Robotics CS8C User Manual

CS8C ControllerInstruction manual D28070504A – 26/03/2009CS8C© Stäubli 2009

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© Stäubli 2009 – D28070504A CS8C100 / 248Downloading a PLC programPLC programs are downloaded from the PLC development environment:• Log on to the

CS8C © Stäubli 2009 – D28070504A101 / 248Chapter 5 - Integration5.8. ETHERNET LINK5.8.1. CONFIGURATIONThe CS8C has 2 Ethernet ports, J204 and J20

© Stäubli 2009 – D28070504A CS8C102 / 248ConfigurationThe configuration procedure for the Modbus Tcp Inputs/Outputs using the SRS Modbus IO Config

CS8C © Stäubli 2009 – D28070504A103 / 248Chapter 5 - Integration5.8.4. ETHERNET SOCKETS (TCP)The CS8C controller can be configured to communicat

© Stäubli 2009 – D28070504A CS8C104 / 2485.9. SERIAL PORTTwo serial ports are available on the CS8C controller (J203, COM1 and J201, COM2) to exch

CS8C © Stäubli 2009 – D28070504A105 / 248Chapter 5 - Integration5.10. SOFTWARE CONFIGURATIONSThe software configuration can be used to modify cer

© Stäubli 2009 – D28070504A CS8C106 / 2485.10.2. CONFIGURATION OF THE ARM CHARACTERISTICSThe arm characteristics are displayed in the Control Pane

CS8C © Stäubli 2009 – D28070504A107 / 248Chapter 5 - Integration5.10.3. CONFIGURATION OF THE USER PROFILESThe user profiles are configured using

© Stäubli 2009 – D28070504A CS8C108 / 2485.10.4. CONFIGURATION OF SYSTEM INPUTS/OUTPUTSSystem Inputs/Outputs are configured in the /usr/configs/io

CS8C © Stäubli 2009 – D28070504A109 / 248Chapter 5 - IntegrationAccess to the system statuses and signalsThe status signals for the safety system

CS8C © Stäubli 2009 – D28070504A11 / 248Chapter 1 - Introduction1.1. FOREWORDThe information contained in the present document is the property of

© Stäubli 2009 – D28070504A CS8C110 / 248Configuration for the "remoteMCP" optionThis option can be used to make a full simulation of th

CS8C © Stäubli 2009 – D28070504A111 / 248Chapter 5 - Integration

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CS8C © Stäubli 2009 – D28070504A113 / 248Chapter 6 - OperationCHAPTER 6OPERATION

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CS8C © Stäubli 2009 – D28070504A115 / 248Chapter 6 - Operation6.1. POWERING UP THE CONTROLLERTo start the controller, set the switch (1) to posit

© Stäubli 2009 – D28070504A CS8C116 / 2486.2. PRESENTATION OF THE MCP6.2.1. GENERAL PRESENTATIONFigure. 6.2Working mode (1)The working mode sele

CS8C © Stäubli 2009 – D28070504A117 / 248Chapter 6 - OperationMovement keys (4)These keys are active in manual mode and they enable you to genera

© Stäubli 2009 – D28070504A CS8C118 / 248Movement mode selection keys (5)When the arm power is on and in manual mode, each of these 4 keys enable

CS8C © Stäubli 2009 – D28070504A119 / 248Chapter 6 - OperationDigital output activation keys (12)In manual mode, these keys change the status of

© Stäubli 2009 – D28070504A CS8C12 / 2481.2. DEFINITION OF THE ELEMENTS AROUND THE ROBOT CELLPerson: general term identifying all individuals like

© Stäubli 2009 – D28070504A CS8C120 / 2486.2.2. CONTROL KEYSStop keyThis key stops the current application. Depending on the user profile, it may

CS8C © Stäubli 2009 – D28070504A121 / 248Chapter 6 - Operation6.2.3. INFORMATION AND HELP KEYSOnline helpBy pressing the Help key, you can access

© Stäubli 2009 – D28070504A CS8C122 / 248Esc keyCancels the entry and restores the initial value in the box, or exits the current page. Return key

CS8C © Stäubli 2009 – D28070504A123 / 248Chapter 6 - Operation6.2.5. MCP DISPLAYThe display is made up of three areas: (see figure 6.4)Status bar

© Stäubli 2009 – D28070504A CS8C124 / 248Entry boxesEntry boxes are areas on the display via which the user communicates information to the system

CS8C © Stäubli 2009 – D28070504A125 / 248Chapter 6 - Operation6.3. ARM POWER-UPUnder normal operating conditions, the operating method is as foll

© Stäubli 2009 – D28070504A CS8C126 / 2486.4. EMERGENCY STOPWhen the emergency stop button is pressed, the power is removed from the arm and the b

CS8C © Stäubli 2009 – D28070504A127 / 248Chapter 6 - Operation6.5. CALIBRATION, ADJUSTMENT, RECOVERY6.5.1. DEFINITIONSStäubli arms are calibrated

© Stäubli 2009 – D28070504A CS8C128 / 248• If you have replaced a motor or an encoder, the maintenance procedure you followed should have updated

CS8C © Stäubli 2009 – D28070504A129 / 248Chapter 6 - Operation6.6. WORKING MODESSelection of Working Mode is made from WMS front panel. The 3-pos

