SC-Rob5x / SC-Rob6x

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Software installation for Rob6x 6-axis robots for contactless testing automation.

This robotic test automation system is based on a vertically articulated robotic arm. It closely resembles the human arm and its parts are named after the human arm.
Supported robot models are Staubli TX40 (6 axis) and Denso VS060A3-AV6 (6 axis).

It is complemented with physical testing accessories designed to ensure optimal control of tested devices and minimal interference with contactless signals. It is also complemented with physical cage and controls, and a software control interface to enhance user control and safety in a laboratory environment.

The robot can be controlled through a COM interface provided by KEOLABS.

The programming guide explains how to use the COM interface.

Staubli TX40 robot image

Product Versions

Product Version Name	Date of publication	Description	Patches / Related Products
1.30.24.0116	March 22, 2024	Improvements: Manage new robot model : Denso 5-axis VP-5243M Provide a unified command line tool... Improvements: Manage new robot model : Denso 5-axis VP-5243M Provide a unified command line tool named RobXCmd that replaces RobXAbout, Rob6xManager and RobXManualBox: Selection of the robot is simplified, specifying the robot model is sufficient and the manufacturer is not required anymore RobXCmd about subcommand covers the same features as RobXAbout RobXCmd manager --simplified subcommand covers RobXManualBox RobXCmd manager subcommand covers the same features as Rob6xManager P RobXCmd update-firmware subcommand covers the same features as Rob6xManager F RobXCmd change-ip subcommand covers the same features as Rob6xManager I The command line tool de-energize the robot then stop RobX.exe and CAO.exe processes Fix the incoherent position's label in manager Deprecation: RobXAbout, Rob6xManager and RobXManualBox are not installed anymore. The STROBOTICS 5-axis robot is not supported anymore ; command lines, documentations, firmware update tools concerning this robot model are not anymore packaged with RobX installer. Please contact for more information	Patches: Related Products:

