protected area that is
suitably sized to contain the Robot and its corresponding tools, without any elements placed or moving
beyond the barriers. It is also necessary to ensure that during normal conditions of movement, the Robot
does not collide with any internal elements located within the protected area, such as structural columns,
power supply lines, etc., or with the barriers. If necessary, use mechanical limit switch stops (see the
optional units) to limit the Robot work area.
Any fixed control consoles used to operate the Robot must be placed outside the protected area, in a
location that enables full monitoring of the Robot movements.
Whenever possible, the Robot installation zone must be free from all equipment that could interfere with
or restrict visibility.
During the installation phases, the Robot and the Controller must be handled in accordance with the
instructions set out in the Technical Documentation for the product; if it is necessary to lift the equipment,
make sure that the lifting eyebolts are firmly fixed in place and use only suitable slings and lifting
equipment.
Fix the Robot on the fixed base, with all the bolts and studs provided or planned, taking care to tighten
them to the torque levels set out in the Technical Documentation for the product.
Remove the brackets holding the axes in place, where these are used, and make sure that the tools with
which the Robot is equipped are securely fastened in place.
Check that the Robot casings are correctly fixed in place and make sure that no elements are mobile or
loose; also check that all the Control Unit components are in good condition.
Install the Controller outside the protected area: the Controller must never be used to form part of the
fence.
Check that the voltage for the Controller, as shown on the corresponding plate, is coherent with the
voltage of the electricity supply network.
Before connecting the Controller to the electricity supply, make sure that the circuit breaker on the
electricity supply network is locked in the open position.
The connection between the Controller and the three-phase power supply network in the establishment
must be made using a four-pole shielded cable (3 phases + ground) of suitable size for the Controller
power rating; see the Technical Documentation for the product.
If the connector between the power supply network and the base of the cabinet is not already installed,
the power cable must be fed into the Controller through the cable grommet fitted for the purpose, and
correctly held in place.
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Connect the grounding conductor (PE), and then connect the power conductors to the master switch or
the terminals fitted on the Controller.
Connect the power supply cable, starting with the ground conductor, to the circuit breaker on the mains
power network, after checking with a suitable tester that the circuit breaker terminals are not live. It is
advisable to connect the cable shielding to the ground.
Connect the signalling and power cables between the Controller and the Robot.
Connect the Robot to the ground conductor or to the Controller or to a grounding terminal nearby.
Check that the Controller doors are correctly locked, using the key provided for the purpose.
Incorrect connections can cause permanent damage to the Controller components.
CAUTION:
The contacts for the emergency stop buttons on the Controller, as available on the X30,
must be connected as part of the emergency stop circuit for the cell or line.
Check that the working conditions (environment and operability) do not exceed the limits set out in the
Technical Documentation for the specific product concerned.
The recovery operations must be carried out very carefully, as set out in the Technical Documentation for
the specific product, and they must be concluded by checking that the machine is in the right position.
To load or update the system software (e.g. after replacing boards), use only the original software
supplied by STUBLI. Follow very carefully the system software loading procedure set out in the
Technical Documentation supplied with the specific product. After loading, always carry out some test
movements with the Robot, at low speed, and while remaining outside the protected area.
Check that the barriers of the protected area are correctly positioned.
Programming mode
Robot programming work is restricted to the authorized personnel.
Before starting the programming work, the operator must check the Robot to make sure that the situation
does not show any unusual, potentially hazardous conditions and ensure that no one is present inside the
protected area.
Whenever possible, all programming should be controlled from outside the protected area.
Before carrying out any work inside the Protected Area, and while remaining outside the protected area,
the operator must check that all the necessary protections and safety devices are present and in good
working order, and make sure in particular that the manual control pendant is working correctly (low
speed, authorization system, emergency stop system, etc.).
Motor activation must always be controlled from a position outside the Robot's field of action, after
checking that there is no one in the area concerned.
When programming, the operator must avoid remaining in a position that could be reached by parts of the
Robot as they execute downward, upward or sideways movements under the effects of gravity.
In some situations where a close visual check is necessary, with the operator present inside the protected
area, the tests for a cycle programmed at working speed must only be carried out after a full prior test
cycle has been executed at low speed. The test must be controlled from a safe distance.
Careful attention must be paid when programming via the manual control pendant: although all the
material and software safety devices are activated, we must remember that in this case, the Robot
movements are always controlled by the operator.
Initial execution of a new program may result in Robot movement along a trajectory that is different from
the expected one.
Modification of program steps (such as moving a step from one flowpoint to another, incorrect adjustment
of a step, or modification of the Robot position outside the path linking two steps in the program) may
result in movements not envisaged by the operator during the test phase of the program concerned.
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In both cases, it is advisable to proceed carefully, always staying outside the Robot's field of action, and
test the cycle at low speed.
Operation under Local / Remote control
Automatic operation (in local and remote mode statuses) can only be activated if the Robot is integrated
in a zone fitted with correctly interlocked protective barriers, in conformity with the Safety Standards in
force in the Country in which the installation is carried out.
Before activating automatic operation, the operator must check the Robot and the protected area to
ensure that the situation does not show any unusual, potentially hazardous conditions.
The operator can only activate automatic operation after making the following checks:
The Robot is not in maintenance or repair status;
The safety barriers are correctly positioned;
There is no one inside the protected area;
The Controller doors have been locked using the key provided for the purpose;
The safety devices (emergency stop, safety barrier systems) are in good working order.
Careful attention must be paid when selecting the Remote status, in which the line PLC may carry out
automatic operations connecting motors up to the power supply and starting the program.
Brake release on the Robot axes
In the absence of driving power, Robot movements can be carried out using optional brake release
systems and suitable lifting equipment. This system only enables the release of the brake on each axis.
This involves not only cutting out all the system safety devices (including the emergency stop and enable
buttons), but also the possibility of moving the Robot axes up or down because of the forces generated
by the balancing system or the force of gravity. Before using the manual brake release systems, it is
advisable to sling the Robot or attach it to an overhead travelling crane.
Maintenance and Repairs
During assembly in the STUBLI factory, the Robot is filled up with lubricants that are free of substances
harmful to health; however, in some cases, repeated and prolonged exposure to the product can cause
skin irritation, or sickness if swallowed.
First Aid: In the event of contact with the eyes or the skin, wash the affected areas with plenty of water;
if irritation persists, consult a doctor.
In the event of swallowing, do not provoke vomiting or administer any products orally; consult a doctor as
soon as possible.
All maintenance, troubleshooting and repair work must be carried out by authorized personnel only.
All maintenance and repair activities in progress must be indicated by a special sign showing the
maintenance status, placed on the Controller console until the activity concerned has been fully
completed, and even if the activity has been temporarily halted.
Disconnect the robot compressed air supply, if one is fitted, from the air supply network.
The master switch must be locked in the open position using a safety padlock while maintenance or
component replacement work is being carried out on the Controller.
Even if the Controller has been disconnected from the power supply (master switch open), some elements
may remain live due to interconnections with peripheral units or outside power supplies (such as 24 Vcc
inputs/outputs). Make sure all outside power sources are disabled before working on the parts of the
system concerned.
The master switch must be padlocked in the open position before any work is carried out to remove
panels, safety shields, grids, etc.
Any faulty or damaged components must be replaced with components bearing the same code number
or whose equivalence has been confirmed by STUBLI.
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Whenever possible, all troubleshooting and maintenance activities must be executed outside the
protected area.
Whenever possible, the power supply must be cut off before carrying out any troubleshooting work on the
Controller.
If it is necessary to power up the Controller while looking for failures, all precautions must be taken in
compliance with the Safety Standards concerning work in the presence of hazardous power supplies.
Troubleshooting work on the Robot must be carried out with the power supply cut off (Drive off).
Once the maintenance and troubleshooting work has been completed, reset all the safety devices
disabled beforehand (signs, safety shields, interlocks, etc.).
After all maintenance and troubleshooting work, it is necessary to check that the Robot and all the safety
systems are in good working order, before entering the protected area.
When loading system software (e.g. after replacing electronic boards), use only the original software
supplied by STUBLI. Follow very carefully the system software loading procedure set out in the
Technical Documentation supplied with the specific product. After loading, always carry out a safety test
cycle from outside the protected area.
Removal of robot components such as motors, balancing cylinders, etc., can result in execution of
uncontrolled movements of the axes in any direction. Before starting any removal procedures, it is thus
essential to check the information plates on the Robot and consult the Technical Documentation supplied.
All removal of the covers protecting the springs on the Robot is prohibited.
Taking out of Service and Dismantling
All work to put the Robot out of service and dismantle it must be carried out by Authorized Personnel
only.
Move the Robot to its transport position and fit the axis clamping brackets (where they are supplied),
taking care to read the information plate on the Robot and consult the Technical Documentation for the
Robot itself.
Before putting the Robot out of service, it is necessary to switch off the power supply at the Controller
input (open the circuit breaker on the power supply network and padlock it in the open position).
After using a suitable tester to make sure there is no voltage at the terminals, disconnect the power supply
cable from the circuit breaker on the power supply network, starting with the power connectors and then
the ground connector. Disconnect the Controller power supply cable and remove it.
Start by disconnecting the connecting cables between the Robot and the Controller, and then disconnect
the ground conductor.
Check that the Robot is suitably balanced - if necessary, sling it correctly - and then remove the bolts
holding the Robot on its base.
Remove the Robot and the Controller from the work area, complying with all the instructions set out in the
Technical Documentation for the product; if it is necessary to lift the units, make sure that the lifting
eyebolts are firmly fixed in place and use only suitable slings and lifting equipment.
Before carrying out any dismantling work (disassembly, demolition and dealing with waste) on the
elements making up the Robot, consult STUBLI, or one of its subsidiaries, to find out the procedures to
be adopted, for each type of Robot and Controller, in order to ensure compliance with the principles of
safety and environmental protection.
All operations to deal with waste must be carried out in compliance with the legislation in the Country in
which the Robot has been installed.
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Chapter 2 General description
CHAPTER 2
GENERAL DESCRIPTION
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2.1. RX260 ROBOT
The RX260 robot is part of the high payload family of STUBLI robots available in various versions.
These robots are dedicated to applications involving "point by point" or "trajectory control" programming.
It is possible to select the most suitable machine to meet the requirements of a specific desired application.
The robots in the RX260 family are of modular design; although they share a common base, they
nonetheless have the following specific characteristics:
Payload.
Working space.
Reach.
The most widespread applications are:
Handling.
Spot welding.
Assembly.
Application of adhesives, sealing compounds or protective coatings.
Machining by stock removal (deburring, grinding).
Laser welding.
The versions available in the RX260 robot family are shown in the table below:
Table 2.1 - RX260 robot versions available
Model (kg) load Radius of action (mm)
RX260 130 2620
RX260 L 130 3000
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Figure 2.1 - RX260
The design has been optimized thanks to the contributions made by three-dimensional CAD. The structures
were sized using finite element analysis (FEA). This gives excellent results in terms of performance levels
and reliability.
The reduced number of parts and their enhanced accessibility facilitate everyday use of the machine. There
are fewer maintenance operations; they are intuitive, and they do not require any special tools.
Interchangeability is guaranteed between robots of a given version. Robot replacement does not require
any major program correction operations.
Each robot is equipped with a Command Control System that complies with the European Union safety
instructions and the main standards.
The link cables between the command control system and the robot are fitted with "plug-in" type connectors.
The robots are designed to receive a series of options that enable use of the robots in safe conditions, in
compliance with the strictest European and international regulations.
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2.2. MECHANICAL ROBOT ELEMENTS
Each robot is of the anthropomorphic type with 6 degrees of freedom.