CS8C © Stäubli 2009 – D28070504A13 / 248Chapter 1 - Introduction

© Stäubli 2009 – D28070504A CS8C130 / 2486.6.3. REMOTE MODEThe remote mode operates in a similar way to the local mode. The differences are as fol

CS8C © Stäubli 2009 – D28070504A131 / 248Chapter 6 - Operation6.7. JOG INTERFACE6.7.1. PRESENTATIONThe jog interface is a utility dedicated to th

© Stäubli 2009 – D28070504A CS8C132 / 248When one of the movement modes is selected, the jog interface page is shown automatically on the MCP disp

CS8C © Stäubli 2009 – D28070504A133 / 248Chapter 6 - OperationMenus(see figure 6.9)• Sel. (Selection) menuThis menu displays a window in which it

© Stäubli 2009 – D28070504A CS8C134 / 2486.7.2. MOVEMENT IN JOINT MODE (JOINT)After the arm has been powered up, press the Joint button (1) on the

CS8C © Stäubli 2009 – D28070504A135 / 248Chapter 6 - Operation6.7.3. MOVEMENT IN CARTESIAN MODE (FRAME, TOOL)After the arm has been powered up, p

© Stäubli 2009 – D28070504A CS8C136 / 248If the Tool key (3) has been pressed, the movements are made parallel to the axis of the current tool (Fl

CS8C © Stäubli 2009 – D28070504A137 / 248Chapter 6 - Operation6.7.4. MOVEMENTS IN POINT MODEThe POINT mode is used for movements to a point of th

© Stäubli 2009 – D28070504A CS8C138 / 2486.8. STARTING AN APPLICATION6.8.1. STARTING UP IN LOCAL MODEThe local mode is the mode most commonly used

CS8C © Stäubli 2009 – D28070504A139 / 248Chapter 6 - Operation6.8.2. STARTING UP IN MANUAL MODEOnce the application has been opened: (see paragra

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© Stäubli 2009 – D28070504A CS8C140 / 2486.9. STOPPING MOVEMENTSWhen the robot is carrying out programmed movements, it is always possible to stop

CS8C © Stäubli 2009 – D28070504A141 / 248Chapter 6 - Operation6.9.2. STOPPING/STARTING MOVEMENTS USING THE STOP KEYStop keyTo stop the current ap

© Stäubli 2009 – D28070504A CS8C142 / 2486.10. VAL3 APPLICATION MANAGER6.10.1. OPERATIONS CONCERNING APPLICATIONSThe application manager can be ac

CS8C © Stäubli 2009 – D28070504A143 / 248Chapter 6 - OperationOpening mode for an applicationBehaviour for applications when the controller is st

© Stäubli 2009 – D28070504A CS8C144 / 2486.10.2. MODIFYING AN APPLICATIONLibrary, data, program creation and edition• To declare a new library, go

CS8C © Stäubli 2009 – D28070504A145 / 248Chapter 6 - OperationThe editor makes sure at all times that the program is coherent. This means that wh

© Stäubli 2009 – D28070504A CS8C146 / 248When adding or modifying an instruction, a list of menus makes it easier to enter. (see figure 6.17)• His

CS8C © Stäubli 2009 – D28070504A147 / 248Chapter 6 - Operation6.10.3. DEBUGGING AN APPLICATIONThe VAL3 task manager (accessible via the main menu

© Stäubli 2009 – D28070504A CS8C148 / 2486.10.4. METHODS FOR DIAGNOSISSystem eventsSystem events can be shown in several ways in the MCP display:

CS8C © Stäubli 2009 – D28070504A149 / 248Chapter 6 - OperationThe robot does not go to the right place If the robot does not carry out the moveme

CS8C © Stäubli 2009 – D28070504A15 / 248Chapter 2 - Description of the controllerCHAPTER 2DESCRIPTION OF THE CONTROLLER

© Stäubli 2009 – D28070504A CS8C150 / 2486.11. TEACHING FRAMESThis paragraph constitutes a frame teaching procedure using the three-point method.

CS8C © Stäubli 2009 – D28070504A151 / 248Chapter 6 - Operation6.12. TEACHING POINTSTeaching points, the method used is as follows: • Create a new

© Stäubli 2009 – D28070504A CS8C152 / 2486.13. MOTION DESCRIPTOR EDITORWhen editing a motion descriptor in the application manager, a simplified v

CS8C © Stäubli 2009 – D28070504A153 / 248Chapter 6 - Operation

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CS8C © Stäubli 2009 – D28070504A155 / 248Chapter 7 - PC utilitiesCHAPTER 7PC UTILITIES

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CS8C © Stäubli 2009 – D28070504A157 / 248Chapter 7 - PC utilities7.1. STÄUBLI ROBOTICS STUDIO (SRS)SRS is the Stäubli software package containing

© Stäubli 2009 – D28070504A CS8C158 / 2487.2. FTP ACCESS FROM A PCThis action enables you to download VAL3 applications from a PC to a controller

CS8C © Stäubli 2009 – D28070504A159 / 248Chapter 7 - PC utilities7.3. FTP ACCESS TO A PCThis function enables centralization of the VAL3 applicat

