READY Staubli CS9 Startup Manual
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READY Staubli CS9 Startup Manual

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Stäubli CS9 Startup Guide

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Summary of Contents for READY Staubli CS9

  • Page 1 Stäubli CS9 Startup Guide...
  • Page 2 The documentation, best practices, and recommendations provided by READY Robotics do NOT constitute safety advice. Products sold through READY Robotics are not by themselves a fully integrated workcell. As required in ISO 10218-2, READY Robotics strongly recommends performing a complete risk assessment of the integrated workcell per ISO 12100.

  • Page 3: Table Of Contents

    Connecting the READY pendant ........

  • Page 4: Overview

    Note: This guide assumes that you have installed the robot and CS9 controller following Stäubli instructions. Make sure the robot controller is in working order before moving on. We recommend backing up your robot controller. REFERENCES Reference Description, Link Amphenol Connector Assembly Instructions, www.amphenol-sine.com/pdf/M23-Series-Assembly-Instructions.pdf © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 5: Hardware Requirements

    MA7CAE1700-S1-KIT features to the Stäubli Threaded, E controller pendant port. Type ▪ Connects the robot controller to a IPC. Cat5e Shielded Ethernet Cables (x2) ▪ Connects the READY pendant to a IPC. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 6 VERSION 5.1.0 Image Part Name Description Vendor Part Number USB flash drive, Required to transfer robot files READY R-400030 8GB or larger from Forge/OS to the robot. Robotics © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 7: Software Requirements

    You also need the items in the table below: Part Requirement Description Supplier Number Remote MCP Runtime Required to connect the READY pendant to the D14327660 License Option robot controller and to control the robot. Stäubli Stäubli Robotics Suite (SRS) Required to configure the Stäubli controller and Software for Windows PC transfer Forge/OS files to the controller.

  • Page 8: Confirming Software Requirements

    Turn the power switch on the controller clockwise to power the controller on. Wait for the controller to boot up. On the Stäubli teach pendant, press the Home button in the upper-left corner. Tap ROBOT on the touchsreen. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 9 In the Information menu, search through the information pages until you find System. Look at the entry to the right of System. If the entry doesn't start with "s8.12.1" or later, contact Stäubli to upgrade. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 10: Changing The Stäubli Network Settings

    Turn the power switch on the controller clockwise to power the controller on. Wait for the controller to boot up. On the Stäubli teach pendant, press the HOME button in the upper-left corner. Tap SETTINGS on the touchscreen. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 11 Set the IP to 192.168.1.20 and set the Mask to 255.255.255.0. Turn off your CS9 controller and disconnect it from power. Follow your facility's lockout/tagout procedure before moving on. Disconnect the Stäubli pendant from the controller. Set the pendant aside for now. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 12: Connecting The Ready Pendant

    2. Three-Position Enabling Switch 3. Emergency Stop Button The end of the READY pendant cable includes: 1. One RJ45 Ethernet cable for communication with the IPC. 2. 15 Flying leads—2 for power, 12 for safety I/O, and 1 unused lead.
  • Page 13 White/Blue Not Connected Connect the READY pendant's Ethernet cable to the IPC. You may connect the pendant through an Ethernet switch to increase the number of Ethernet ports. Connect the pendant's power leads to a 24V DC, 2.5A source. Connect the Pink wire to +24V and the Black wire to 0V.
  • Page 14 In this table, connect the two destinations that share a row: Pendant Flying Leads SICK Relay CS9 Safe Input Block 24V External Power Supply White/Pink Blue J101 - 5 J101 - 5 J101 - 2 J101 - 3 © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 15 Fence: Contact 22 J100 - 12 If you do not install external safety fencing: Connect terminals J100-9 and J100-11 with a jumper wire. Connect terminals J100-10 and J100-12 with a jumper wire. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 16: Powering On

    Reconnect the Stäubli controller to a power source and turn it on. Plug your IPC's power cable into a power outlet. Power on your IPC. If there are issues, power off each device, disconnect from power supplies, and check your wiring. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 17: Signing In To Forge/Os

    Ethernet connection to the IPC. If the pendant still doesn't pair, connect the pendant's Ethernet cable to another LAN port on the IPC. The READY pendant IP Address is preset to 172.16.255.253. The network interface that the pendant connects to should use an IP Address of 172.16.255.x and Subnet mask 255.255.255.0.
  • Page 18 If Forge/OS is inactive, it opens the Settings app and prevents you from opening other apps. If you see the screen below, follow Activating Forge/OS with a License Code in Appendix A. With Forge/OS active, move on to the next section. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 19: Getting Setup Files For Your Robot

    In the Admin role, open the Device Configuration app. Tap New + to open the Device Library. Use the Filter by dropdown to show robot options. Select the Stäubli industrial robot option and tap NEXT to continue with configuration. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 20 Insert a USB flash drive into the IPC as instructed on the screen. Use an empty flash drive with at least 2GB of storage. Tip: Do not connect the USB flash drive to the READY pendant. Tap Start Transfer and wait for it to finish.