The fixed base is anchored in the floor by 6 M24 screws and positioned precisely as compared with the
fixing plate by two special 30 mm pins.
On the fixed base, a column bearing the drive unit and the counterbalancing system for axis 2 turns around
the vertical rotation axis (axis 1).
On all the versions, axis 2 is balanced by compression springs located inside a special box. This solution is
maintenance-free.
Axis 2 is linked to the forearm by an arm. The forearm contains the drive units for axes 3-4-5-6.
The spherical wrist is placed at the end of the forearm.
The robot axes are fitted with programmable software limit switches and/or damped mechanical limit
switches as standard or as an option.
If necessary, travel on the main axes (axes 1-2-3) can be limited using extra damped mechanical limit
switches.
Table 2.2 - Limit switches available
Standard
Robot model
Software limit switch Mechanical limit switch
RX260 / RX260L Axes 1-2-3-4-5-6 Axes 1-2-3-4-5
The gearboxes are of the zero backlash type (specific for robotics applications).
Oil is used to lubricate the gearboxes to ensure enhanced efficiency.
The lubricant is changed every 15000 hours (about 3 years of operation on three shifts).
The motors are of the AC brushless type and they integrate the brake and the encoder.
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2.3. INTERCHANGEABILITY
Interchangeability between robots of a given version is a basic characteristic for quick replacement or to
transfer a given program to another robotized cell.
This characteristic is ensured by:
Suitable construction tolerances for all the parts making up the structure.
Precise robot positioning as compared with the fixing plate by two pins (supplied with the robot).
The possibility of placing the axes in a known position (Recovery) using a specific tool (the same
tool is used for all the axes and all models).
These characteristics enable programs to be transferred from one robot to another of the same version, and
they are essential for efficient "offline programming" in a virtual environment.
2.4. RECOVERY
Recovery is an operation that consists of placing the robot axes in a known position to ensure correct
repetition of the programmed cycles and interchangeability between machines of a given version.
There are two recovery modes:
Precise recovery: After non-recurrent maintenance work (disassembly of the kinematic chain
between the motor and the robot axis) or for cycles requiring high levels of precision, an
adjustment is made using a specific tool. The tool is the same for all the axes and all models.
Recovery on marks: Recovery on marks consists of placing the robot axes on recovery marks
through visual alignment of the axes without using specific tools or executing adjustment
commands for each axis. This recovery procedure is quick, and it enables a return to the
adjustment position, provided that no mechanical elements (motor, encoder, etc.) on the arm have
been removed.
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Chapter 3 Technical characteristics
CHAPTER 3
TECHNICAL CHARACTERISTICS
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3.1. GENERAL INFORMATION
This chapter contains views and characteristics for RX260 robot models.
Figures 3.1 and 3.2 - RX260: General view
Figures 3.3 and 3.4 - RX260 L: General view
Table 3.1 - Characteristics and performance levels
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Figure 3.1 - RX260: General view
Figure 3.2 - RX260: General view

