Staubli CS8C Manuals

Staubli CS8C Manuals

Manuals and User Guides for Staubli CS8C. We have 1 Staubli CS8C manual available for free PDF download: Instruction Manual

Staubli CS8C Instruction Manual

Staubli CS8C Instruction Manual (249 pages)

Brand: Staubli | Category: Controller | Size: 9 MB

Table of Contents

Table of Contents
3
1 Introduction

9
2 Description of the Controller

15
- Identification
  17
  - Standard Version
    17
  - UL Version
    17
- Location and Description of the Main Components
  18
  - The Controller
    18
  - The MCP (Manual Control Pendant)
    19
  - WMS Front Panel
    19
  - Safety
    21
3 Safety

23
4 Installation

33
- Robotized Cell Environment
  35
  - Positive Safety
    35
  - Power Sources
    35
- On-Site Preparation
  36
  - Electrical Network
    36
  - Pneumatic Network
    37
  - Work Environment
    37
  - Controller Foot Print and Fittings
    38
  - CS8C for TX and RS Arms
    38
  - CS8C for RX160 Arm
    39
  - Air Circulation
    40
  - Accessibility
    40
- Unpacking and Handling
  41
- Fixing the MCP
  42
  - Characteristics
    42
  - Holder Measurements
    43
- Fixing the WMS
  44
  - WMS Overall Dimensions
    45
  - Connection to the Mains Power Supply
    46
  - Connection between the Arm and the Controller
    48
  - Connecting the Signals
    49
  - Cable Inlets and Outlets
    50
  - Integration
    53
  - Composition of the Emergency and Safety Stop Channels
    55
  - Emergency and Safety Stop Channels
    55
    
    Emergency Stop Channels
    57
    
    Connection with Cell
    61
  - Basic Inputs/Outputs
    62
    
    User-In Inputs
    62
    
    Fast Inputs/Outputs
    63
    
    Connection Point Table
    64
    
    Two Encoder Inputs for STARC2
    66
    
    Recovery Procedure (Preset)
    67
    
    Position Capture Procedure
    68
    
    Position Reading
    68
    
    Arm Temperature Thresholds
    69
    
    CPU Board Temperature
    69
    
    Power Supply for the Controller
    69
    
    System Inputs
    69
    
    Installation of the Option
    70
  - RS Robots
    70
    
    Installation of Can Board in Computer
    71
    
    Installation of Cable
    72
    
    Installation of I/O Board in the Arm
    72
    
    Procedure for Connecting the Inputs/Outputs in the Forearm
    72
    
    Software Setup
    72
    
    Connecting the Inputs/Outputs to the Tool Interface (Option)
    73
    
    CIO Board
    74
    
    Analog Inputs
    75
    
    Digital Inputs
    75
    
    Digital Ouputs
    75
    
    Hardware Configuration
    76
    
    Armio Board
    78
    
    Connections on the Tool Interface
    82
  - AS-I Digital Inputs/Outputs (RS Arms)
    83
    
    Configuration
    83
    
    Description
    83
    
    BIO 16I/16O Board Description
    84
  - Digital Bio Input/Output Board (Optional Extra)
    84
    
    Characteristics of the BIO Inputs
    85
    
    BIO Board-Inputs
    86
    
    Characteristics of the BIO Outputs
    87
    
    BIO Board-Outputs
    88
    
    Installation of the BIO Option
    90
    
    Installing the First Board
    90
    
    Installing the Second Board
    90
    
    Defining the Field Bus Configuration (Applicomio)
    91
  - Field Bus
    91
    
    Preparation of the Configuration (CS8C)
    91
    
    Remote Creation of a Configuration (Applicomio)
    91
    
    Checking the Configuration (CS8C)
    92
    
    CS8C Configuration (Applicomio)
    92
    
    Diagnosis
    92
    
    The Applicomio Diagnoses Are
    93
    
    Operation in the CS8C Controller
    96
    
    PLC Cycle
    96
  - Programmable Logic Controller (PLC Option)
    96
    
    Starting
    96
    
    CPU Load
    97
    
    Interaction with the VAL3 Program
    97
    
    Overrun Error
    97
    
    PLC Utility for the MCP
    97
    
    Definition of the Inputs/Outputs
    98
    
    PLC Programming in SRS
    98
    
    The CS8C Parameters of the PLC Option Are
    98
    
    Archiving the PLC Program
    100
    
    Downloading a PLC Program
    100
  - Ethernet Link
    101
    
    FTP Protocol
    101
    
    Modbus TCP Protocol
    101
    
    The CS8C Diagnoses Are
    102
    
    Ethernet Sockets (TCP)
    103
    
    Serial Ports
    104
  - 5.10. Software Configurations
    105
    
    Configuration of the Controller Characteristics
    105
    
    Language Configuration
    105
    
    Configuration of the Arm Characteristics
    106
    
    Configuration of the User Profiles
    107
    
    Configuration of System Inputs/Outputs
    108
    
    Access to the System Statuses and Signals
    109
    
    Configuration for the "Remotemcp" Option
    110
  - Operation
    113
  - Powering up the Controller
    115
  - General Presentation
    116
  - Presentation of the MCP
    116
    
