TX60 Swap

Controller and arm are paired.

So, files like config\arm.cfx (that contains caibration data) will not be accorded to the new arm.

Personnaly, if I had to do that :

1. Backup of both controller,

2. Image of the CF card of both controller,

3. Swap robot's arm,

4. Reboot controller and check if message appears.

Calibration, maintenance and service procedures are not easily available, as Staubli asks you to have a training with them to be able to do it yourself... So it is difficult to find manual on these subjects.

Well if the exact same robot I believe you don't need to change the controller .cfx or .zfx configuration files.

These files store all the relevant information according to the robot model. Same as Fanuc, if you load an image backup from one controller to one with a different robot, you no longer have straight lines

As soon as you connect the new robot it should pop up a message telling you that the current controller data for the calibration "its zero position encoder reading" is different from the one present on the starc board on the robot's base.

This is true because the new robot will have a totally new encoder reading for its zero position.

I believe there is an option to accept either the controller data, the robot's starc board data or to recalibrate.

My suggestion is to accept the robot data because you have in fact swapped the robot.

After that, just make a quick check of the robot's position...

Again, I have never done it, but I have seen those pop-ups every time you connect a different robot to a controller.

Let me dig a bit more into my notes...

Quote from stare284

Yeah the issue with not giving out any sort of service manuals is frustrating. They sent me their "manuals" last week but they really don't offer much help or guidance.

If I had the option I would replace these Staubli robots immediately.

Bigger problem is that the company that built this piece of automation is no long in business so we have ZERO support and things are starting to fail more frequently.

Service and help are very important in the choise of company and material !!

Can you give us more information about your geographic location ?

It is very easy to replace robot arm of the same series like tx60 to tx60:

1. Power Down CS8C

2. Disconnect old arm, connect new arm.

3. Power up CS8C - it will give you some message about phasing not right.

4. On Teach pendant Main menu: Go to : Calibration: and press/choose "rec" - (recovery option)

It would ask you if you connect new arm and want to copy data from arm to controller - Choose "YES"

5. If everything go smooth - that is all you need to do. If you have any other problem - let me know.

I did that procedure many times.

P.S. first you need to change user in the profile (controller settings: user) to "maintenance" - password available online - do a little search.

I do like Staubli robots - I saw some with 131K + nonstop hours and still running

Replacing motor in the arm is much more complicated procedure. I would recommend company that can do it on budget: vgastore.com