Staubli CS8C User Manual

© Stäubli 2009 – D28070504A CS8C108 / 248
5.10.4. CONFIGURATION OF SYSTEM INPUTS/OUTPUTS
System Inputs/Outputs are configured in the /usr/configs/iomap.cf file. Each CS8C controller is supplied with an
example /usr/configs/iomapExample.cf in which the configurations are commented out. To activate a
configuration, it is necessary to:
• Rename the iomapExample.cf file as iomap.cf
• Remove the "//" comments in front of the key words to be configured and replace the description after
the "=" by the name of an Input/Output. For example: enablePower = usrIn0
• Restart the CS8C
Any configuration errors in the iomap.cf file are listed in the events logger on start-up.
Configuration of system inputs
Certain CS8C functions require a user signal for which the default wiring can be reprogrammed:
When the MCP is replaced by its shorting plug, it is possible to simulate pressing certain keys using inputs:
Key word Description Type Default wiring
estopAcknowledge Acknowledgement of the
emergency stop in manual
mode
Digital input Internal signal concerning
detection of the MCP on its
holder
The emergency stop is acknowledged if this signal is activated when the arm is
powered on.
DANGER:
Current standards require that power must be switched on from outside the cell
after an emergency stop. This digital input must thus be linked to an item of
equipment outside the cell.
enablePower Signal that the system has
been powered on in remote
mode (see chapter 6.6.3)
Digital input No wiring
Key word Description Type
remoteMonitorSpeed Monitor speed selection [0, 100] Analog input
remoteMoveHold Replacement of the Move/Hold button Digital input

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