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Figure 3.3 - RX260 L: General view
Figure 3.4 - RX260 L: General view
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Table 3.1 - Characteristics and performance levels
Version RX260 RX260 L
Structure / Number of axes Anthropomorphic / 6 axes
Payload at the wrist 130 kg(1)
Extra load on the forearm 50 kg(2)
Torque on axis 4 638 Nm
Axis 1 +/- 180 (108/s)
Axis 2 + 75/- 55 (104/s)
Axis 3 + 110/- 170 (110/s)

Travel / (Speed)
Axis 4 +/- 280 (190/s)
Axis 5 +/- 120 (190/s)
Axis 6 +/- 2700 (230/s)
Repeatability +/- 0.07 mm
Robot weight 1900 kg
Tool flange ISO 9409-1-A125
Motors AC brushless
Position measurement system With encoder
Balancing Axis 2 Spring
Total installed power 12 kVA / 18.5 A
Degree of protection IP65
Operating temperature 0 + 45 [C]
Storage temperature - 40 [C] + 60[C]
Fixing mode Floor mounted
(1)
See chapter 6
(2)
See chapter 6
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Chapter 4 Working areas and robot footprints
CHAPTER 4
WORKING AREAS AND ROBOT FOOTPRINTS
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This chapter contains drawings of the working volumes for the RX260 robots set out below:
Figures 4.1 and 4.2 - RX260 : Working space
Figures 4.3 and 4.4 - RX260 L: Working space
Note:
The user or integrator is responsible for carrying out all the preparatory work necessary to
install the arm on the site. There must be sufficient working space, and the assembly
surface must be suitable; the power supplies must be available (for the electricity supplies,
see the controller characteristics).
Note:
To make sure that all maintenance operations are possible, it is essential to provide easy
access to the robot (removable safety barriers, etc.), together with anchoring points for
easy handling of the arms.
DANGER
The arm's working area must be surrounded by a closed safety enclosure in compliance
with the country's safety legislation preventing personnel accessing the dangerous
area.
Robots for industrial environment - Safety: 10218-1

European Directive: machine directive CEE 89-392
D28057804D - 04/2008 37
Figure 4.1 - RX260: Working space
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Figure 4.2 - RX260: Working space
Position X mm Z mm Axis 2 Axis 3
1 759.44 -423.12 +25 -170
2 759.44 -885.72 +75 -143.98
3 2577.2 583.38 +75 -12.95
4 -892.84 1846.37 -35 -12.95
5 -1138 -50 -35 +82.32
6 -433.4 741.71 +28.39 +110
7 -366.41 1115.15 +75 +110
+75 +94.30
8 636.78 1342.83
-55 -120.20
9 1234.21 280.5 -55 -170
10 1255.37 1160.06 -25 -115

Axes in recovery position (Position 10)
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6
0 -25 -115 0 0 0
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Figure 4.3 - RX260 L: Working space
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Figure 4.4 - RX260 L: Working space
Position X mm Z mm Axis 2 Axis 3
1 727.82 -770.9 +20 -170
2 727.82 -1313.44 +75 -135.98
3 2943.28 681.47 +75 -9.98
4 -1110.23 2156.83 -35 -9.98
5 -1599.56 -50 -35 +75.01
6 -682.19 971.69 +37.03 +110
7 144.67 1431.82 +75 +110
+75 +86.35
8 718.59 1806.8
-55 -106.32
9 1229.47 117.13 -55 -170
10 1641.96 1160.06 -25 -115
Axes in recovery position (Position 10)