    Leds and Luminous Indicator Keys
    117
    
    Control Keys
    120
    
    Information and Help Keys
    121
    
    Navigation Keys
    121
    
    MCP Display
    123
    
    Menus
    123
    
    Status Bar
    123
    
    The Work Page
    123
    
    Drop down Lists
    124
    
    Entry Boxes
    124
  - ARM Power-Up
    125
  - Emergency Stop
    126
  - Restarting
    126
  - Calibration, Adjustment, Recovery
    127
    
    Recovery Procedure
    127
    
    Adjustment Procedure
    128
    
    Local Mode
    129
    
    Manual Mode
    129
    
    Working Mode
    129
    
    Remote Mode
    130
  - Jog Interface
    131
    
    Presentation
    131
    
    Description of the Jog Interface Page
    132
    
    Movement in Joint Mode (Joint)
    134
    
    Movement in Cartesian Mode (Frame, Tool)
    135
    
    Specific Case (Arm RS)
    135
    
    Movements in Point Mode
    137
  - Starting an Application
    138
    
    Starting up in Local Mode
    138
    
    Starting up in Manual Mode
    139
    
    Starting up in Remote Mode
    139
    
    Movements on Restarting
    140
    
    Stopping Using the Powering Up/ Power Switch-Off Button
    140
    
    Stopping/Starting Movements Using the Move/Hold Key
    140
    
    Stopping Movements Via the Emergency Stop Button
    141
    
    Stopping/Starting Movements Using the Stop Key
    141
  - 6.10. Val3 Application Manager
    142
    
    Closing/Deleting an Application
    142
    
    Opening an Existing Application
    142
    
    Operations Concerning Applications
    142
    
    Exporting a VAL3 Application
    143
    
    Online Commands
    143
    
    Opening Mode for an Application
    143
    
    Saving a VAL3 Application
    143
    
    Library, Data, Program Creation and Edition
    144
    
    Modifying an Application
    144
    
    Program Editor
    144
    
    Debugging an Application
    147
    
    Input/Output Status
    148
    
    Methods for Diagnosis
    148
    
    System Events
    148
    
    Task Status
    148
  - 6.11. Teaching Frames
    150
  - 6.12. Teaching Points
    151
  - 6.13. Motion Descriptor Editor
    152
  - 6.14. Controller Backup
    152
  - PC Utilities
    155
  - Functionalities
    157
  - Stäubli Robotics Studio (Srs)
    157
  - FTP Access from a PC
    158
    
    FTP Client
    158
    
    Functions Via FTP
    158
    
    IP Address Configuration
    158
  - FTP Access to a PC
    159
  - Installing Cesar FTP
    160
  - Maintenance
    163
    
    How to Use this Manual?
    165
    
    Intervention Levels
    165
    
    Safety Recommendations
    165
    
    Service Methodology
    165
  - Glossary
    166
  - Component Location
    167
  - Safety
    168
  - Input Voltage
    169
    
    Access
    170
    
    Case 1
    171
    
    Trouble Shooting
    171
    
    Case 2
    172
    
    Case 3
    175
  - Arps Auxiliary Robot Power Supply
    176
    
    Test Points
    177
    
    Access to Fans
    179
    
    Advanced Information
    182
    
    Alim-Ok Signal
    187
    
    Secteur_Ok Signal
    189
    
    Brk_X Signals
    191
  - RPS Power Supply
    194
    
    CS8C for TX or RS Robots
    195
    
    CS8C for RX160 Robots
    197
  - Rsi
    203
  - Error Codes on 7-Segment Display
    209
  - Starc Board
    232
    
    Optical Fiber
    237
    
    Dsi
    238
    
    Common Lines for All Encoders
    239
    
    DSI Advanced Information
    239
    
    Individual Lines
    239
  - Preventive Maintenance
    242
  - Ventilation
    242
  - Recommended Spare Parts
    242
  - Protection of the Power Line for the CS8C Controller
    247
Appendix: Protection of the Power Line for the Cs8C

247
- Controller Characteristics
  247
- Protection Upstream from the Controller
  247
  - You Need to Install One of the Following
    248
  - Choice of the Protection
    248
  - Protection against Surges
    248
  - Protection against Short-Circuits
    248

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