Stäubli RX90 with CS7M not working

[eriked]

Hi again :)

We have some new problems.

When my colleague manouvered the robot using the pendant he had to shut down power at one point. Now after we type the command 'do ready' the robot arm joint 4 is no longered aligned with its mark.

We've tried to use the resetting procedure mentioned in the controller manual. But we can't find the program SPEC.V2 and we don't have the 'Adept Utility disk'. Is there any other way to solve this?

We also seem to have a problem storing programs. If we make a program using the line editor and finish but typing e and (return). The program is saved in the system memory. But if we then store it by typing 'STORE programname' the M-symbol disappears but the program is still gone after a boot-up.

Any thoughts on this would be much appreciated. V+ is of version 12

[Jim C]

First, for joint 4 not going to ready. Jog or brake release joint 4 and move it to the ready position. Power the controller down and back on. Does it calibrate correctly and move to the correct ready position?

There should be a C:\util\ folder with the Adept Utilities. If it is not there you need to contact your local Staubli office. They will want the serial number (machine number) of the controller, arm, and the V+ version number including the edit value.

on boot up there will not be anything loaded unless you have set up an auto.v2 autostart command file in the root and turned dip switch on the sio back to on. Otherwise you will have to load your application each time you boot the controller. The FDIR instruction will give you a list of files in the current folder. You can use it after doing STORE to confirm the file was saved and before LOAD to confirm the file you want to load is still there. With STORE V+ will not overwrite an existing file. Before you can save a new version you need to either use FRENAME to change the name of the existing file or FDELETE to delete it.

While the EDIT line editor does work, most people use the SEE editor instead. Type in SEE progname. If it exists it is opened for editing, if not you will be ask if you want to create a new program. The SEE editor start out in command mode. Press 'i' to change to the insert mode for editing. When done either press F4 to exit or press escape to return the command mode and then press e to exit.

[eriked]

Hi. Thanks. We succeeded with the calibration.

We have a new question though :)

We have our robot connected to a pc (running a terminal emulator, HyperTerminal) on the 030 board's second serial port. We can transfer files with the help of the program Xmodem using the serial ports on the SIO board. But then we have to switch the cable every time we send a file (which is possible but annoying).

So our question is: Is it possible to transfer files on the same port as the terminal (030 serial port 2)? And if so how do we do it? We looked at the program Config_C but there all the serial ports seemed to have the same settings.

[Jim C]

sorry, but serial ports are not designed to be shared. IN hte past I would have suggested getting a VGB board and using a monitor for the user interface or getting a 040 CPU and NET card and using ethernet for the files, but it would be hard to find either today.