Product Info

Report No: CCISE191202301-V01
Shenzhen Zhongjian Nanfang Testing Co., Ltd. Project No.: CCISE1912023
No. B-C, 1/F., Building 2, Laodong No.2 Industrial Park, Xixiang Road,
Bao’an District, Shenzhen, Guangdong, China
Telephone: [phone] Fax: [phone], E-mail: [e-mail] Page 13 of 171
8.3 Robot
The SPEAG DASY system uses the high precision robots (DASY5: TX60XL) type from Stäubli SA (France). For
the 6-axis controller system, the robot controller version (DASY5: CS8c) from Stäubli is used. The Stäubli robot
series have many features that are important for our application:
 High precision (repeatability 0.02 mm)
 High reliability (industrial design)
 Low maintenance costs (virtually maintenance free due to
direct drive gears; no belt drives)
 Jerk-free straight movements
 Low ELF interference (motor control fields shielded via the
closed metallic construction shields)
Fig. 8.4 Photo of Robot
8.4 Measurement Server
The measurement server is based on a PC/104 CPU board with CPU (DASY 5: 400MHz, Intel Celeron), chip-
disk (DASY5: 128 MB), RAM (DASY5: 128 MB). The necessary circuits for communication with the DAE
electronic box, as well as the 16 bit AD converter system for optical detection and digital I/O interface are
contained on the DASY I/O board, which is directly connected to the PC/104 bus of the CPU board.
The measurement server performs all the real-time data evaluation for field measurements and surface
detection, controls robot movements and handles safety operations.
Fig. 8.5 Photo of Server for DASY5
8.5 Light Beam Unit
The light beam switch allows automatic "tooling" of the probe. During
the process, the actual position of the probe tip with respect to the
robot arm is measured, as well as the probe length and the
horizontal probe offset. The software then corrects all movements,
such that the robot coordinates are valid for the probe tip.
The repeatability of this process is better than 0.1 mm. If a position
has been taught with an aligned probe, the same position will be
reached with another aligned probe within 0.1 mm, even if the other
probe has different dimensions. During probe rotations, the probe tip
will keep its actual position.
Fig. 8.6 Photo of Light Beam