© Stäubli 2009 – D28070504A CS8C212 / 248
8.8.4.3. CASE 3
• Check wiring between STARC J302 and RSI J100. If this error occurs when arm is
powered, pay attention to the correct shielding of this cable.
View of computer card cage:
Figure 8.48
• This error can also be created from external noisy signals coming to the RSI board: E-
Stop lines, I/O signals ...
8.8.4.4. CASE 4
• If it remains on this status, change CPU board.
Note:
Changing a CPU board requires an intervention level 2 or 3 to set up parameters of
the new CPU (level 2 if CPU is preconfigured, level 3 if not).
Problem:
(0) NACK I2C error: Communication problem between the STARC
and RSI boards
Solution:
Problem:
- 5 + pt left flashing Waiting for the "Safety" task to start
Solution:
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