Posts by stare284

Quote from chereandy

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

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Thanks

Quote from SD-Matic

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.

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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.

Hello,

If I were to buy a used TX60 robot to have as a spare, could I swap it out with the one on the machine if it fails to get production up and running quickly while I work on the broken robot offline? Just the robot, not the controller.

If so are there any special procedures that need to be done or do I just have to line up all the marks to set the joints at 0 when I swap them out?

We had a J4 motor fail last week on Monday and never got the replacement motor in and installed until Friday. Lots of lost time.

VERY new to the Staubli line of robots. Worked with Fanuc robots for 16 years.

3C

I need to write a value to register 60 from an AB controller.

I have done this a few times before but I cannot remember how I figured out the Attribute in the AB Message Control.

I know it's HEX but can someone please tell me what attribute is needed for Register 60?

I this it is 46 maybe?

(25 is register 37 from the last time I have done this)

I would check the connection at the pulsecoder and if that seems fine then I would replace the Pulsecoder.

The J4 motor will have a label on the cables with the number 4 on them which should make it easy to find. Not sure which model robot you have.

Menu---IO---Interconnect

You may need to use the ADJ_OFS program.

I see this when another program is running that doesn't have the header set to BUSY LAMP=OFF.

Main is being called by the start signal using RSR or PNS would be my guess.

In what coordinate system are you trying to move the robot?

7.4.3 Position Register Object (0x7B, 0x7C, 0x7D, 0x7E)

Located in the Ethernet/IP Setup and Operations Manual

You need to put it at the end as well.

I would go with a Model A Rack with one input card and one output card. That way you can use the CNC power source for the cards.

That would depend on which IO communication protocol you need to use.

Ethernet IP, Profinus, Devicenet, wired...???

If you want to make it a clone then just do a restore of the image.

Proper master/calibration of the robot after a motor change will not require any adjustments, depending on accuracy of master/calibration and process needs.

Only full proof way is to use the mastering jig.

I never got it to work to be honest.

Yes, use copy and paste.

EDCMD---COPY/CUT---SELECT----COPY

Then EDCMD----COPY/CUT----PASTE

Verify that UI 2 is staying on all the time.