0 -25 -115 0 0 0
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Chapter 5 Robot flange
CHAPTER 5
ROBOT FLANGE
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44
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This chapter contains a drawing of the tool flange with the dimensions and the hole centre distances for
attaching tools.
Figure 5.1 - RX260: Tool flange
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Figure 5.1 - RX260: Tool flange
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48
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Chapter 6 Loads on wrist and extra loads
CHAPTER 6
LOADS ON WRIST AND EXTRA LOADS
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50
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6.1. GENERAL INFORMATION
This chapter contains the procedures used to determine the maximum load that can be placed on the robot
flange and such extra loads as may be placed on the forearm.
Payload applicable to the robot flange depending on the distance from the center of gravity.
Figure 6.3 - RX260 / RX260L: Maximum payload on the flange.
Admissible zones for the position of the extra load's center of gravity.
Figure 6.4 - RX260: Position of the center of gravity for extra loads.
Sizes and center distances of the holes used to fix extra loads on the robot forearm
Figure 6.5 - RX260: Holes used to fix tools on the forearm.
Abbreviations
The following abbreviations are used in this chapter:
QF = Maximum load placed on the flange.
QS = Extra load placed on the forearm.
QT = Maximum overall load placed on the robot.
LZ = Distance of the center of gravity for load P from the flange axis.
LXY = Distance of the center of gravity for load P from axis 6.
L2 = Distance from axis 6 to the wrist flange.
Figure 6.1 - Coordinates for the center of gravity of the load placed on the flange
"A - A": Axis 5

"B - B": Axis 6
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6.2. DETERMINING THE MAXIMUM LOADS ON THE WRIST FLANGE (QF)
The maximum load on the flange is determined using the wrist load graphs.
These graphs show the maximum load QF as a function of coordinates LZ and LXY of the load's center of
gravity.
The surface area circumscribed by the load lines defines the distances LZ and LXY admissible for a given
load.
Figure 6.2 - Notes for defining the load graphs
Note:
For load or inertia values other than those shown on the graphs, a specific line is drawn
using the following formulae:
KZ = (a - 0.25 x J0) / M
L1 = 2000 [-b + (c + KZ)0.5]

KXY = (d - 0.25 x J0) / M
LXY = 2000 x [-e + (f + KXY)0.5]

where:
a, b, c, d, e, f: Numerical constants linked to the type of wrist (see figure 6.3)
J0 (kgm2): Maximum moment of inertia for the center of gravity of the overall load placed
on the flange.
M (kg): Total weight placed on the flange.
L2: Position of the center of the lines for L1 corresponding to the distance between the
flange and axis 5 (see figure 6.2).
In all cases, the following conditions must be checked:

L1 < H / M
Lxy < N / M
where:
H, N: Numerical constants linked to the type of wrist.
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Figure 6.3 - RX260 / RX260L: Maximum payload on the flange
L z (mm )
600
550
Weight = 80 kg
Inertia = 18 kg*m2 500
450
Weight = 100 kg
Weight = 110 kg 350

Inertia = 25 kg*m2
300
Weight = 120 kg 250
Inertia = 28 kg*m2
200
Weight = 130 kg
100
50
50 100 150 200 250 300 350 400 450 500 550 600
L xy (mm )
Numerical constants to be applied to the formulae:

a = 37.269
b = 0.333
c = 0.111
d = 12.558
e = 0.214
f = 0.046
H = 65000
N = 32000
L2 = 210 mm
Note:
The inertia shown by the graph lines corresponds to the center of gravity for the load
placed on the flange.
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6.3. EXTRA LOADS (QS)
An extra load Qs can be applied on the forearm, besides the load on the flange QF.
In each application, the center of gravity of the load placed on the flange QF must lie within the area
circumscribed by the lines on the graphs (see figure 6.3). Furthermore, the center of gravity of the extra load
Qs must lie within the graph zone (see figure 6.4).
There are holes on the robot forearm that can be used to install special tools (see figure 6.5).
Table 6.1 - Maximum loads applicable
Maximum overall load RX260 RX260 L
On the flange QF 130 kg 130 kg
Extra load on the forearm QS 50 kg 50 kg
Figure 6.4 - RX260: Position of the center of gravity for extra loads
For the RX260 / RX260 L:

Maximum overall load that can be placed on the robot: QT = 180 kg

Maximum overall load that can be placed on the robot flange: QF = 130 kg
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Figure 6.5 - RX260: Holes used to fix tools on the forearm
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6.4. STOPPING ANGLES IN THE CASE OF AN EMERGENCY STOP
Axis 1 Axis 2 Axis 3
RX260 41.6 40 42.5
RX260L - - -
6.5. ACCELERATIONS, DECELERATIONS
The robot is capable of strong accelerations and decelerations.

Check in the application that:
The robot hand and the tool are correctly sized and firmly fixed in place.
The robot hand is designed to hold the load in the event of a failure in its electrical or pneumatic power
supply.
The arm is correctly fastened to the floor.
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Chapter 7 Robot transport
CHAPTER 7
ROBOT TRANSPORT
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58
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7.1. STABILITY AND TRANSPORT POSITION
CAUTION
The robot is only stable in the transport position and if no tools have been installed.
If an axis is moved while the robot is not fixed to the floor, the robot may topple over.
When moving the robot, use slings of suitable length to avoid contact with the robot parts.
Keep the robot balanced and in a horizontal position while moving it.
Fix the slings on the lifting eyebolts screwed into the holes provided on the robot for the purpose.
Place the slings on the left- and right-hand sides of the forearm.
Figure 7.1 - RX260: Lifting with slings
Note:
The robot in the figure above is shown for information purposes only.
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7.1.1. LIFTING OPTION USING A FORKLIFT TRUCK
The RX260 robot can be moved using a forklift truck, after fixing the optional accessory for the truck forks
on the robot column (see figure ).
Figure 7.2 - Lifting option using a forklift truck
Option used to lift

the robot with a
forklift truck
Note:
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7.2. FOOTPRINT AND TRANSPORT POSITION
Figure 7.3 - RX260: Footprint in the transport position
Table 7.1 - RX260: Angular position of the axes for transport

0 -53 -143 -90 +90 0
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7.3. WEIGHT AND PACKAGING
The weight of the robot without packaging, and the main types of packaging used for transport, are shown
in the table below.
Table 7.2 - Weight and packaging
Type of packaging RX260
Robot without packaging 1900 kg
Robot with platform 2200 kg
7.4. LIFTING THE ROBOT OVER THE FIXING PLATE
The robot can be lifted using lifting equipment with a suitable reach and slings fixed to the lifting eyebolts,
or using a forklift truck with the optional accessory fitted for the purpose.
CAUTION
To avoid damaging the robot aligning pins, the lifting movement must be made
vertically, perpendicular to the fixing plate, until the pins have left their housings on the
robot base.
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Chapter 8 Installing the robot
CHAPTER 8
INSTALLING THE ROBOT
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66
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CAUTION
Read chapter 1 carefully before installing the robot.
The robot must be linked to the CS8 HP controller.
All other uses are prohibited.
Any waivers must be approved by STUBLI.
8.1. SURROUNDING CONDITIONS
The area in which the robots are used is an ordinary workshop.
8.1.1. CHARACTERISTICS OF THE WORKING AREA

Ambient operating temperature: 0C to 45C.
Relative humidity: 5% to 95% without condensation.
Ambient storage temperature: -40C to 60C.
Maximum temperature gradient: 1.5C/min.
8.1.2. WORKING SPACE

Maximum footprint for the robot's working space (see chapter 4).
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8.2. FIXING ON A STEEL PLATE
The robot is fixed on a steel plate with holes drilled in it for screws and pins. The screws and pins are
supplied with the robot (see figure 8.1).
Note:
The robot must be fixed on a flat horizontal surface with the following flatness tolerance:
Use chemical plugs to fix the plate to the floor.

