Staubli CS8C User Manual

CS8C © Stäubli 2009 – D28070504A
147 / 248
Chapter 6 - Operation
6.10.3. DEBUGGING AN APPLICATION
The VAL3 task manager (accessible via the main menu) provides access to a debugging program that supplies
the tools necessary to fine-tune tasks.
To access the debugging program, select a task and press the Dbg key in the pop-up menu. When the debugging
session starts, the task selected is suspended immediately and a display page is opened (see figure 6.19).
In the debugging page, the ">" program pointer(1) shows the next instruction to be carried out.
• The Bpts menu enables you to associate a break point (2) with an instruction, via a window, or to delete a break
point that has already been positioned. The stopping point is shown by the icon opposite the instruction
concerned.
• The menu enables you to add the selected instruction as a comment.
• The Data menu provides access to the variables for the instruction selected.
• The -> menu enables you to move the task pointer (1); this action does not execute any instructions.
• The {} menu activates the step-by-step mode. In this mode, the program is executed as it is shown in the
display (per display line).
• The {} menu activates the detailed step-by-step mode. In this mode, each step is equal to a VAL3 instruction
and the sets of instructions (if, while…) are expanded.
• The Rsm./Sus. menu enables you to suspend and restart execution of the task without exiting the debugging
program.
• The Save menu enables you to save the application.
To exit the debugging page, press the Esc key.
Figure 6.18
2
1

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