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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:

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 User Manual

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