  • Page 21: Copying Files To The Robot

    In the Run pop-up, type "ncpa.cpl" (Network Connections panel) and click OK. On the Network Connections window, double-click the Ethernet connection you are using on the computer. For computers with one Ethernet port, it's the Ethernet option. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 22 In the Ethernet Properties Networking tab, find and double-click Internet Protocol Version 4 (TCP/ IPv4). In the IPv4 Properties pop-up General tab, select Use the following IP address. Set the IP address to 192.168.1.30 and set the Subnet mask to 255.255.255.0. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 23 Launch Stäubli Robotic Suite (SRS). Insert the USB flash drive into the Windows computer. Click the File tab and select Open. Find the ReadyCell folder on the USB flash drive and select Ready.cell to open. When the SRS environment launches, select the Home tab and click Transfer Manager.
  • Page 24 Host address. On the Transfer Manager window, the left side shows the READY driver files and the right side shows the files on the Stäubli controller. On the right side, select the checkbox next to VAL3 Applications and click Delete to remove existing programs from the Stäubli controller.
  • Page 25 Wait for the transfer to finish (when the blue >> button reappears). Expand the tree on the right to make sure the IO, Profiles, and VAL3 Applications transferred onto the Staubli controller. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 26 On the Network Connections window, double-click the Ethernet connection you are using on the computer. For computers with one Ethernet port, it's the Ethernet option. In the Ethernet Properties Networking tab, find and double-click Internet Protocol Version 4 (TCP/ IPv4). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 27 In the IPv4 Properties pop-up General tab, select Obtain an IP address automatically. Click OK to save these settings. Restart the CS9 controller. Wait for the controller to restart before you move on. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 28: Adding The Robot In Device Configuration

    In these steps, you save the robot in the Device Configuration app and finish the setup. In Forge/OS, finish entering your Stäubli device information: Give your device a name. For the IP Address, enter 192.168.1.20 or the IP address you assigned to the robot, if different. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 29 Note: When you first connect to a robot, it's normal to see some robot errors and/or warnings on the READY pendant. Ignore these for now. You will clear them after you finish adding the robot to Forge/OS. If the robot controller fails to connect, you see this pop-up. .
  • Page 30 Note: To use these I/O signals, integrate your I/O devices with the robot controller. Tap SAVE. Forge/OS returns to the Configured Devices list, which shows the new robot as enabled. Note: A device is enabled when its switch is green and toggled to the right. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 31 Tap RESET to try to recover from the errors. If you can't RESET an error, tap MORE to get more details and instructions. Congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 32: Appendix A: Setting Up Forge/Os

    IPC. To install Forge/OS, follow these substeps. You need a Forge/OS installation USB flash drive. Contact your READY Robotics distributor for an installation USB drive. Important: Installing Forge/OS will erase all data on the target hard drive.
  • Page 33 VERSION 5.1.0 Select your language. Then click Install Forge. Choose a keyboard layout. Then click Continue. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 34 Select Erase disk and install forgeos. Then click Continue. Note: If Forge/OS is already installed, the installation wizard will show additional options. The goal is to erase the entire disk for a brand new installation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 35 Confirm that you want to erase the entire disk by clicking Continue. Make a note of the pendant instructions. If you're using a Forge/Ctrl, select the checkbox next to This hardware is a Forge CTRL. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 36 Choose your IPC's host name. The host name identifies the IPC on the network. Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the IPC desktop. They are NOT for signing into Forge/OS on the READY pendant. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 37 VERSION 5.1.0 Wait for the installer to copy and install Forge/OS. Once the installation completes, click Restart Now. When prompted, remove the installation flash drive. Then reboot. Wait for Forge/OS to finish booting. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 38 Ethernet connection to the IPC. If the pendant still doesn't pair, connect the pendant's Ethernet cable to another LAN port on the IPC. The READY pendant IP Address is preset to 172.16.255.253. The network interface that the pendant connects to should use IP Address 172.16.255.250 and Subnet mask 255.255.255.0.
  • Page 39 Tap Admin and sign in. The default Admin password is "forgeadmin". Note: After installation, you have limited access to Forge/OS until you activate it with a license code. See Activating Forge/OS with a License Code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 40: Activating Forge/Os With A License Code

    ▪ An internet-connected PC ▪ A valid Forge/OS license code Tip: Connect a USB keyboard to the port on the bottom of the READY pendant to type in any text field in Forge/ On the Settings app main screen, tap License Info.
  • Page 41 Wait for the files to finish transferring. When the file transfer is complete, remove the USB flash drive and tap NEXT. Use the activation certificate and create the unlock certificate: Insert the USB flash drive into your PC. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 42 The portal generates new text characters. Copy all of the text and paste it in the empty "Forge_OS- License-Unlock-Certificate.txt" file. Save the unlock certificate file. Remove the USB flash drive from your PC. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 43 Insert the USB flash drive into the IPC again. Tap LOAD UNLOCK CERTIFICATE FROM USB DRIVE. Wait for the file to finish transferring. When the file transfer is complete, remove the USB flash drive and tap SAVE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
  • Page 44 VERSION 5.1.0 Forge/OS returns to the licensing home screen and shows an active license. If the license status isn't active, restart these license activation steps. Double-check your license code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

  • Page 45: Choosing Preferences

    On the Settings app main screen, tap General Settings. Change the Units of Measure, Time and Date settings, or the Admin login password. Note: If you later forget your password, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu.
  • Page 46 The table below lists the available network interfaces on your IPC. By default, the first interface is for the READY pendant. You can't edit the pendant's interface in Forge/OS. Select another interface and tap Edit to see the network settings.

  • Page 47: Resources

    RESOURCES Want to learn more about how Forge/OS can empower you? Visit READY.academy (ready.academy) for FREE hands-on courses to help you deploy a robotic system. Visit READY.market (market.ready-robotics.com) for products and services offered by READY and our partners. Visit our Support site (support.ready-robotics.com) for robot startup guides, FAQs, and more.
  • Page 48 VERSION 5.1.0 © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...

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