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© Stäubli 2009 – D28070504A CS8C160 / 2487.3.1. INSTALLING CESAR FTPThis paragraph does not set out to explain the FTP connections, it simply supp

CS8C © Stäubli 2009 – D28070504A161 / 248Chapter 7 - PC utilities

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CS8C © Stäubli 2009 – D28070504A163 / 248Chapter 8 - MaintenanceCHAPTER 8MAINTENANCE

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CS8C © Stäubli 2009 – D28070504A165 / 248Chapter 8 - Maintenance8.1. HOW TO USE THIS MANUAL ?8.1.1. SAFETY RECOMMENDATIONSThe recommendations for

© Stäubli 2009 – D28070504A CS8C166 / 2488.2. GLOSSARYABZ ABZ Encoder board ABZ Encoder boardARPS Auxiliary Robot Power Supply (logical voltages)

CS8C © Stäubli 2009 – D28070504A167 / 248Chapter 8 - Maintenance8.3. COMPONENT LOCATIONFigure 8.1PSMCPTS1CPTPWR + DIGRegenCPUS1F1-F3D2T1D1PS1-PS

© Stäubli 2009 – D28070504A CS8C168 / 2488.4. SAFETYTo disconnect the system from the power supply, set the master switch (6) located on the front

CS8C © Stäubli 2009 – D28070504A169 / 248Chapter 8 - Maintenance8.5. INPUT VOLTAGE8.5.1. DESCRIPTIONThe following components are located in PSM

CS8C © Stäubli 2009 – D28070504A17 / 248Chapter 2 - Description of the controller2.1. IDENTIFICATIONManufacturer's plate on each robot. A pl

© Stäubli 2009 – D28070504A CS8C170 / 2488.5.2. ACCESSRemove 3 screws (4) to remove cover.Figure 8.3To access the components of the PSM, remove t

CS8C © Stäubli 2009 – D28070504A171 / 248Chapter 8 - Maintenance8.5.3. TROUBLE SHOOTING8.5.3.1. CASE 1• Check that main switch S1 is on position

© Stäubli 2009 – D28070504A CS8C172 / 2488.5.3.2. CASE 2• Check that D1 circuit breaker is on position 1.• If D1 circuit breaker does not remain o

CS8C © Stäubli 2009 – D28070504A173 / 248Chapter 8 - MaintenanceRemove 3 screws (4) to remove cover.Figure 8.6To access the components of the PS

© Stäubli 2009 – D28070504A CS8C174 / 248The frame of circuit breaker can be separated from the front face with a screw driverallowing it to be pu

CS8C © Stäubli 2009 – D28070504A175 / 248Chapter 8 - Maintenance8.5.3.3. CASE 3• Check that D2 circuit breaker is on position 1.• If D2 circuit b

© Stäubli 2009 – D28070504A CS8C176 / 2488.6. ARPS AUXILIARY ROBOT POWER SUPPLY8.6.1. DESCRIPTIONARPS is powered with 230 VAC from the D1 circuit

CS8C © Stäubli 2009 – D28070504A177 / 248Chapter 8 - Maintenance8.6.2. ACCESS• Turn off main switch S1 to position 0.• Remove the 4 screws (1) an

© Stäubli 2009 – D28070504A CS8C178 / 2488.6.4. TROUBLE SHOOTING8.6.4.1. CASE 1• Refer to chapter 8.5 to check input voltages:• Check that main sw

CS8C © Stäubli 2009 – D28070504A179 / 248Chapter 8 - MaintenanceAccess to fansThe fan 2(2) is accessed by removing the screws (1) holding the gri

© Stäubli 2009 – D28070504A CS8C18 / 2482.2. LOCATION AND DESCRIPTION OF THE MAIN COMPONENTS2.2.1. THE CONTROLLERThe CS8C controller is made up of

© Stäubli 2009 – D28070504A CS8C180 / 248• Plug only J1103 (24V3 for fan 1 on top of CS8C)• If 24V3 light goes off, check wiring and fans. • Chang

CS8C © Stäubli 2009 – D28070504A181 / 248Chapter 8 - MaintenanceFigure 8.17Figure 8.18Figure 8.1926153478

© Stäubli 2009 – D28070504A CS8C182 / 248• Remove the 6 screws (1).• Partially remove the cover (2)• Remove the connectors J1301 (3), J1303 (4) an

CS8C © Stäubli 2009 – D28070504A183 / 248Chapter 8 - Maintenance• Plug only J1102 (24V1 for RSI, drives and CPT ; 24V2 for brakes ; 13V for DSI i

© Stäubli 2009 – D28070504A CS8C184 / 248Figure 8.22 SPRA ISR UPC 3-2011J 1V42 11-2011J 1V0 1V42 1-002J 1V0 2-002J 1-211J

CS8C © Stäubli 2009 – D28070504A185 / 248Chapter 8 - Maintenance8.6.4.3. CASE 31) Brake command signal (BRK_REL_EN) not received by ARPS.2) Brake

© Stäubli 2009 – D28070504A CS8C186 / 2488.6.4.4. ADVANCED INFORMATIONFigure 8.24ARPS DSI24V2 13V BRK_REL_EN RSI24V1 CPU24V3 24V3 (25.1 VDC) (25.

