Search V+ operating system for CS7 controller

  • Hi,


    I'am Mars from east of France near to switzerland.
    I just recover a Staubli RX90 arm, controller is a CS7, this controller doesn't start, hard disk seems to be erased. Can somebody send me contained of each floppy of corresponding V+ operating system.


    Many thanks. :help: :help:

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  • Hi Mars, did you figure this out? I may be able to help if you have not.


    For anyone else with this problem:


    1. get a usb 3.5" floppy disk drive

    2. have me send you v+ software

    3. Use winimage to write the system to floppy (V+ system is not a windows compatible format) *Inject a spec file for an Rx60 if it isn't already on the system.

    4. Copy my utility programs folder to a second floppy disk.

    5. Boot the system with the system disk.

    6. Insert utility disk. Type fdir to see files and folders. Type cd XXXX (XXXX is the directory name.)

    Type cd/ to revert to the previous directory or root directory.

    7. Type "load a:\util\config_c" (or maybe just "load a:\config_c)"

    8. Type "ex 1 a.config_c"

    9. Use config c to load and select the Rx60 specification.

    10. Press "0" to close config_c

    11. Type "load a:\util\spec" or "load a:\spec"

    12. Use spec to calibrate your robot. I can talk more about this later if you need help, but need to get back to work now.


    You can also do it from the command prompt once the v+ software understands you are using an Rx60. Provided it has not been modified in any funny ways, you should be able to turn the power on, use the brake release button at the base of the robot to move the 4 larger joints, and align them with their calibration marks.


    Don't worry about joints 5 & 6 now.


    Then type "en_po".


    Provided all of your safety system stuff is sorted out, power will enable. If not, that's a whole other problem I can help with later.


    If you can get power to enable, type "cal"


    If all goes well your robot will calibrate.


    Next, type speed 5.


    Make sure the robot is secured to a strong base and keep clear.


    Type "do drive 1,10,10"

    Or you could try 2,10,10

    Or "do ready"

    Or create a location: "here a" (enter, enter)

    Create a second location "here b" (change one of the cartesian variables - so maybe you change 0,0,0 to 20,0,0.)


    Type "do moves b" The robot should move to location b.

    Type "do moves a" The robot should move back to the place it came from.

    If you want to automate this in a program, type "see rx60move" (or see - whatever name)

    Press the "i" key to allow program editing.

    Type " moves a

    moves b

    moves a

    do ready"


    Press F4 key to save and exit.


    Type "ex rx90move" and the program should create those movements.


    Keep speeds low and be careful. Good luck! Some of these systems have a lot of safety equipment that might need to be bypassed before enabling power. Also, hard drives, floppy drives, and NVRAM chips tend to die or lose batteries.


    All of those things can be resolved, but it helps to know some tricks. Let me know if you need any assistance.


    Happy roboting!


    David


    Best,


    David

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