Staubli CS8C User Manual

© Stäubli 2009 – D28070504A CS8C106 / 248
5.10.2. CONFIGURATION OF THE ARM CHARACTERISTICS
The arm characteristics are displayed in the Control Panel. The serial number of the arm is displayed with the list
of installed software and hardware versions. This list also details the "Arm" version that shows:
• The arm type with its mechanical version, such as TX90-S1.
• The arm tuning version, such as R2.
• The arm mounting (floor / wall or ceiling).
• Possibly arm mechanical options.
The controller is delivered with the configuration of the arm delivered with it. If another arm is attached to the
controller, the arm characteristics, defined in the /usr/configs/arm.cfx configuration file, should be updated: This
can be done with the "Exp." export and "Imp." import buttons from the calibration menu.
If some arm characteristics must be updated, you need to edit the arm configuration file /usr/configs/arm.cfx that
is exported with the "Exp." export button from the calibration menu.
Arm mounting configuration
The arm mounting configuration is used by the controller for gravity compensation. It can be updated by changing
the value of the "mount" parameter in the arm.cfx file:
<String name="mount" value="floor" />
The value can be set to "floor" (floor mounting), "ceiling" (ceiling mounting), or "wall" (any mounting). When the
wall mounting is defined, the controller uses the gravity vector configured in the /usr/configs/cell.cfx file, and
displayed in history utility at boot time.
CAUTION:
• For a wall mouting, the coordinates of the gravity vector in World must be correct !
• Default value (gravity along the X direction of World) may not fit the reality !
• Ceiling and wall mounting are not possible for all models of arm. Refer to robot arm
documentation.

Staubli CS8C Specifications

General

Number of Axes	Up to 6
Programming Language	VAL3
Protection Class	IP 54
Humidity	5 to 95% non-condensing
Compatible Robots	Staubli robots
Communication Interfaces	Ethernet, Serial, Fieldbus
Safety	Safety PLC integration
Operating Temperature	0 to 45°C
Storage Temperature	-20°C to 60°C

Summary

Chapter 2 Description of the Controller

2.1. IDENTIFICATION

2.2. LOCATION AND DESCRIPTION OF THE MAIN COMPONENTS

Describes the CS8C controller, including processor, power amplifiers, and safety boards.

Chapter 3 Safety

3.1. REMINDER CONCERNING THE SAFETY STANDARDS

Outlines safety standards applicable to robots and robot cells, emphasizing compliance and training.

3.2. SAFETY DIRECTIVES CONCERNING TO THE WORK ENVIRONMENT

Covers safety considerations for the robot cell environment and work area.

3.3. SAFETY DIRECTIVES CONCERNING TO STAFF PROTECTION

Addresses mechanical and electrical dangers, and safety measures for personnel.

3.4. SAFETY DIRECTIVES CONCERNING TO PROTECTION OF THE EQUIPMENT

Chapter 4 Installation

4.1. ROBOTIZED CELL ENVIRONMENT

4.2. ON-SITE PREPARATION

Covers electrical and pneumatic network requirements, work environment, and controller mounting.

4.6. CONNECTIONS

Covers connections to the mains power supply, arm, and signals, including cable management.

Chapter 5 Integration

5.1. EMERGENCY AND SAFETY STOP CHANNELS

Describes the composition and connection of emergency and safety stop channels.

5.2. BASIC INPUTS/OUTPUTS

5.7. PROGRAMMABLE LOGIC CONTROLLER (PLC OPTION)

Details PLC option installation, operation, programming, and debugging.

5.8. ETHERNET LINK

5.10. SOFTWARE CONFIGURATIONS

Chapter 6 Operation

6.1. POWERING UP THE CONTROLLER

Provides instructions on how to safely power up the controller.

6.2. PRESENTATION OF THE MCP

Details the general presentation, control keys, and display of the Manual Control Pendant (MCP).

6.3. ARM POWER-UP

Explains the procedure for powering up the robot arm safely.

6.4. EMERGENCY STOP

Describes the emergency stop function and the procedure to restore power.

6.5. CALIBRATION, ADJUSTMENT, RECOVERY

Covers definitions, recovery procedures, and adjustment procedures for arm calibration.

6.6. WORKING MODES

6.7. JOG INTERFACE

Explains the jog interface for manual control, movement modes, and point teaching.

6.8. STARTING AN APPLICATION

6.9. STOPPING MOVEMENTS

6.10. VAL3 APPLICATION MANAGER

Chapter 8 MAINTENANCE

8.3. COMPONENT LOCATION

8.4. SAFETY

Reiterates safety precautions, including disconnecting power and handling components.

8.5. INPUT VOLTAGE

8.6. ARPS AUXILIARY ROBOT POWER SUPPLY

8.7. RPS POWER SUPPLY

8.8. RSI

8.9. STARC BOARD