CS8C © Stäubli 2009 – D28070504A187 / 248Chapter 8 - Maintenance8.6.5. ALIM_OK SIGNAL8.6.5.1. DESCRIPTIONFigure 8.258.6.5.2. ACCESSSee chapter 8

© Stäubli 2009 – D28070504A CS8C188 / 2488.6.5.4. ADVANCED INFORMATIONThis output is a 24 VDC signal.When there is no fault (status in control pan

CS8C © Stäubli 2009 – D28070504A189 / 248Chapter 8 - Maintenance8.6.6. SECTEUR_OK SIGNAL8.6.6.1. DESCRIPTIONFigure 8.27This signal provides the

CS8C © Stäubli 2009 – D28070504A19 / 248Chapter 2 - Description of the controller2.2.2. THE MCPGeneral descriptionThe MCP (Manual Control Pendant

© Stäubli 2009 – D28070504A CS8C190 / 2488.6.6.4. ADVANCED INFORMATIONThis output is a 24 VDC signal.When there is no fault (status in control pan

CS8C © Stäubli 2009 – D28070504A191 / 248Chapter 8 - Maintenance8.6.7. BRK_x SIGNALS8.6.7.1. DESCRIPTIONFigure 8.29These signals provide status

© Stäubli 2009 – D28070504A CS8C192 / 2488.6.7.2. ACCESSSee chapter 8.6.2, page 177.8.6.7.3. TROUBLE SHOOTINGCase 1• Change the RSI.Case 2• Check

CS8C © Stäubli 2009 – D28070504A193 / 248Chapter 8 - Maintenance8.6.7.4. ADVANCED INFORMATIONInput and output are 24 VDC signals.BRK_REL_EN is ac

© Stäubli 2009 – D28070504A CS8C194 / 2488.7. RPS POWER SUPPLY8.7.1. DESCRIPTIONRPS is the 325 VDC power supply for the drives. It is powered thro

CS8C © Stäubli 2009 – D28070504A195 / 248Chapter 8 - Maintenance8.7.2.1. CS8C FOR TX OR RS ROBOTS• Set aside the ARPS power supply (see chapter 8

© Stäubli 2009 – D28070504A CS8C196 / 248• When replacing the RPS325 power supply, make sure the wire (12) is correctly placed, in the samepositio

CS8C © Stäubli 2009 – D28070504A197 / 248Chapter 8 - Maintenance8.7.2.2. CS8C FOR RX160 ROBOTS• To access the connectors, remove the ARPS (3) pow

© Stäubli 2009 – D28070504A CS8C198 / 248• Remove the plastic cover (2) held in place by 3 screws (1).Figure 8.37• Remove the 8 screws (2) holdin

CS8C © Stäubli 2009 – D28070504A199 / 248Chapter 8 - Maintenance8.7.3. TROUBLE SHOOTING8.7.3.1. CASE 1• Check D2 circuit breaker inside PSM:• If

© Stäubli 2009 – D28070504A CS8C2 / 248Documentation addenda and errata can be found in the "readme.pdf" document delivered with thecont

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© Stäubli 2009 – D28070504A CS8C200 / 248• Check PWR_OK signal from MCP Control Panel.• If PWR_OK signal is off, change RPS.Figure 8.40HPEx_EN HP

CS8C © Stäubli 2009 – D28070504A201 / 248Chapter 8 - Maintenance8.7.3.2. CASE 2• Change RPS and check that regeneration resistor has not been dam

© Stäubli 2009 – D28070504A CS8C202 / 2488.7.3.3. CASE 3• Check that main voltage is correct according to identification plate of the controller.

CS8C © Stäubli 2009 – D28070504A203 / 248Chapter 8 - Maintenance8.8. RSINote: First CS8C controller generations were equipped with RSI(1) board w

© Stäubli 2009 – D28070504A CS8C204 / 2488.8.2. ACCESS• Remove the 4 screws (1) and pull the RSI (2). Figure 8.438.8.3. TROUBLE SHOOTING8.8.3.1.

CS8C © Stäubli 2009 – D28070504A205 / 248Chapter 8 - Maintenance8.8.3.2. CASE 2• Check 5V on STARC (see chapter 8.9, page 232).• Check wiring bet

© Stäubli 2009 – D28070504A CS8C206 / 2488.8.3.4. CASE 4Figure 8.45• Check F5 and F6 fuses on RSI. If fuses are blown, check that there is no sho

CS8C © Stäubli 2009 – D28070504A207 / 248Chapter 8 - Maintenance8.8.3.5. ADVANCED INFORMATIONFigure 8.460V 24V1J104-1J104-6J112-1J112-2ARPSJ1102

© Stäubli 2009 – D28070504A CS8C208 / 2488.8.3.6. CASE 5• If D52 is off: See chapters 8.5, 8.6, 8.7, pages 169, 176, 194.• If D49, D50 and D52 are

CS8C © Stäubli 2009 – D28070504A209 / 248Chapter 8 - Maintenance8.8.4. ERROR CODES ON 7-SEGMENT DISPLAYFigure 8.47Point on the right- E flashing