Note:
To avoid micro-movements of the plate due to the repeated alternate stresses placed on it
by the robot during the working cycles, place the plate on a layer of special levelling mortar
for metals on concrete.
The plate must be fixed to the floor in order to carry out the successive robot levelling
sequences to within 0.5/1000 mm and absorb the stresses placed on it by the robot (see
chapter 8).
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Figure 8.1 - Set of screws and pins used to fix the robot to the base
5
4
6
2
7
Key:
1) Center on = 30 mm L = 80 mm
2) Center on = 30 mm L = 60 mm
3) 1 screws TCHE M10x90 (8.8)
4) 1 screws TCHE M10x70 (8.8)
5) 6 partially threaded TH screws M24x100 (8.8)
6) 6 flexible split washers = 24 mm
7) 6 flat washers = 24 mm
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8.3. FIXING ON AN ADJUSTABLE PLATE (OPTION)
An optional unit made up of 4 floor fixing plates and a steel plate fixed to the robot can be used to install the
robot. The levelling sequence is carried out with special screws.
Table 8.1 - Fittings used to fix the plate and provide adjustment at floor level (not supplied)
Hole diameter
Fitting Reference Code Quantity
and depth
Chemical capsule HILTI HVU M20x170

24x170 mm 16
Axis HILTI HAS-E M20x170/48
Anchoring mortar HILTI CM 730-1 -
Note:
Read the special instructions for use before using the fastening fittings.
Fix the 4 base plates (2) to the floor, using the holes for chemical plugs.
Note:
To avoid micro-movements of the plate due to the repeated alternate stresses placed on it
by the robot during the working cycles, place the plate on a layer of special levelling mortar
for metals on concrete.
Put the adjustable plate (1) on the 4 base plates fixed to the floor.
Note:
There are 3 "V"-shaped notches on the plate. The axial intersection of the notches shows
the position of robot axis 1 (marked CL). The position is marked by a hole in the plate for a
pin.
Clean the robot bearing surfaces, using the notches on the adjustable plate as a guide.
Place the robot in the correct position as compared with the center line CL.
Tighten the M24 (8.8) robot fixing screws to a torque level of 691 Nm.
Use the screws (4) to set the robot level to within 0.5/1000 mm.
Weld the rules (3) to the plates with a continuous weld seam over their full length.
CAUTION
Make a corner weld to ensure maximum bonding strength (see figure 8.2).
Poor welding can lead to poor fixing of the robot, incorrect robot operation or hazardous
situations for the operator.
After the fixing operations, check the tightening torque of the fixing screws.
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Figure 8.2 - Adjustable plate
1 3 2
Key:
1) Adjustable plate
2) Plate
3) Rule
4) Fully threaded M20x100 (8.8) screw
5) 6-sided nut M20-8-FE/ZN 12
6) Plate alignment notch
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8.4. FIXING ON A SPECIFIC HOLDER
In the case of an installation for which the steel plate is replaced by a specific holder developed by the
integrator, it is necessary to machine a flat surface (flatness between the robot bearing surfaces < 0.2 mm).
Note:
The robot must be fixed on a flat horizontal surface with the following flatness tolerance:
Before welding the plate to the structure, check that the plate levelling error lies within the maximum
tolerance level of 0.5/1000 mm.
8.5. STRESSES ON THE HOLDER

There must be no vibrations transmitted to the robot foundations by other machines (e.g. drop hammers,
presses, etc.).
Note:
Due to the high levels of stress transmitted to the floor and the necessity of providing
suitable bearing surfaces, no fastenings are provided to fix the robot directly to the floor.
The robot fixing surface must be horizontal.
Figure 8.3 - Stresses on the holder
Mk
Fv
Fo
Mr
Table 8.2 - RX260

Robot movement Fv (N) Fo (N) Mr (Nm) Mk (Nm)
During
22000 6000 8500 28000
acceleration
During emergency
26000 12000 17000 45000
braking
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Chapter 9 Options
CHAPTER 9
OPTIONS
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Chapter 9 Options
9.1. GENERAL DESCRIPTION
Table 9.1 -
Reference Code Description
D 242 809 00 82313300 Adjustable mechanical limit switch unit for axis 1
82314100
D 242 808 00 Recovery tool RX260 / RX260 L
82312900
D 242 807 00 82314800 Adjustable plate unit
D 242 830 00 82314000 Lifting system with forklift truck
D 242 837 00 82322600 Protection unit for distribution connections
Brake release tool

D 242 834 01 17041180
110 VAC / 230 VAC power supply
D 243 112 01 16657880 Connector kit X70 (on axis 3)
D 242 732 01 16689780 Connector kit X200 + AIR (on axis 3)
00567177
19060363
D 243 096 01 Connector kit X90 + AIR (on robot base)
00566906
19480506
D 243 222 00 18385865 User tube kit RX260 / RX260 L
D 242 822 01 CR18600180 Bazooka Handling harness axes 3 to 6 RX260
D 243 178 00 CR18600181 Bazooka Handling harness axes 3 to 6 RX260 L
D 201 328 01 External transformer 3x208 VAC or 3x480 VAC 12 kVA
D 242 920 00 Lifting eyebolts
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9.2. ADJUSTABLE MECHANICAL LIMIT SWITCH UNIT FOR AXIS 1
Figure 9.1 - Adjustable mechanical limit switch unit for axis 1
1
2
3
Front
Key:
1) 2 mechanical limit switches
2) 4 screws TCEI M20x70 (8.8)
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Chapter 9 Options
Table 9.2 - Adjustable mechanical limit switch unit for axis 1

