Author Topic: Staubli RX90B with a Staubli CS7B controller  (Read 2363 times)

PDN_Prod

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Staubli RX90B with a Staubli CS7B controller
« on: August 16, 2010, 02:55:14 PM »
Hi,

We have a Staubli RX90B family robot arm with a Staubli CS7B controller at our lab. Some time ago when we were doing some experiments suddenly it stopped taking inputs through the keyboard. Non of us knew much about how the controller works, so I guess we accidentally press or gave a wrong command! However we still could give inputs through the teach pendent and even maneuver the robot arm with it but there was no way to run any programs as there was no way to input data. At that time (about 4 years ago) when we contacted Staubli they asked us to use serial interface with hyper terminal. With that also we could see terminal output but nothing happened with our keyboard input.

Recently I was asked to try and do something to revive it. I used adept windows through the Ethernet mode with controller board jumpers set to no auto boot (only option available when used with adept windows). Then it asks how to boot, whether to boot from internal flash or network drive, but I couldn't do anything as it still doesn't accept any keyboard input even from the adept windows host computer.

Please help us to repair this!

Jim C

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #1 on: August 16, 2010, 07:37:15 PM »
When using the switches on AWC card to force Adept Windows (or terminal, or VGB). It does disable the auto boot. You should be getting a prompt asking for the boot drive. Normally this is 'D' for the hard drive ('C' if an older SIO based system, but Staubli never build a CS7B with SIO), 'B' for the optional floppy, or 'X' for network. I am assuming you are typing in 'D' and it is not working. Hopefully you have a floppy disk, CD, or folder on your PC with a bootable image of V+. If it is on a floppy and you have the optional floppy disk drive, put it in and answer 'B' on boot up. If you don't have an floppy disk drive (it was an option), then you need to do a  network boot. Starting Adept Windows also starts a TFTP server (trival FTP). Answer X on boot up, it will ask for the IP adress of your PC and drive and directory where the bootable image is.

If this does not work or you don't have a bootable image, you will most likely have to contact Staubli service and send the AWC in for diagnose, repair, and to reload V+.

PDN_Prod

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #2 on: August 17, 2010, 05:38:46 AM »
Thanks for the quick reply Jim C and you were right about the prompt for the boot device. We also have a floppy drive but our problem is the AWC does not take any input from the keyboard. When this problem first occurred we thought it is a hardware problem probably in the communication line but since it has persisted for other communications modes (hyper terminal and Adept Windows) we are thinking it is some other firmware problem.

We had a series of email communications with Staubli about 4 years ago on how to use a PC instead of it's own terminal, but at the end there conclusion was to send the AWC board back to them and they'll issue a new board for a discounted price (I think it was about 3000 USD). We are from Sri Lanka and that much is way out of our budget. So isn't there any other way to diagnose it or to reload V+ by our selves?

Offline Ztek

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #3 on: August 17, 2010, 06:53:15 AM »
It sounds like a Staubli CS7B is a lot lika a Adept MW controller. Can you tell us what cards you have in it and I will try to give you a idea how to boot your system.
The three status leds of the AWC, how are they lit after bootup?

Jim C

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #4 on: August 17, 2010, 03:06:27 PM »
Rapid,

  The original CS7, some times call the CS7A, use an Adept MV8, MV16, MV5, or MV10 depending on the year and the options. They had 030 or 040 CPU card, SIO card, and VMI or MI6 cards plus a Staubli made ACB calibraiton card. The CS7B used a AWC card, and a MI6 or MI6E card, but with a third party back plane and power supply instead of a MV rack. There were also many optional cards for both controllers.

PND

   The LEDs might help tell what the problem is, but it sounds like a firmware or even hard issue with AWC card. It does not sound like a V+ issue. In any case you have to be able to get past the drive letter screen to reinstall V+.

PDN_Prod

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #5 on: August 18, 2010, 04:41:38 AM »
this is the status of the Status LED's under CPU#1, Normal Operation (SW1,2,3 and 4 are in off position)

after power on
1. All 3 Green LED's are ON and RED LED's are blinking
2. after few seconds 3rd Green LED (HD/LAN) and Red LED's go Off
3. again after few seconds 2nd Green LED(ES/HPE) go off

 finally SK/OK  Green LED stay ON

Juggernaut

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #6 on: August 18, 2010, 07:18:33 AM »
Sounds like you don't have a working OS on the controller that boots.  Led sequence sounds normal to me. Network boot is one way to go. It's painful to do though. See the documentation. 

Offline klausi

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #7 on: September 02, 2010, 02:36:31 PM »
Hi,

Have you tried setting the SW1 DIP switches to have auto boot. You could thus temporarely forget your keyboard problem.

I mean:
If you can see the DDT window, you know the current IP address of the controller.
Depending on the SW1 Dip switches setting, this is either the IP address configured in NVRAM or default IP address (do you know how to get this default address ?)

if you are lucky, NVRAM is configured to use AdeptWindows as user interface and you would reach the monitor window.

BTW: are you sure your keyboard is working  :icon_smile: ?


PDN_Prod

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #8 on: September 02, 2010, 04:58:38 PM »
Hi Klaus,

As I said it is not problem of the keyboard nor the communication line. Otherwise how could it persist even for Adept Windows. So it might be a configuration problem.

When we boot with auto boot it boots and the terminal gets to the typical dot prompt. We can even manipulate the robot arm with the teach pendent however no program could be run as the keyboard inputs are not accepted. And in auto-boot mode Adept Windows doesn't find the controller in the network. I guess thats why they have a special start-up mode for Adept Windows.

Offline klausi

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Re: Staubli RX90B with a Staubli CS7B controller
« Reply #9 on: September 08, 2010, 02:00:34 PM »
Hello,

Well, regarding the serial line, one could imagine that the RS232 labeled TERM on the AWC board is damaged (probably only the Rx line since you can see on the screen what is output from controller)
- Have you double checked the cable between your terminal and the SUB25 connector on your CS7B. ?
May be the cable inside the CS7B between mini-din on AWC and front plate is damaged,or more probably a wire inside this mini-din is defect.
One idea could be to build your one serial cable (mini din on one end , subd 9 on the other end)
By the Way what kind of terminal do you have ?

Now regarding the same problem with adept windows, this is very difficult to understand that you can see the DDT window (black backgrounded, with yellow colored text) but cannot type in any character. This is something I have not faced yet.
Do you have special keyboard in sri lanka, I mean like the chinese or jananese have ?
If this is the case, you must use an english/american configured keyboard to make sure a "Y" is sent  when you press the Y key.

Have you tried to press only the Return/Enter key to answer the question "from which drive do you want to boot (B/D or X ?)

To finish, I'm going to ask you a very basic question so don't take it the wrong way,
When using adeptWindows on your PC , have you disconnected any computer/terminal from the serial line ? And do you use the keyboard of your Pc or the one from the terminal ?

Best regards