Product Version Name	Date of publication	Description	Patches / Related Products
1.26.19.0613	July 17, 2019	Important note: This new release has been validated on the STAUBLI TX40 robot only. Installing this... Important note: This new release has been validated on the STAUBLI TX40 robot only. Installing this new release is not recommended for the STROBOTICS R12 Firefly and DENSO VS060A3-AV6 robots. Improvements: . WARNING! Minimum and maximum reachable positions on the Y axis extended for the 6 axis Staubli TX40 robot. . The default speed used in Position Manager / Manual Box is slower. . GetPumpStatus(), GetValveStatus() and GetLaserStatus() methods are implemented for the 5 axis robot. . Optional parameter added for the InitRobot() method. If set to 0, limits of the robot are not reset when this method is called. . InitRobotAndRestorePreviousSettings() method added. It allows to re-initialize the robot but keeps these settings unchanged: align, cartesian extended mode, tool parameter and speed. This only works if the COM object has not been deleted since the last robot initialization. Fixes: . WARNING! Parameter value passed to the Valve() method may have to be reversed depending on the robot model in use. The value is now the same for every supported robot, as the previous value was not consistent to close or open the valve. . isEnergized(), GetPumpStatus(), GetValveStatus() and GetLaserStatus() are not implemented for the 6 axis Staubli TX40 robot. . GetLaserStatus() is not implemented for the 6 axis DENSO VS060A3-AV6 robot.	Patches: Related Products:
1.24.19.0208	February 8, 2019	Important note: This new release has been validated on the STAUBLI TX40 and DENSO VS060A3-AV6... Important note: This new release has been validated on the STAUBLI TX40 and DENSO VS060A3-AV6 robots only. Installing this new release is not recommended for the STROBOTICS R12 Firefly. Improvements: Support the DENSO VS060A3-AV6 robot. Please read the programming guide and the dedicated user manual to know how to use this robot model. Fixes: Detect the arm has been moved outside the limits using joint mode and force it to move back to the limits; not available for 5 axes robot. Correct rounding precision in extended mode. Correct GetCurrentPositionStatus relative to the 5 axes robot to chain a successful call to the Move method.	Patches: Related Products:
1.22.17.0622	October 18, 2017	WARNING: THIS RELEASE IS AN UPDATE FOR ROB6X (6 AXIS) AND HAS NOT BEEN TESTED ON ROB5X (5 AXIS). IT... WARNING: THIS RELEASE IS AN UPDATE FOR ROB6X (6 AXIS) AND HAS NOT BEEN TESTED ON ROB5X (5 AXIS). IT MAY PRESENT COMPATIBILITY ISSUE WITH ROB5X. IF YOUR ROBOT IS A 5 AXIS PLEASE USE PREFERABLY VERSION 1.20.17.0125 RobX 1.22.17.0622 (Released 2017/06/22) --------------------------------------- Improvements . WARNING! Default user position modified to handle new probes. This position is lower on the Z axis and moved to the left on the X axis. . When the door is opened or the emergency stop is triggered, a message box is displayed to re-initialize the robot and restore its previous settings. . Unused buttons removed from Position Manager / Manual Box. . JScript examples can be executed without RScript. . The first two parameters of OpenPositionManager are not used anymore: align mode is always enabled and DUT positioning mode does not exist anymore. Fixes: . SetCartesianExtMode method returns a value.	Patches: Related Products:
1.20.17.0125	January 25, 2017	RobX 1.20.17.0125 (Released 2017/01/25)----------------------------------------Improvements. Added... RobX 1.20.17.0125 (Released 2017/01/25) ---------------------------------------- Improvements . Added Rob6x support. . Renamed most files and interfaces from "Rob5x" to "RobX". . Merged Position Manager and Manual Box. . Suppressed DUT positioning management	Patches: Related Products:
1.18.14.1117	November 26, 2014	Rob5x 1.18.14.1117 (Released 2014/11/17) ----------------------------------------... Rob5x 1.18.14.1117 (Released 2014/11/17) ---------------------------------------- Fixes: . OpenComm failed when COM port number > 9. . Cartesian movements prohibited, if Rob5x not previously calibrated. . Position overridden during position modification in Position Manager. Improvements: . Improved calibration procedure in order to keep antenna on the gripper. . Added possibility to reload previous position file into Position Manager. . Added GetFirmwareVersion() function. . Added DUT positioning management: GetDUTProbe(), GetDUTProbeStatus(), GetDUTProbeNum(), MoveXToTouch(), MoveXToUnTouch(), MoveYToTouch(), MoveYToUnTouch(), MoveZToTouch(), MoveZToUnTouch(), DUT_ToolSet(), DUT_X_Move(), DUT_Y_Move() . Added CalibrateOnReferencePosition(), SetReferencePosition(), RestoreDefaultReferencePosition. . Added calibration check functions: IsCalibrated(), IsCalibratedStatus(), IsCalibratedNum(). . Added About.exe, Calibrate.exe, ManualBox.exe and FactoryCalibration.exe tools.	Patches: Related Products: SC-RScript 7.37.12.066
1.16.14.0228	March 12, 2014	Rob5x 1.16.14.0228 (Released 2014/02/28) ----------------------------------------... Rob5x 1.16.14.0228 (Released 2014/02/28) ---------------------------------------- Improvements: . Added new Cartesian 0,1 mm resolution mode : SetCartesianExtMode(), GetCartesianExtMode() . Added extra digital I/O management : Input(), Output() . Added new functions for Joint moving : MoveJoint(), MoveToJoint(), GetCurrentPositionJoint(), GetCurrentPositionStatusJoint(), GetCurrentPositionStrJoint()	Patches: Related Products: SC-RScript 7.37.12.066