Fitting Stroke axis 1 Fitting Stroke axis 1
position for position for
mechanical Negative Positive mechanical Negative Positive
limit switch direction direction limit switch direction direction
from to from to from to from to
1 - - -150 +180 11 0 -180 0 +180
2 -135 -180 -135 +180 12 +15 -180 +15 +180
3 -120 -180 -120 +180 13 +30 -180 +30 +180
4 -105 -180 -105 +180 14 +45 -180 +45 +180
5 -90 -180 -90 +180 15 +60 -180 +60 +180
6 -75 -180 -75 +180 16 +75 -180 +75 +180
7 -60 -180 -60 +180 17 +90 -180 +90 +180
8 -45 -180 -45 +180 18 +105 -180 +105 +180
9 -30 -180 -30 +180 19 +120 -180 +120 +180
10 -15 -180 -15 +180 20 +135 -180 +135 +180
9.2.1. DESCRIPTION
The adjustable mechanical limit switch fitted on axis 1 is used to limit travel on axis 1 in both working
directions with steps of 15.
The set is made up of 2 limit switch cushions fixed by screws in housings located on the robot base. The
limit switch cushions limit travel on axis 1 in the 2 directions.
A single limit switch is used to limit travel in a single direction.
The adjustable mechanical limit switch set on axis 1 meets the "personal safety" conditions. It absorbs all
the kinetic energy on the axis.
CAUTION
Following activation of the limit switch (impact), replace the following parts:
- The mechanical limit switch and the fixing screws.
- The rubber cushions on the block and the fixing screws.
Check that the following robot parts have not been damaged:
- The base in the area where the limit switch set is fixed.
- The column in the area where the block is fixed.
- The tool operated by the robot.
Incorrect replacement of any damaged parts hampers robot operation and stopping in
the event of successive interventions.
After an impact, check backlash on axis 1 and adjust for any settlement of the axis.
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Note:
The above figure provides an illustration of the example of travel on axis 1 limited to 15
with mechanical limit switches installed in positions 10 and 12.
80 D28057804D - 04/2008
Chapter 9 Options
Key:
1) 2 limit switches
2) 2 limit switches
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9.3.1. DESCRIPTION
The adjustable mechanical limit switch fitted on axis 2 is used to limit travel on axis 2 in both working
directions with steps of 15.
The set is made up of a series of 2 cushions to be fixed between the column structure and the flexible block
already fixed on the robot.
Travel can be limited:
In the positive direction to +60 or +45 (instead of the standard travel of +75).
In the negative direction to -40 or -25 (instead of the standard travel of -55).

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Chapter 9 Options
A - A (1 : 2)
B

50
B
3
2
A 1
Key:
2) 1 block
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9.4.1. DESCRIPTION
The adjustable mechanical limit switch set for axis 3 provides the anti-toppling function for the forearm by
preventing the forearm from accessing the rear work zone of the robot.
The set is made up of a limit switch to be fixed on the side surface of the forearm using the screws and pin
supplied. In the event of an impact, the limit switch comes up against the fixed block on the robot arm.
The useful travel for axis 3 ranges from 0 to -170.
The prohibited travel for axis 3 ranges from 0 to +110.

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Chapter 9 Options
9.5. ADJUSTABLE PLATE UNIT

Figure 9.7 - Adjustable plate unit
1 3 2
Key:
1) Adjustable plate
2) 4 plates
3) 8 rules
4) 8 fully threaded M20x100 (8.8) screws
5) 4 6-sided nutsM20-8-FE/ZN 12
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9.5.1. DESCRIPTION
The adjustable plate set is used to fix the robot to the floor correctly (see chapter 8).
The set meets the following conditions:
It ensures correct flatness of the bearing surface to avoid putting excessive stresses on the robot
structure.
It is used to set the robot level to facilitate offline programming applications.
The set is made up of:
4 steel plates to be fixed to the floor using chelicam plugs (total of 16 fastenings not included in the
supplies).
1 adjustable plate to be welded on the steel plates once the robot has been set level by adjusting the
levelling screws.
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Chapter 9 Options
9.6. RECOVERY TOOL
Figure 9.8 - Recovery tool
Key:
1) Comparator holder
2) Conical ring
3) Probe
4) Comparator
9.6.1. DESCRIPTION
The tool set with its comparator is used to carry out correct recovery for each robot axis in manual mode.
The set is made up of:
1 comparator holder tool to be screwed into the housings located on each robot axis.
1 centesimal comparator used to note the correct recovery position.
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9.7. EXAMPLE OF USE OF THE RECOVERY TOOL
Figure 9.9 - Removing the protections from the reference surfaces for recovery
Figure 9.10 - Visual alignment of the reference surface for recovery
Figure 9.11 - Fitting the comparator holder tool and finding the axis recovery position
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Chapter 9 Options
9.8. RECOVERY TOOL UNIT FOR AXES 5-6 (FOR RX260 / RX260 L ONLY)
Figure 9.12 - Axis 5
Figure 9.13 - Axis 6
The unit is made up of 2 holders positioned with screws and pins, and installed on:
The wrist body for recovery on axis 5.
The oscillating body for recovery on axis 6.
The standard comparator holder, which is used for recovery on the other robot axes, is screwed onto the
holders.
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9.9. LIFTING SYSTEM WITH FORKLIFT TRUCK
Figure 9.14 - Lifting option using a forklift truck
Option used to lift

the robot with a
forklift truck
Note:
9.9.1. DESCRIPTION
The forklift lifting accessory is an essential option when using a forklift truck to lift the robot.
The truck can lift the robot from behind or from one side.
The accessory consists of a welded structure made of rectangular steel profiles (200x100 mm) to be fixed
on the robot.
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Chapter 9 Options
9.10. PROTECTION UNIT FOR DISTRIBUTION CONNECTIONS
Figure 9.15 - Protection unit for distribution connections
9.10.1. DESCRIPTION
The unit is made up of a solid sheet steel screen fixed to the robot base to protect all the connectors on the
robot distribution unit.
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9.11. BRAKE RELEASE TOOL
Figure 9.16 - Brake release tool
9.11.1. DESCRIPTION
The brake release tool is an optional accessory used to release each robot axis individually during
maintenance operations on the robot if the controller has been damaged.
CAUTION
When the tool is used, the axes drop under the force of gravity.
The robot axes must be held in place using a hoist while the tool is being used.
The operation requires 2 operators to control the hoist and the brake release tool.
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Chapter 9 Options
9.12. HANDLING OPTION
9.12.1. USER CONNECTORS FOR THE HANDLING OPTION

