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CS8C
© Stäubli 2009 –
D28070504A
31 / 248
Chapter 3 - Safety
1
2
...
26
27
28
29
30
31
32
33
34
35
36
...
247
248
CS8C Controller
1
TABLE OF CONTENTS
3
1 INTRODUCTION
3
3 SAFETY
3
4 INSTALLATION
3
5 INTEGRATION
5
6 OPERATION
5
7PC UTILITIES
7
8 MAINTENANCE
7
CONTROLLER
7
CHAPTER 1
9
INTRODUCTION
9
1.1. FOREWORD
11
13 / 248
13
CHAPTER 2
15
DESCRIPTION OF THE CONTROLLER
15
2.1. IDENTIFICATION
17
2.2.1. THE CONTROLLER
18
2.2.2. THE MCP
19
2.2.3. WMS FRONT PANEL
19
CHAPTER 3
21
Chapter 3 - Safety
23
3.4.1. CONNECTIONS
28
31 / 248
31
CHAPTER 4
33
INSTALLATION
33
4.1.1. POSITIVE SAFETY
35
4.1.2. POWER SOURCES
35
4.2. ON-SITE PREPARATION
36
4.2.1. ELECTRICAL NETWORK
36
4.2.2. PNEUMATIC NETWORK
37
4.2.3. WORK ENVIRONMENT
37
39 / 248
39
4.2.4.2. CS8C FOR RX160 ARM
39
Figure 4.2
39
Detail: A
39
Scale: 1:1
39
4.2.5. AIR CIRCULATION
40
4.2.6. ACCESSIBILITY
40
4.3. UNPACKING AND HANDLING
41
4.3.2. HANDLING OF PACKING
41
THE CONTROLLER
41
4.4. FIXING THE MCP
42
4.4.1. CHARACTERISTICS
42
43 / 248
43
Holder measurements:
43
Figure 4.5
43
4.5. FIXING THE WMS
44
90 * 50
45
4.6. CONNECTIONS
46
1 98 7 6
47
4.6.3. CONNECTING THE SIGNALS
49
Chapter 4 - Installation
51
CHAPTER 5
53
INTEGRATION
53
57 / 248
57
Emergency stop channels
57
Figure 5.1
57
Figure 5.2
58
59 / 248
59
Figure 5.3
59
Figure 5.4
60
5.1.2. CONNECTION WITH CELL
61
5.2. BASIC INPUTS/OUTPUTS
62
5.2.1. USER-IN INPUTS
62
5.2.3. ENCODER INPUT
66
2 32*360*4*e00Counts
68
5.2.4. SYSTEM INPUTS
69
5.3. RS ROBOTS
70
LED1LED2LED3
74
1234567891011121314
75
77 / 248
77
Figure 5.13
77
Switches
77
81 / 248
81
Figure 5.14
81
89 / 248
89
Figure 5.18
89
Figure 5.19
89
5.6. FIELD BUS
91
5.6.1. CHARACTERISTICS
91
5.6.2. CONFIGURATION
91
5.6.3. DIAGNOSIS
92
5.7.1. INSTALLATION
96
5.7.3. PLC PROGRAMMING IN SRS
98
5.8. ETHERNET LINK
101
5.8.1. CONFIGURATION
101
5.8.2. FTP PROTOCOL
101
5.8.3. MODBUS TCP PROTOCOL
101
5.8.4. ETHERNET SOCKETS (TCP)
103
5.9. SERIAL PORT
104
5.10. SOFTWARE CONFIGURATIONS
105
, user marks)
107
Chapter 5 - Integration
109
111 / 248
111
CHAPTER 6
113
OPERATION
113
Chapter 6 - Operation
115
6.2. PRESENTATION OF THE MCP
116
6.2.1. GENERAL PRESENTATION
116
6.2.2. CONTROL KEYS
120
6.2.4. NAVIGATION KEYS
121
(2) (3)(4)(5) (6)
123
6.3. ARM POWER-UP
125
6.4. EMERGENCY STOP
126
This is done in the recovery
127
6.5.3. ADJUSTMENT PROCEDURE
128
6.6. WORKING MODES
129
6.6.1. MANUAL MODE
129
6.6.2. LOCAL MODE
129
6.6.3. REMOTE MODE
130
6.7. JOG INTERFACE
131
6.7.1. PRESENTATION
131
6.8. STARTING AN APPLICATION
138
6.9. STOPPING MOVEMENTS
140
6.10.4. METHODS FOR DIAGNOSIS
148
6.11. TEACHING FRAMES
150
6.12. TEACHING POINTS
151
6.14. CONTROLLER BACKUP
152
153 / 248
153
CHAPTER 7
155
PC UTILITIES
155
7.1.1. INSTALLATION
157
7.1.2. FUNCTIONALITIES
157
7.2. FTP ACCESS FROM A PC
158
7.2.1. FTP CLIENT
158
7.2.3. FUNCTIONS VIA FTP
158
7.3. FTP ACCESS TO A PC
159
7.3.1. INSTALLING CESAR FTP
160
161 / 248
161
CHAPTER 8
163
MAINTENANCE
163
Chapter 8 - Maintenance
165
8.2. GLOSSARY
166
8.3. COMPONENT LOCATION
167
8.4. SAFETY
168
8.5. INPUT VOLTAGE
169
8.5.1. DESCRIPTION
169
8.5.2. ACCESS
170
8.5.3. TROUBLE SHOOTING
171
Figure 8.9
174
Figure 8.10
174
8.6.1. DESCRIPTION
176
8.6.2. ACCESS
177
8.6.3. TEST POINTS
177
8.6.4. TROUBLE SHOOTING
178
181 / 248
181
Figure 8.17
181
Figure 8.18
181
Figure 8.19
181
Figure 8.22
184
8.6.5. ALIM_OK SIGNAL
187
8.6.5.4. ADVANCED INFORMATION
188
Figure 8.26
188
8.6.6. SECTEUR_OK SIGNAL
189
8.6.6.4. ADVANCED INFORMATION
190
Figure 8.28
190
8.6.7. BRK_x SIGNALS
191
Output from ARPS to
193
Output from RSI to ARPS
193
8.7. RPS POWER SUPPLY
194
8.7.1. DESCRIPTION
194
8.7.2. ACCESS
194
Figure 8.34
196
8.7.3. TROUBLE SHOOTING
199
8.8. RSI
203
8.8.1. DESCRIPTION
203
8.8.2. ACCESS
204
8.8.3. TROUBLE SHOOTING
204
External 24V
207
Internal
218
External 24 VDC for E
218
Stop lines
218
8.9. STARC BOARD
232
8.9.1. DESCRIPTION
232
8.9.2. ACCESS
232
8.9.3. TROUBLE SHOOTING
234
8.10. PREVENTIVE MAINTENANCE
242
8.10.1. VENTILATION
242
243 / 248
243
APPENDIX
245
APPENDIX 1
247
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