Posts by painful_staubli
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I am trying to break the .dtx file which is over 20MB into multiple indices in order to avoid freezing the CS8 while loading the file into the controller to run my programs and it doesn't work. I was able to break .pgx into multiple files but the controller still freezes. I would really appreciate an example or documentation for Staubli application programs. I read the entire Val3 manual and nothing works. Thanks in advance...
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Hello Community!
I am getting the following error on the stable's mcp upon powering on the cs8 controller.
Message <0x007> DRIVE-SensorNotReady: The Starc bus could not communicate with sensor because the bus for axis 1 is not synchronous [SYNCHRO bit]. (Please check Starc-Device Link and power shackes on device).
then we I hit ok and try to power on the arm via the start Botton, I get the following error:
Message <0x4001>
Arm power enable request refused: cabinet working mode is remote or invalid.
It seems like the Start cannot communicate with the Drive Sensors to establish connection and thereby powering up the arm.
the second LED on the Stark board is blinking slow which according to the manual means miscommunication with the DSI. Other LEDs blink normal. I appreciate if you could help.
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I also attached all the IOs available in my CS8 to better resolution.
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Galet, Thank you for your prompt reply. To answer your question, I think I figured the handshake part of the program. however I cannot test the program because I cannot figure out the right physical I/O ports.
In my previous post I mention using BIO, but I figured it requires external power supply to the controller so I canceled this IO option. The sockets seem complicated to include in the program because they are higher level network. I would like to stick to the low-level communication via the controller's dis/dos but as I mentioned above, I cannot figure out which connection to use on the CS8. I would really appreciate if you could point me in the right direction to be able to test the program I have written. I attached a portion of the .pgx file which shows the dis and dio communication below.
//The Portion of Robot1 program:
movej(joints[0], TCP, mdesc0000)
waitEndMove()
dos[1] = false
movel(points[0], TCP, mdesc0000)
waitEndMove()
dos[1] = true
waitEndMove()
wait(dis[0] == true)
waitEndMove()
dos[1] = false
movel(points[1], TCP, mdesc0000)
waitEndMove()
dos[1] = true
waitEndMove()
wait(dis[0] == true)
waitEndMove()
dos[1] = false
movel(points[2], TCP, mdesc0000)
waitEndMove()
dos[1] = true
waitEndMove()
wait(dis[0] == true)
waitEndMove()
dos[1] = false
movel(points[3], TCP, mdesc0000)
waitEndMove()
dos[1] = true
waitEndMove()
wait(dis[0] == true)
waitEndMove()
dos[1] = false
...
//The Portion of Robot2 program:
movej(joints[0], TCP, mdesc0000)
waitEndMove()
dos[0] = false
movel(points[0], TCP, mdesc0000)
waitEndMove()
dos[0] = true
waitEndMove()
wait(dis[1] == true)
waitEndMove()
dos[0] = false
movel(points[1], TCP, mdesc0000)
waitEndMove()
dos[0] = true
waitEndMove()
wait(dis[1] == true)
waitEndMove()
dos[0] = false
movel(points[2], TCP, mdesc0000)
waitEndMove()
dos[0] = true
waitEndMove()
wait(dis[1] == true)
waitEndMove()
dos[0] = false
movel(points[3], TCP, mdesc0000)
waitEndMove()
dos[0] = true
waitEndMove()
wait(dis[1] == true)
waitEndMove()
dos[0] = false
...
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Galet Hope you are doing great! After a lot of reading and investigation for free options, I decided to go with a BIO boards in the RSI. Can you refer a way to create handshake program before the other robot would start moving. Thanks again. a stuck bit won’t send a robot to a location unexpectedly,
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I assume your problem is solved? But if you have not figured it out, make sure your "fuses and circuit breaker" "match the current/voltage settings" to avoid any damages to your arm and circuits.
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Thank you Galet. I appreciate your guide. IS there a way to directly connect the two CS8 via Ethernet J04/J205 without using a PLC? I heard there is a simpler way for direct communication between the two robots arm with a Wait DI and Set DO commands meaning Robot A (Master) will set DO for Robot B (Slave) that will wait for the digital Input from Robot A to move to the next position. They are essentially following the same trajectories but with the dependency of the Robot B to Robot A. Does that make sense for the ease of simplicity? If that works, then please mention the physical connection requirements for the two robots. Right now, I have no additional communication boards other than the stock ones inside each CS8. Thank you very much again.
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I am using Staubli robots and would like to know the Synchronization Logic for the Robot Targets over TCP/Ethernet or other protocols. I would like to create a mechanism for synchronization. This involves one robot reaching a specific target and sending a signal to the other robot to indicate its readiness.
Can you please share an example?
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problem solved by updating val3 to new version
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problem solved by updating val3 to new version
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Galet, can you please provide a backup of the cs8 for me to create a bootable usbkey please? I really need your help.
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Hi There,
I lost access to CS8 controller after transferring val3 firmware to the /sys folder on the CS8. I cannot ping it via a computer anymore and when the power is switched on, the MCP is stuck at the Staubli logo page, and keeps flashing. it doesn't go into the menus whatsoever.
I would like to create a "bootable usbkey" using an .ISO image file of the "system" to reinstall everything in the /sys folder of the staubli cs8. Does anyone have a copy of the files to share please? I am in the middle of a project with tight timeline and really need the community support. Thanks very much for your time spent in advance.
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Galet I lost access to CS8 while I was transferring files to the /sys folder on CS8. I cannot ping it anymore and when the power is switched on, the MCP is stuck at the Staubli logo page, and keeps flashing. it doesn't go into the menus whatsoever. I would like to create a "bootable usbkey" using an .ISO image file of the system to reinstall everything. Do you have access to a copy of the files you could dropbox please?
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bruceboty could you please share the URL to download the files to create an ISO image with Balena Etcher? I got stock with this issue.
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Galet Thanks for your quick reply. Below is my CS8 reading from the MCP:
VAL3: s7.0
Configuration Version: c1.002
Option testMode: enabled
Please let me know if you could kindly dropbox the firmware. Thanks again.
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I created a very basic program for you to see. Link here:
I do not see any error in the program yet the CS8 detects the following error:
00:00 (File Test_000 pgx-Line 2) setPayload’ : undefined function
unless I delete the payload parameters which is the following line in the Test_000.pgx file, the error persists:
setPayload(DefaultTool, DefaultTool_W, DefaultTool_C, Inertia)
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By the way, below the function in .dtx file, I have the following array but am not sure why the .pgx file not reading it. I hope the naming conventions are correct:
<Data name="DefaultFrame" access="private" xsi:type="array" type="frame" size="1">
<Value key="0" x="0" y="0" z="-375" rx="0" ry="0" rz="0" fatherId="world[0]"/>
</Data>
<Data name="dos" access="private" xsi:type="array" type="dio" size="3">
<Value key="0" link="BasicIO-1\%Q0"/>
<Value key="1" link="BasicIO-1\%Q1"/>
<Value key="2" link="BasicIO-1\%Q2"/>
</Data>
<Data name="dis" access="private" xsi:type="array" type="dio" size="3">
<Value key="0" link="BasicIO-1\%I0"/>
<Value key="1" link="BasicIO-1\%I1"/>
<Value key="2" link="BasicIO-1\%I2"/>
</Data>
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