The inlet connectors and fittings are located on the robot base distribution panel and on an interconnections
panel on the side of the robot.
The outlet connectors and fittings are located on a panel on the top of the robot forearm.
Table 9.3 - Summary of the fittings
C
B
Position Fitting Description

AIR Compressed air
A Fittings on the robot base rear panel
X90 Multibus
AIR Compressed air
B X70 EV1 - EV2 from USBI Upper distribution panel
X200 Multibus
AIR Compressed air

C Bazooka from axis 3 to the robot wrist
X202 Multibus
D Empty tube kit
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9.12.1.1. FITTINGS ON THE ROBOT BASE REAR PANEL
Table 9.4 - Robot base
Position Description
A 1/2" Gaz tapped hole
B X90 connector for multibus cable
Note:
The connectors shown are supplied with the standard version of the robot.
9.12.1.2. UPPER DISTRIBUTION PANEL

Table 9.5 - Upper distribution panel (on axis 3)
A Air pipe fittings
B X200 connector for multibus cable
C X90 connector for user services (EV1-EV2) from USBI
Note:
The connectors shown are supplied with the standard version of the robot.
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Chapter 9 Options
9.12.1.3. BAZOOKA FROM AXIS 3 TO THE ROBOT WRIST (OPTION)

Table 9.6 - Bazooka from axis 3 to the robot wrist
Fitting: AEROQUIP 07.001.13.8B
A Air outlet fitting
Ring: AEROQUIP 401013G
INTERCONTEC
B X202 multibus connector
ASDA 035 FR 01 59 0038 000
9.12.1.4. EMPTY TUBE KIT

This option consists of an empty tube that can be used as a protective duct for the tubes and/or cables fitted
by the integrator.
The interior tube diameter is 70 mm (2.75 in). One end is fixed to robot axis 1 and the other end is fixed to
robot axis 3.
Table 9.7 - Empty tube kit
D 243 222 00 18385865 Empty tube kit for RX260 robot
D 243 223 00 18385863 Empty tube kit for RX270 robot
9.12.1.5. HANDLING CONNECTION KIT (JOINT 3)

This option includes a multi-pin connector and a hose end fitting to hook up to the X200 and AIR
(compressed air) multibus connectors fitted on robot axis 3. It is used as an alternative to the bazooka.
Table 9.8 - Order reference for the Handling connection kit
D 242 732 01 16689780 Handling connection kit for RX260 / RX270 robots
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9.12.1.6. INPUT/OUTPUT CONNECTOR KIT
This option is made up of a multi-pin connector to be fitted on an X70 for the input/output signals (EV1-EV2)
from the USBI board.
Table 9.9 - Order reference for the Input/Output connection kit
D 243 112 01 16657880 Input/Output connector kit for RX260 / RX270 robots
9.12.1.7. HANDLING CONNECTION KIT (ROBOT BASE)

This option is made up of a multi-pin connector and a hose end fitting for hooking up to the X90 and AIR
(compressed air) multibus connectors on the robot base (axis 1).
Table 9.10 - Order reference for the Handling connection kit
19480506 Female connector X90
00566906 AIR connector
D 243 096 01
00567177
19060363
9.12.1.8. HANDLING CONNECTION KIT (TOOL FLANGE)

This option is made up of a multi-pin connector and a hose end fitting for hooking up to the X202 and AIR
multibus connectors on the tool flange of the optional handling harness.
This option cannot be supplied by STUBLI because the exact connector reference depends on the
customer application and it must be compatible with the connector codes as set out in chapter 9.12.1.3.
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Chapter 9 Options
9.12.2. HARNESS FOR THE HANDLING OPTION

A RX260 robot can be fitted with equipment suitable for the handling application.
The routing for the cables and hoses making up the equipment is divided up into 2 parts:
Wiring from the robot base to axis 3. This section of the wiring goes from the robot base
connectors, via external cables protected by a corrugated tube, to the distribution panel on axis 3
(fitted as standard).
Wiring from axis 3 to the robot wrist. This part of the wiring is known as the 'bazooka'. It can be
done away with. In that case, optional fittings and connectors can be provided to make the
connecting work easier.
9.12.2.1. INFORMATION ABOUT THE BAZOOKA

The bazooka is made up of cables, hoses and a spring system that guides the extra lengths of cable and
hose and holds them in place during robot handling operations.
The very compact external profile limits the space taken up in the arm manoeuvring zone.
The system is very easy to service, and it facilitates simulation with ROBCAD type systems.
Figure 9.17 -
D28057804D - 04/2008 97
9.12.2.2. EQUIPMENT FOR RX260 ROBOTS
Figure 9.11 - General view of the equipment
Position Robot Description Code Reference

RX260 CR 18600180 D 242 822 01
A Bazooka
RX260 L CR 18600181 D 243 178 00
9.12.2.3. INSTRUCTIONS FOR ADJUSTING THE HANDLING OPTION BETWEEN AXIS 3 AND THE
WRIST (BAZOOKA SYSTEM)
RISK OF DAMAGE TO THE EQUIPMENT

When programming the robot, check that the bazooka sleeve remains within the
authorized limit. The maximum extension limit is 500 mm.
Before starting up the automatic robot production cycle, check the sleeve protection
settings. If the sleeve rubs against the metal parts of the robot, adjust the protections.
The radius of curvature for the sleeve must never be less than 10 x D (D = harness
diameter).
98 D28057804D - 04/2008
Chapter 9 Options
Bazooka adjustment
To ensure long equipment service life, it is possible to adjust:
The equipment protections.
The equipment itself.
The basic rules for positioning the harness holders and protections depend on the trajectories
programmed. In the various applications, it is necessary to take into account the overall dimensions of the
tools fitted on the robot wrist and the overall dimensions including the external parts.
Select the fastening positions available in order to avoid:
Contact with sharp edges.
Sleeve failure.
Reductions in radii of curvature.
Friction.
Interference with other robots nearby.
Once the harness has been installed on the robot and connected to it, and while determining the
trajectories, adjust the positions of the holders, protections and harness.
Bazooka adjustment
Execute the work program manually, and check that
there are no contact points between the sleeve and
the robot.
a) If you note any contact points, adjust the position

