Staubli CS8C, Instruction Manual

Page: 128 / 248

© Stäubli 2009 –
D28070504A
CS8C 128 / 248
•
If you have replaced a motor or an encoder, the maintenance procedure you followed should have updated the
offsets on the motor encoder and in the
arm.cfx
file. The recovery menu thus invites you to repeat the procedure
to deal with the problem.
•
If you have not changed anything on the arm or the controller, the problem may be due to a faulty motor encoder
(data loss) or a corrupt
arm.cfx
file on the controller. Check the contents of the arm.cfx file ("Exp" Export menu
in the recovery application) and compare it with the original file. If it is corrupt, restore it from a backup, or using
the recovery menu to simulate an arm replacement. If the file is correct, the fault may be the motor encoder,
which can be reprogrammed using the recovery menu.
6.5.3.
ADJUSTMENT PROCEDURE
Before adjusting one or more joints on the robot, it is necessary to set the joints to a reference position beforehand,
with the highest possible level of precision. The exact coordinates of the reference position must be determined
in advance.
Sequence of operations:
•
Select the reference position (press Return and then use the arrows).
•
If the reference position has not been entered beforehand ("Here" menu), it is possible to enter its coordinates
manually ("Edit" menu).
•
Use the arrows to select the desired joint.
•
Press 'Adj.' to carry out the adjustment process.
•
Check that the arm has been reset correctly by moving to a known point at low speed.
Once the axis has been reset, you will be asked to save the new adjustment offsets for the arm on an external
device.
You can reset all
6
axis at the same time by using the arrows to select the reference position instead of a joint.
CAUTION:
The
arm.cfx
file contains other specific data for the arm (modified software limits, factory
marks, user marks) that are not updated during this operation. When replacing an arm, it is
preferable to recover the
arm.cfx
file for the new arm and install it on the controller ("Imp"
Import menu for the calibration application).
CAUTION:
The motor phase offsets for the encoders are critical, and if incorrect they can make a motor
uncontrollable. Never update an encoder if you are not sure of the data.