STAUBLI

This section introduces the process of loading the robot master-control program onto a STAUBLI robot.

Check Hardware and Software Versions

  • Robot system version: no requirement

  • Controller series: CS8 or CS9

  • Mech-Mind Software Suite version: 1.6.0 or above

Note

Account password:

  • default: empty.

  • maintenance: spec_cal.

  • staubli: The password is not open to the public.

Set up the Network Connection

Connect the Hardware

Connect the hardware as shown in the following figure. Connect ① to the IO board, and ② to the IPC.

../../../_images/handware_connection.png

Set the IP Address

Set the IP address to the one in the following figure.

../../../_images/set_ip2.png

Load the Program Files to the Robot

Obtain the Program Files

The program files are stored in the XXXX/Mech-Center-xxx/Robot_Server/Robot_FullControl/staubli folder of the Mech-Mind Software Suite’s installation directory.

Prepare for Loading Program Files

Set IO before copying the program files. On the teach pendant, find the IO board and view its number.

../../../_images/begin_to_load_2.png

The standard etherCAT IO board from STAUBLI provides four DOs (exDO) and eight DIs (exDI). You can set the IO by modifying the mm_control.dtx file in the mm_control folder. Change the “Digital_I/O” string to “Term_1_(D24403000)” as shown in the following figure.

../../../_images/begin_to_load_3.png

Load the Program Files

You can copy the program files to the robot via FTP. Before copying them, make sure that the IP addresses of the IPC and the robot are in the same subnet, and you can ping the robot from the IPC successfully. In addition, make sure that the FTP service has been enabled on the IPC.

../../../_images/begin_to_load_4.png

Then, perform the following steps:

Reboot the robot and check whether the IO board is set successfully. The following figures show the settings of IO board before and after the IO setting respectively:

../../../_images/begin_to_load_5.png
../../../_images/begin_to_load_6.png

Validate after Loading Program Files

Switch to the Automatic mode and load the program. Select VAL3 and then double-click mm_control under Storage.

../../../_images/begin_to_load_7.png
../../../_images/begin_to_load_8.png
../../../_images/begin_to_load_9.png

Perform steps indicated by ①–③ of the following figure. If any errors occur, fix them before proceeding. The errors are mostly caused by IO settings. Then power on the robot by pressing the button indicated by ④. When the blue light blinks, press the button indicated by ⑤. The blue light becomes solid. The button indicated by ⑥ is used to adjust the speed.

../../../_images/begin_to_load_10.png

Test Robot Connection

Check the Mech-Center Configuration and Connect to the Robot

Please refer to Test Robot Connection .