CS9: Safety cell+, safe zone, activation referencing: safe referencing required but not defined

    Hello everyone,

    I am currently starting to work with a STAUBLI robot type TX2-160, CS9 controller, I am not too familiar with the val3 language, I need to create a forbidden limit zone for the robot, for this I have configured everything through the safe cell+ license, I have created the two reference positions, the referencing sensor (input from PLC), the volume or the forbidden zone for the robot and the rest of the necessary settings. I did not type any code on val3 for this referencing subject, when I transfer this configuration, on SP2 a safety message is displayed: safe referencing required but not defined. You have to go to safereference 1 and make the reference (I have an SS1 stop for this).

    My question / request: can you please tell me if I need code or a small program to do for this: if yes so can someone help me on this, knowing that I have a simple main program that runs on the robot and that allows to make a simple trajectory.

    Thanks in advance.

    If you check the value returned from getSafeRefStatus(), it should let you know what action is required next to progress the safe referencing process. The safe reference involves moving to both the two reference positions. The TCP should trigger a sensor connected to Rsi9IO\isafePos at each position, and the arm power should be switched OFF (~3 seconds) & ON again at each position. When getSafeRefStatus() == 0, it has complete.

    I believe Staubli provide a sample program for safe referencing on their tech support portal. In case you can't find it - here is one that I have used before: https://we.tl/t-67oLsU9G4A

    Edited 2 times, last by warobots (December 4, 2024 at 4:05 PM).

    • New

    Based on your safety configuration you may need to have a maintenance jumper to manually jog the robot to the reference locations after the initial safety is pushed to the safety plc. You can configure the robot to be maneuverable while in manual mode (i.e. without the maintenance jumper) however, and ultimately, you would want to have your program detect that the safety is within the warning window so the robot can programmatically make the sensor.


    Staubli has a starting point on mystaubli. If you need any further help please don't hesitate to reach out.

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