CS8C © Stäubli 2009 – D28070504A21 / 248Chapter 3 - SafetyCHAPTER 3SAFETY

© Stäubli 2009 – D28070504A CS8C210 / 248When switching on controller, the RSI display goes through intermediate steps where the 7-segment andrigh

CS8C © Stäubli 2009 – D28070504A211 / 248Chapter 8 - MaintenanceTrouble shooting when display remains on intermediate error codes with 7-segment

© Stäubli 2009 – D28070504A CS8C212 / 2488.8.4.3. CASE 3• Check wiring between STARC J302 and RSI J100. If this error occurs when arm ispowered, p

CS8C © Stäubli 2009 – D28070504A213 / 248Chapter 8 - Maintenance8.8.4.5. CASE 5When initialisation ends up properly, display is: Note: From this

© Stäubli 2009 – D28070504A CS8C214 / 2488.8.4.8. CASE 8• A major failure has been detected on the CPU: • Reboot controller.• If this error code r

CS8C © Stäubli 2009 – D28070504A215 / 248Chapter 8 - MaintenanceFigure 8.50The maximum angular range is defined in the robot' product chara

© Stäubli 2009 – D28070504A CS8C216 / 2488.8.4.10. CASE 10• Before checking faults on drives, check first that STARC board is operating properly (

CS8C © Stäubli 2009 – D28070504A217 / 248Chapter 8 - Maintenance8.8.4.11. CASE 11• Reboot controller.• If error remains, check events history in

© Stäubli 2009 – D28070504A CS8C218 / 2488.8.4.12. CASE 12• Change the RSI.8.8.4.13. CASE 13Internal voltage (24Vfus) for E-Stop lines is off.• If

CS8C © Stäubli 2009 – D28070504A219 / 248Chapter 8 - Maintenance8.8.4.14. CASE 14There is one E-Stop contact open on MCP (Manual Control Pendant)

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© Stäubli 2009 – D28070504A CS8C220 / 248•MCP is connected on J110:• Check that MCP connector is properly plugged and screwed on J110.• Check that

CS8C © Stäubli 2009 – D28070504A221 / 248Chapter 8 - Maintenance•WMS is connected on J113:• Check that WMS connector is properly plugged on J113.

© Stäubli 2009 – D28070504A CS8C222 / 2488.8.4.15. CASE 15This E-Stop is coming from the cell and is connected to RSI J109.• Check wiring from thi

CS8C © Stäubli 2009 – D28070504A223 / 248Chapter 8 - Maintenance8.8.4.16. CASE 16This E-Stop is coming from the cell and is connected to RSI J109

© Stäubli 2009 – D28070504A CS8C224 / 2488.8.4.17. CASE 17This E-Stop is coming from the cell and is connected to RSI J109.• Check wiring from thi

CS8C © Stäubli 2009 – D28070504A225 / 248Chapter 8 - Maintenance8.8.4.18. CASE 18• Check that rotary switch at the base of the arm is in position

© Stäubli 2009 – D28070504A CS8C226 / 248Note: Status of manual brake release switch can be obtained from MCP Control Panel.Figure 8.638.8.4.19.

CS8C © Stäubli 2009 – D28070504A227 / 248Chapter 8 - Maintenance8.8.4.21. CASE 21• Check that enable button on MCP is correctly pressed or that M

© Stäubli 2009 – D28070504A CS8C228 / 2488.8.4.24. CASE 24• Change the RSI.8.8.4.25. CASE 25• Change the RSI.Problem: (i) Power-up command 1 not

CS8C © Stäubli 2009 – D28070504A229 / 248Chapter 8 - Maintenance8.8.4.26. CASE 26PS1/PS2 relays are not operating or there is a bad connection in

CS8C © Stäubli 2009 – D28070504A23 / 248Chapter 3 - Safety3.1. REMINDER CONCERNING THE SAFETY STANDARDSThe robot is a sub-assembly designed for i

© Stäubli 2009 – D28070504A CS8C230 / 248.8.8.4.27. CASE 27In that case, the most common error displayed on MCP popup message is:Refer to RPS chap

CS8C © Stäubli 2009 – D28070504A231 / 248Chapter 8 - Maintenance8.8.4.28. CASE 28The enable arm power sequence has stopped because brake release

© Stäubli 2009 – D28070504A CS8C232 / 2488.9. STARC BOARD8.9.1. DESCRIPTIONSTARC board does motion control, communicating with encoders for axes p

CS8C © Stäubli 2009 – D28070504A233 / 248Chapter 8 - Maintenance• The STARC board can be removed after taking out the fastening screw (3).• The P

© Stäubli 2009 – D28070504A CS8C234 / 2488.9.3. TROUBLE SHOOTING8.9.3.1. CASE 1• Check first 24V1 on ARPS (see chapter 8.6, page 176).• Check STAR

CS8C © Stäubli 2009 – D28070504A235 / 248Chapter 8 - Maintenance8.9.3.2. CASE 2• Reboot controller.• If problem remains, change STARC board.8.9.3

© Stäubli 2009 – D28070504A CS8C236 / 2488.9.3.4. CASE 4When led B is blinking slowly, all encoders (sensor) and all PTC sensors are not operating

