Staubli CS8C User Manual

CS8C © Stäubli 2009 – D28070504A
67 / 248
Chapter 5 - Integration
Note:
Each encoder has a corresponding set of digital and analog Inputs/Outputs. The name of these
Inputs/Outputs is the same for all encoders except for the first and second digits that represent
respectively the digit of the optional board (0 to 2) and the digit of the encoder on the board (0 or
1):
e01LatchSig is the latch signal of the second encoder input on the first optional board.
Note:
In this chapter, the Inputs/Outputs names are given for the first encoder input on the first board.
Figure. 5.9
Recovery (preset)
Encoder recovery is used to define the zero position of the joint connected to the encoder. It is necessary to begin
by configuring the encoder resolution using the e00Counts analog output (in encoder points per rotation, coded
on an unsigned 16-bit integer). The resolution is saved by the system (encoder.cfx file).
Note:
When the encoder has moved by more than one turn, the system is able to detect its resolution
that is then written to the e00CountsMes analog input.
Note:
There are 4 pulses per encoder point. A 1024-point (or "counts") encoder thus has a resolution of
4096 pulses per rotation.
Recovery procedure (preset)
:
• Stop the encoder at a reference position defined by the application.
• Write the current encoder position in the e00PrstPos output (Preset position: signed 32-bit integer).
• Activate the e00EnPrst (Enable preset) output.
The current position e00CurrPos (Current position) then takes the value e00PrstPos, and the e00EnPrst
Input/Output is deactivated.
The recovery sequence is not saved by the system; it is necessary to repeat it each time the controller is powered
up.
lanretxE
1
r
e
doc
n
e
d
raob ZBA la
uD
doc
x-
k1
k1
021
doc
*x-
DNG
V5
023J
DBUS
-
F52
1redoC
-
A
1redoC
-
A
*
1redoC
B-
1redoC
-
*B
1redoC
Z
-
1
r
ed
oC
*Z-
DNG
1redoC
-
V5
023J
-
3
1
0
2
3
J
-
2
1
023J
-
11
02
3
J
-
01
02
3
J
9-
0
23
J
8-
023J
-
42
023J
-
52
2red
o
C
-
A
2re
do
C
-
A
*
2red
o
C
B
-
2redoC
-
*B
2red
o
C
Z
-
2redoC
*Z-
DNG
2redo
C
-
V5
0
2
3J
7-
02
3
J
6-
02
3J
5
-
02
3
J
4-
023
J
3
-
023J
2-
023J
-
51
0
2
3J
-
41
1 redocnE hctaL
023J
-
12
DNG
023J
-
02
V5
DNG
-L
1DOC
1F
Am052
stupni redocnE
V5
D
NG
-L
2DOC
2
F
m052
A
2 red
o
c
n
E hc
t
aL02
3J
-
9
1
DNG023J
-
81
la
nretxE
2
r
e
doc
n
e
D
NG
x redocnE hctaL
D
NG
DN
G
V4
2
ot 21
DNG
V42 ot 21

Staubli CS8C Specifications

General

Brand	Staubli
Model	CS8C
Category	Controller
Language	English