of the protective sphere (A). To do so, loosen the
screws (B), open the protection (A) and place it
at the contact point. Close the protection and fix
it in place with the screws (B).
D28057804D - 04/2008 99
Bazooka adjustment (cont'd)
b) The position of the harness near the wrist can be
adjusted in the following ways:
Adjusting the clamp (C)
Loosen the 4 screws (D) and rotate the
clamp (C) around its axis.
Loosen the locknut and the 2 adjusting
screws (E). Tilt the clamp.
Adjusting the holder
Loosen the 2 screws (F) and rotate the
holder around the robot wrist axis.
c) After making the adjustments, tighten the screws
(D) the screws and the locknut (E), and the
screws (F).
d) Another adjustment can be made by loosening

the screws (G) holding the bazooka plate in
place: The slots provide longitudinal bazooka
movement that can be used to obtain further
longitudinal movement for the equipment.
e) Tighten the screws (G) after making the

adjustment.
100 D28057804D - 04/2008

Chapter 9 Options
9.12.2.4. CHECKS TO BE MADE TO ENSURE THAT THE FASTENING POINTS ARE CORRECTLY
ADJUSTED
To check that the harness and the adjusting holders have been correctly assembled, make the checks as
set out in the table for all the trajectories the robot can execute during the various working cycles:
Table 9.12 - Checking the working cycles
Working cycle
Check Rest Waiting Starting
Task1 Task2 Task3
position points up
Friction on sharp edges
Friction against
surrounding elements
Friction against the robot
Radius of curvature
10 x D
Failures at the ends of the
sleeves
Harness failure
Harness length
Interference with other
robots nearby
Note:
It may be necessary to remove the equipment for maintenance trajectories (in manual
mode).
CAUTION
The trajectories must first be acquired manually, at low speed, to progressively adjust
the harness and determine its best position.
Avoid pulling too hard on the harness until the trajectories have been determined.
Avoid rough handling that could damage the harness prior to its use to control the
system (failure of cables or connectors). Stubli Faverges 2008
D28057804D - 04/2008 101

102 D28057804D - 04/2008

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Arm - RX series 260 family

Objective of this manual

Stubli Faverges 2008

1 - GENERAL SAFETY INSTRUCTIONS................................................. 11

1.3. SAFETY INSTRUCTIONS ...................................................................................................... 15

2 - GENERAL DESCRIPTION .................................................................. 21

2.2. MECHANICAL ROBOT ELEMENTS ...................................................................................... 25

2.3. INTERCHANGEABILITY ........................................................................................................ 26

2.4. RECOVERY ............................................................................................................................ 26

3 - TECHNICAL CHARACTERISTICS ..................................................... 27

4 - WORKING AREAS AND ROBOT FOOTPRINTS ............................... 35

6 - LOADS ON WRIST AND EXTRA LOADS .......................................... 49

6.2. DETERMINING THE MAXIMUM LOADS ON THE WRIST FLANGE (QF)............................ 52

6.3. EXTRA LOADS (QS) .............................................................................................................. 54

6.4. STOPPING ANGLES IN THE CASE OF AN EMERGENCY STOP ....................................... 56

6.5. ACCELERATIONS, DECELERATIONS ................................................................................. 56

7.2. FOOTPRINT AND TRANSPORT POSITION ......................................................................... 61

7.3. WEIGHT AND PACKAGING .................................................................................................. 62

7.4. LIFTING THE ROBOT OVER THE FIXING PLATE ............................................................... 62

8 - INSTALLING THE ROBOT.................................................................. 65

8.2. FIXING ON A STEEL PLATE ................................................................................................. 68

8.3. FIXING ON AN ADJUSTABLE PLATE (OPTION) ................................................................. 70

8.4. FIXING ON A SPECIFIC HOLDER ......................................................................................... 72

8.5. STRESSES ON THE HOLDER............................................................................................... 72

Stubli Faverges 2008

9.2. ADJUSTABLE MECHANICAL LIMIT SWITCH UNIT FOR AXIS 1 ....................................... 78

9.3. ADJUSTABLE MECHANICAL LIMIT SWITCH UNIT FOR AXIS 2 ....................................... 81

9.4. ADJUSTABLE MECHANICAL LIMIT SWITCH UNIT FOR AXIS 3 ....................................... 83

9.5. ADJUSTABLE PLATE UNIT .................................................................................................. 85

9.6. RECOVERY TOOL ................................................................................................................. 87

9.7. EXAMPLE OF USE OF THE RECOVERY TOOL .................................................................. 88

9.9. LIFTING SYSTEM WITH FORKLIFT TRUCK ........................................................................ 90

9.10. PROTECTION UNIT FOR DISTRIBUTION CONNECTIONS ................................................. 91

9.11. BRAKE RELEASE TOOL ....................................................................................................... 92

9.12. HANDLING OPTION ............................................................................................................... 93

Stubli Faverges 2008

GENERAL SAFETY INSTRUCTIONS

Stubli Faverges 2008

1.1. REMINDER CONCERNING THE SAFETY STANDARDS

ISO 10218-1, 2006 Robots for industrial environment - Safety

EEC 98 / 37 "Machine Safety" Directive European Directive

Standard EN 292 General principles

Standard EN 294 Safety distances

Standard EN 418 Emergency stop equipment

Standard EN 953 Protective elements

Standard EN 954-1 Machine safety

Standard EN 349 Minimum clearances

Standard EN 1050 Risk assessment

Standard EN 1088 Locking devices

Standard EN 60204-1 Electrical equipment on machines

Standard EN 999 Speed on approach towards the human body

Standard EN 61 000-6-4 Electromagnetic compatibility - Emission

Standard EN 61 000-6-2 Electromagnetic compatibility - Immunity

Standard CEI 34-1 Electrical rotating machines

1.3. SAFETY INSTRUCTIONS

1.3.4. OPERATING MODES

Stubli Faverges 2008

2.1. RX260 ROBOT

RX260 130 2620

RX260 L 130 3000

Stubli Faverges 2008

2.2. MECHANICAL ROBOT ELEMENTS

Each robot is of the anthropomorphic type with 6 degrees of freedom.