CS8C © Stäubli 2009 – D28070504A237 / 248Chapter 8 - MaintenanceOptical fiber• Check optical fiber between STARC board and arm to ensure that the

© Stäubli 2009 – D28070504A CS8C238 / 248DSIIf optical fiber looks good:• Check that the 13 V led on ARPS is On (see chapter 8.6, page 176).If ARP

CS8C © Stäubli 2009 – D28070504A239 / 248Chapter 8 - MaintenanceDSI advanced informationCommon lines for all encoders: •13V power supply.•DSI.• O

© Stäubli 2009 – D28070504A CS8C24 / 248For the UL version:• Standard UL 1740 Robots and Robotics Equipment• Standard RIA15-06 American National S

© Stäubli 2009 – D28070504A CS8C240 / 2488.9.3.5. CASE 5Note: If both leds A and B are blinking slowly, check first the led B issue (previousparag

CS8C © Stäubli 2009 – D28070504A241 / 248Chapter 8 - MaintenanceStep 2• Check that each drive is properly powered with 24 V: Led = On.• If one dr

© Stäubli 2009 – D28070504A CS8C242 / 2488.10. PREVENTIVE MAINTENANCE8.10.1. VENTILATIONThe air filter on the ventilaton system must be cleaned an

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CS8C © Stäubli 2009 – D28070504A245 / 248Chapter 8 - MaintenanceAPPENDIX

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CS8C © Stäubli 2009 – D28070504A247 / 248Chapter 8 - MaintenanceAPPENDIX 1 Protection of the power line for the CS8C controllerI. CONTROLLER CHAR

© Stäubli 2009 – D28070504A CS8C248 / 248You need to install one of the following:• the gl fuses• a magneto thermic breaker, type U• a magneto the

CS8C © Stäubli 2009 – D28070504A25 / 248Chapter 3 - Safety3.2. SAFETY DIRECTIVES CONCERNING TO THE WORK ENVIRONMENT3.2.1. ANALYSIS OF SAFETY AROU

© Stäubli 2009 – D28070504A CS8C26 / 2483.3. SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTIONStäubli robots work with computer controlled mechanis

CS8C © Stäubli 2009 – D28070504A27 / 248Chapter 3 - Safety• For UL robots: When arm is powered-on, a light on the arm is on to indicate there is

© Stäubli 2009 – D28070504A CS8C28 / 2483.4. SAFETY DIRECTIVES CONCERNING TO PROTECTION OF THE EQUIPMENT3.4.1. CONNECTIONS• Before connecting the

CS8C © Stäubli 2009 – D28070504A29 / 248Chapter 3 - SafetyTypical ESD voltagesSOURCELOW RELATIVE HUMIDITY10 - 20%AVERAGE RELATIVE HUMIDITY40%HIGH

CS8C © Stäubli 2009 – D28070504A3/ 248TABLE OF CONTENTS1 INTRODUCTION1.1 FOREWORD. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Stäubli 2009 – D28070504A CS8C30 / 2483.4.3. PREVENTION OF DAMAGE DUE TO ELECTROSTATIC DISCHARGESIt is essential to guard against electrostatic

CS8C © Stäubli 2009 – D28070504A31 / 248Chapter 3 - Safety

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CS8C © Stäubli 2009 – D28070504A33 / 248Chapter 4 - InstallationCHAPTER 4INSTALLATION

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CS8C © Stäubli 2009 – D28070504A35 / 248Chapter 4 - Installation4.1. ROBOTIZED CELL ENVIRONMENTInstallation of the robot must be planned in accor

© Stäubli 2009 – D28070504A CS8C36 / 2484.2. ON-SITE PREPARATION4.2.1. ELECTRICAL NETWORKThe system is linked to the mains power supply via a cabl

CS8C © Stäubli 2009 – D28070504A37 / 248Chapter 4 - Installation4.2.2. PNEUMATIC NETWORKFor the arm, and if solenoid valves are used, it is neces

© Stäubli 2009 – D28070504A CS8C38 / 2484.2.4. CONTROLLER FOOT PRINT AND FITTINGSThe CS8C controller can be simply placed on the floor, in complia

CS8C © Stäubli 2009 – D28070504A39 / 248Chapter 4 - Installation4.2.4.2. CS8C FOR RX160 ARMFigure 4.2Detail: AScale: 1:1

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© Stäubli 2009 – D28070504A CS8C40 / 2484.2.5. AIR CIRCULATIONThe airflow, which is directed upwards in the standard version, can be directed down

CS8C © Stäubli 2009 – D28070504A41 / 248Chapter 4 - Installation4.3. UNPACKING AND HANDLING4.3.1. PACKAGING FOR THE CS8C CONTROLLER4.3.2. HANDLIN

© Stäubli 2009 – D28070504A CS8C42 / 2484.4. FIXING THE MCP4.4.1. CHARACTERISTICSProtection class: IP54Note:The MCP must not be used in an explosi

CS8C © Stäubli 2009 – D28070504A43 / 248Chapter 4 - InstallationHolder measurements: Figure 4.5

© Stäubli 2009 – D28070504A CS8C44 / 2484.5. FIXING THE WMSFigure 4.6The WMS (Working Mode Selection) front panel must be installed permanently o

