Problem with setting up Stäubli CS8 with RX60B - L

  • Hello everyone,

    we are having a problem with setting up Stäubli CS8 controller with RX60B-L arm,

    our company bought the arm and controller several years ago, and only now we have an actual use for it and we are trying to set it up.

    There was a few problems that I had dealt with,

    firstly a discharged battery, which was no problem to replace, secondly the connector at the working mode selector was damaged also an easy fix.

    But I am not able to power-up the arm. When I try to power up the arm, the controller refuses: Arm power enable request refused: cabinet working mode is remote or invalid.

    Also after a start up there's an error message: Internall error on fieldbus Board=1 Equipment=0 Channel=0 Status=33


    How do I fix this problem ? Can there still be problem in the wms box ?

    Best regards

    qoi2FqW

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  • Lemster68

    Approved the thread.
  • Quote

    Also after a start up there's an error message: Internall error on fieldbus Board=1 Equipment=0 Channel=0 Status=33

    This really could be anything, depending on the fieldbus card that is present on the controller. If it is for example profibus it could simply mean that the peripherals are not connected or not configured properly/equally on both ends.


    Quote

    Arm power enable request refused: cabinet working mode is remote or invalid.

    Well, since you have Working Mode Selector (WMS), check if it is in a proper position. It needs to be in a position where it is showing a human hand if you want to power up arm for test.

  • Thanks for the response,

    I have the WMS in the hand position, i understood that I need to select the working mode on the WMS, to power up the arm, for testing. But from my understanding the status for the working mode lights on the teach pendant should corespondingly light up with what's selected on the WMS box. But in my case the status leds of the working mode on the teach pendant are not glowing at all, no matter what working mode I select on the WMS box.


    Another problem: In the event logger there are six errors:

    Internal error DRIVE-NoDriveConfiguration 1
    Internal error DRIVE-NoDriveConfiguration 2

    Internal error DRIVE-NoDriveConfiguration 3

    Internal error DRIVE-NoDriveConfiguration 4

    Internal error DRIVE-NoDriveConfiguration 5

    Internal error DRIVE-NoDriveConfiguration 6


    Which i guess collerate to the axis drivers, Is it possible to restore the configurations or something?

    I already restored the positions in the callibration menu, but that didn't fix the problem.

  • Quote

    I have the WMS in the hand position, i understood that I need to select the working mode on the WMS, to power up the arm, for testing. But from my understanding the status for the working mode lights on the teach pendant should corespondingly light up with what's selected on the WMS box. But in my case the status leds of the working mode on the teach pendant are not glowing at all, no matter what working mode I select on the WMS box.


    In my experience this just means that the WMS is not wired properly. If that is not the case you unfortunately have to contact Staubli. Good luck!

  • So I came up with a solution:

    Firtsly I connected to the robot filesystem using FTP

    Secondly I uploaded the arm.cfx from CD to the usr/configuration folder

    In the arm.cfx there were no information about the order number and arm type

    Finally after a restart of the CS8 controller the Drive errors dissapeared and the hand symbol lighted up on the teach pendant accordingly to the WMS box selected mode.

    I'll test if it is possible to move the arm and after that I'll close the thread.

    Thanks for help.


    Photo of the arm.cfx file (There were not set values of orderNumber and arm type)

    r6m8W.png

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