1.14.13.1127	December 6, 2013	Rob5x 1.14.13.1127 (Released 2013/11/27) ----------------------------------------... Rob5x 1.14.13.1127 (Released 2013/11/27) ---------------------------------------- Fixes: . GetCurrentPosition function may return false position when X<0 and Y<0. . Cartesian movements did not work in GUI with some old robots. Improvements: . Added new COM interface for methods returning arrays by reference for C++ and C# use: GetCurrentPosition, GetLimits, GetVacuum, GetSpeed, GetAccel, GetUserPosition. . Added C++, C# and Python examples.	Patches: Related Products: SC-RScript 7.37.12.066
1.12.13.1021	October 21, 2013	Rob5x 1.12.13.1021 (Released 2013/10/21) ----------------------------------------... Rob5x 1.12.13.1021 (Released 2013/10/21) ---------------------------------------- Fixes: . The Cartesian movements in GUI was not correctly run in some robots. . The align mode was not correctly managed in certain cases. Improvements: . Improved User Manual about tool mounting.	Patches: Related Products: SC-RScript 7.37.12.066
1.10.13.0702	July 8, 2013	Rob5x 1.10.13.0702 (Released 2013/07/02) ----------------------------------------... Rob5x 1.10.13.0702 (Released 2013/07/02) ---------------------------------------- Fixes: . Movements are no more impulse in GUI, but continous until the mouse is released. Improvements: . Improved calibration procedure in order to avoid "Error on check wrist sensor". . Added acceleration and align mode parameters in Manual Box. . Replaced Cartesian buttons by graphical icons in GUI. . Added align mode parameter in GUI. . Added robot firmware version display in GUI and Manual Box.	Patches: Related Products: SC-RScript 7.37.12.066
1.08.13.0205	February 5, 2013	Rob5x 1.08.13.0205 (Released 2013/02/05) ----------------------------------------... Rob5x 1.08.13.0205 (Released 2013/02/05) ---------------------------------------- Fixes: . Calibration procedure sometimes failed for some robots. . GetSpeed and GetSpeedNum functions returned wrong values when speed > 32768. Improvements: . Added acceleration management functions. . Added confirmation message before calibration launch.	Patches: Related Products: SC-RScript 7.37.12.066
1.06.12.1114	November 14, 2012	Rob5x 1.06.12.1114 (Released 2012/11/14) ----------------------------------------... Rob5x 1.06.12.1114 (Released 2012/11/14) ---------------------------------------- Fixes: . Unexpected random exceptions. Improvements: . Added laser diode on/off management for more precise positionning. . Added Cartesian commands on Position Manager dialog box. . Files installed in the Examples directory can be modified by a user without administrator privileges	Patches: Related Products: SC-RScript 7.37.12.066
1.05.12.1016	October 16, 2012	Rob5x 1.05.12.1016 (Released 2012/10/16... Rob5x 1.05.12.1016 (Released 2012/10/16) ---------------------------------------- Improvements: . Software is now much more stable. . The installer automatically asks for necessary privileges to install the software. Fixes: . GetVacuumStatus and GetVacuumNum were not returning the value read from the robot. . Sometimes when the wrist/pitch was moved, an unwanted movement was generated on the wrist/pitch.	Patches: Related Products: SC-RScript 7.37.12.066
1.03.12.1002	October 3, 2012	Rob5x 1.03.12.1002 (Released 2012/10/02... Rob5x 1.03.12.1002 (Released 2012/10/02) ---------------------------------------- Improvements: . A graphical user interface is available to control the robot, manage and save positions. Fixes: . During Manual Box management, avoid some heratics movements when swiching joint/cartesian mode. . Calibration procedure modified in order to avoid cage hits, and for best compatibility with first robots.	Patches: Related Products: SC-RScript 7.37.12.066
1.02.12.0803	August 3, 2012	Rob5x 1.02.12.0803 (Released 2012/08/03) ----------------------------------------... Rob5x 1.02.12.0803 (Released 2012/08/03) ---------------------------------------- Improvements:Methods created for Python to get current position, limits, vacuum status, speed and user position.	Patches: Related Products: SC-RScript 7.37.12.066
1.01.12.0730	July 30, 2012	Rob5x 1.01.12.0730 (Released 2012/07/30) ----------------------------------------... Rob5x 1.01.12.0730 (Released 2012/07/30) ---------------------------------------- Fixes: . Calibration procedure modified. . GetVacuum procedure modified according to the hardware robot version.	Patches: Related Products: SC-RScript 7.37.12.066
1.0.12.0703	July 17, 2012	Rob5x 1.0.12.0703 (Released 2012/07/03) ----------------------------------------... Rob5x 1.0.12.0703 (Released 2012/07/03) ---------------------------------------- Improvements: . Button created in GUI to go to the user position. . Sliders in GUI can control each motor separately. . Method created to retrieve the robot's serial number. Rob5x 1.0.12.0622 (Released 2012/06/22) ---------------------------------------- Improvements: . The COM object is now called "KEOLABS.Rob5x" instead of "Raisonance.RobX". . A graphical user interface is available to control the robot.	Patches: Related Products:

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