CS8C © Stäubli 2009 – D28070504A45 / 248Chapter 4 - InstallationWMS overall dimensions:Figure 4.8When installed, the board side has to be protec

© Stäubli 2009 – D28070504A CS8C46 / 2484.6. CONNECTIONSService and maintenance on the robot has to be taken into account when wiring the controll

CS8C © Stäubli 2009 – D28070504A47 / 248Chapter 4 - InstallationIf voltage configuration of the controller is not the good one, it can be changed

© Stäubli 2009 – D28070504A CS8C48 / 2484.6.2. CONNECTION BETWEEN THE ARM AND THE CONTROLLERThe arm is connected to the controller via 2 unpluggab

CS8C © Stäubli 2009 – D28070504A49 / 248Chapter 4 - Installation4.6.3. CONNECTING THE SIGNALSThe Input/Output signals are connected via the conne

CS8C © Stäubli 2009 – D28070504A5/ 2485 INTEGRATION5.1 EMERGENCY AND SAFETY STOP CHANNELS . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Stäubli 2009 – D28070504A CS8C50 / 2484.6.4. CABLE INLETS AND OUTLETSThe connections for the CS8C controller are on the front panel. They must t

CS8C © Stäubli 2009 – D28070504A51 / 248Chapter 4 - InstallationFigure 4.12The length of the cables must be taken into account to facilitate ma

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CS8C © Stäubli 2009 – D28070504A53 / 248Chapter 5 - IntegrationCHAPTER 5INTEGRATION

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CS8C © Stäubli 2009 – D28070504A55 / 248Chapter 5 - Integration5.1. EMERGENCY AND SAFETY STOP CHANNELSIn general, the "Emergency Stop Button

© Stäubli 2009 – D28070504A CS8C56 / 248off, it is possible to power the emergency stop lines via an external 24 V supply provided between J109-37

CS8C © Stäubli 2009 – D28070504A57 / 248Chapter 5 - IntegrationEmergency stop channelsFigure 5.1MCPES1+ MCPES1- 24Vfus 0V1 B1 A1 ESR1 A1 B1

© Stäubli 2009 – D28070504A CS8C58 / 248Figure 5.2F2 24Vfus 24V 0V1 J109-18 J109-37 J109-19 220uF 24V_In Internal 24VDC 24V + 24 V DC 0 VDC

CS8C © Stäubli 2009 – D28070504A59 / 248Chapter 5 - IntegrationFigure 5.3DF+ J112-3 DF- J112-4 LSW10+ J101-12 LSW10- J101-5 B1 A1 RLS10 0V

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© Stäubli 2009 – D28070504A CS8C60 / 248Figure 5.4PS- O N1 + Ena b le Pow er PS- O N- 24V A1 PS1 0V1 A2 A1 PS2 A2 PS- O N2 + US ERPS1+ J109

CS8C © Stäubli 2009 – D28070504A61 / 248Chapter 5 - Integration5.1.2. CONNECTION WITH CELLDescription of connection pointThe RSI board is connect

© Stäubli 2009 – D28070504A CS8C62 / 2485.2. BASIC INPUTS/OUTPUTSTo display the status of the Inputs/Outputs or to programme them, select the &quo

CS8C © Stäubli 2009 – D28070504A63 / 248Chapter 5 - Integration5.2.2. FAST INPUTS/OUTPUTS2 inputs (Fast-In 0 and Fast-In 1) and 1 output (Fast-Ou

© Stäubli 2009 – D28070504A CS8C64 / 248Connection point tableExternal electrical diagramName of electrical diagramJ109(Sub-D37M)Pin name Internal

CS8C © Stäubli 2009 – D28070504A65 / 248Chapter 5 - IntegrationNote (1): This information is configurable (see chapter 5.1). Note (2): See figure

© Stäubli 2009 – D28070504A CS8C66 / 2485.2.3. ENCODER INPUT5.2.3.1. TWO ENCODER INPUTS FOR STARC2With STARC2 board configuration, an optional DUA

CS8C © Stäubli 2009 – D28070504A67 / 248Chapter 5 - IntegrationNote:Each encoder has a corresponding set of digital and analog Inputs/Outputs. Th

© Stäubli 2009 – D28070504A CS8C68 / 248Position readingThe position reading is done with the e00CurrPos analog input. The position is in degrees,

CS8C © Stäubli 2009 – D28070504A69 / 248Chapter 5 - Integration5.2.4. SYSTEM INPUTSThe following inputs are accessible on the VAL3 to detect vari

CS8C © Stäubli 2009 – D28070504A7/ 2487PC UTILITIES7.1 STÄUBLI ROBOTICS STUDIO (SRS). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

© Stäubli 2009 – D28070504A CS8C70 / 2485.3. RS ROBOTSIn the case of RS robots, Inputs/Outputs are available as an option on the forearm using the

CS8C © Stäubli 2009 – D28070504A71 / 248Chapter 5 - Integration5.3.1.1. INSTALLATION OF CAN BOARD IN COMPUTER• Refer to 8.9.2 to remove and open

© Stäubli 2009 – D28070504A CS8C72 / 2485.3.1.2. INSTALLATION OF CABLE• The cable has to be connected to J211 on CS8C computer module and on J1202

