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• If you have replaced a motor or an encoder, the maintenance procedure you followed should have updated the

offsets on the motor encoder and in the arm.cfx file. The recovery menu thus invites you to repeat the procedure

to deal with the problem.

• If you have not changed anything on the arm or the controller, the problem may be due to a faulty motor encoder

(data loss) or a corrupt arm.cfx file on the controller. Check the contents of the arm.cfx file ("Exp" Export menu

in the recovery application) and compare it with the original file. If it is corrupt, restore it from a backup, or using

the recovery menu to simulate an arm replacement. If the file is correct, the fault may be the motor encoder,

which can be reprogrammed using the recovery menu.

6.5.3. ADJUSTMENT PROCEDURE

Before adjusting one or more joints on the robot, it is necessary to set the joints to a reference position beforehand,

with the highest possible level of precision. The exact coordinates of the reference position must be determined

in advance.

Sequence of operations:

• Select the reference position (press Return and then use the arrows).

• If the reference position has not been entered beforehand ("Here" menu), it is possible to enter its coordinates

manually ("Edit" menu).

• Use the arrows to select the desired joint.

• Press 'Adj.' to carry out the adjustment process.

• Check that the arm has been reset correctly by moving to a known point at low speed.

Once the axis has been reset, you will be asked to save the new adjustment offsets for the arm on an external

device.

You can reset all 6axis at the same time by using the arrows to select the reference position instead of a joint.

CAUTION:

The arm.cfx file contains other specific data for the arm (modified software limits, factory

marks, user marks) that are not updated during this operation. When replacing an arm, it is

preferable to recover the arm.cfx file for the new arm and install it on the controller ("Imp"

Import menu for the calibration application).

CAUTION:

The motor phase offsets for the encoders are critical, and if incorrect they can make a motor

uncontrollable. Never update an encoder if you are not sure of the data.

Staubli CS8C User Manual

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