CS8C © Stäubli 2009 – D28070504A73 / 248Chapter 5 - Integration5.3.1.6. CONNECTING THE INPUTS/OUTPUTS TO THE TOOL INTERFACE (OPTION)Type of conne

© Stäubli 2009 – D28070504A CS8C74 / 2485.3.1.7. CIO BOARDX11External/internal ASIpower supplyPIN CORRESPONDENCE1 ASI-2 ASI+3cDout04cDout15cDout26

CS8C © Stäubli 2009 – D28070504A75 / 248Chapter 5 - IntegrationX21Characteristics:• Digital inputs:• Nominal voltage: 24 VDC (minimum 20 VDC, max

© Stäubli 2009 – D28070504A CS8C76 / 248Hardware configurationIf the ASI bus is powered via the CIO board, only 4 slaves can be connected.If an ou

CS8C © Stäubli 2009 – D28070504A77 / 248Chapter 5 - IntegrationFigure 5.13Switches

© Stäubli 2009 – D28070504A CS8C78 / 2485.3.1.8. ARMIO BOARDX11PIN CORRESPONDENCE1 cAout 02 cAout 13cDout04cDout15cDout26cDout37cDout48cDout59cDou

CS8C © Stäubli 2009 – D28070504A79 / 248Chapter 5 - IntegrationX21Characteristics:• Digital inputs:• Nominal voltage: 24 VDC (minimum 20 VDC, max

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© Stäubli 2009 – D28070504A CS8C80 / 248• Analog outputs:• Output voltage: 0/+10 V• Resolution: 2,4 mV• Accuracy: 5 %• Response time: 6 msHardware

CS8C © Stäubli 2009 – D28070504A81 / 248Chapter 5 - IntegrationFigure 5.14Switches

© Stäubli 2009 – D28070504A CS8C82 / 2485.3.1.9. CONNECTIONS ON THE TOOL INTERFACEThe user cable is connected on the forearm to X11 and X21 before

CS8C © Stäubli 2009 – D28070504A83 / 248Chapter 5 - Integration5.4. AS-I DIGITAL INPUTS/OUTPUTS (RS ARMS)Note:The AS-I function doesn't exis

© Stäubli 2009 – D28070504A CS8C84 / 2485.5. DIGITAL BIO INPUT/OUTPUT BOARD (OPTIONAL EXTRA)BIO 16I / 16O board descriptionFigure 5.15The kit is

CS8C © Stäubli 2009 – D28070504A85 / 248Chapter 5 - IntegrationCharacteristics of the BIO InputsEach input channel is made up of an input and a c

© Stäubli 2009 – D28070504A CS8C86 / 248Figure 5.16Note: The inputs are numbered from 0 to n on each Input/Output board.IN 0 _ + 3.9k IN 2 _ + 3.

CS8C © Stäubli 2009 – D28070504A87 / 248Chapter 5 - IntegrationCharacteristics of the BIO outputsThe 16 outputs are installed in 4 groups of 4. E

© Stäubli 2009 – D28070504A CS8C88 / 248Figure 5.17Note: The outputs are numbered from 0 to n on each input/output board. OUTRET1 OUT 3 OUTPWR1 O

CS8C © Stäubli 2009 – D28070504A89 / 248Chapter 5 - IntegrationFigure 5.18Figure 5.1911J601J60222434

CS8C © Stäubli 2009 – D28070504A9 / 248Chapter 1 - IntroductionCHAPTER 1INTRODUCTION

© Stäubli 2009 – D28070504A CS8C90 / 248Installation of the BIO option (figures 5.18 and 5.19): • Remove the 4 fastening screws (1) from the RSI b

CS8C © Stäubli 2009 – D28070504A91 / 248Chapter 5 - Integration5.6. FIELD BUS5.6.1. CHARACTERISTICSThere are various types of field bus (DeviceNe

© Stäubli 2009 – D28070504A CS8C92 / 2484) CS8C configuration (ApplicomIO)• Create the XML configuration file (File > Export > items -> X

CS8C © Stäubli 2009 – D28070504A93 / 248Chapter 5 - IntegrationThe ApplicomIO diagnoses are:STATUS DEFINITION0 No anomaly detected. The function

© Stäubli 2009 – D28070504A CS8C94 / 24833 Response time exceededThe equipment does not respond. Check its status and wiring.MODBUS: Equipment con

CS8C © Stäubli 2009 – D28070504A95 / 248Chapter 5 - Integration55 Response time exceeded - Message lostCheck the equipment status.MODBUS: Queuing

© Stäubli 2009 – D28070504A CS8C96 / 2485.7. PROGRAMMABLE LOGIC CONTROLLER (PLC OPTION)The CS8C controller can be programmed using IEC61131-3 stan

CS8C © Stäubli 2009 – D28070504A97 / 248Chapter 5 - IntegrationOverrun errorIf execution of a PLC cycle takes longer than the specified cycle tim

© Stäubli 2009 – D28070504A CS8C98 / 248ConfigurationThe CS8C parameters of the PLC option are:• The name of the digital output to be used for the

CS8C © Stäubli 2009 – D28070504A99 / 248Chapter 5 - IntegrationFigure 5.21• If necessary, update the CS8C emulator inputs and outputs using the