Staubli CS8C, Instruction Manual

Page: 215 / 248

CS8C © Stäubli 2009 –
D28070504A
215 / 248
Chapter 8 - Maintenance
Figure
8.50
The maximum angular range is defined in the robot' product characteristics.
•
If arm is inside its predefined range, check wiring inside the arm.
Figure
8.51
•
Check wiring from
RSI
to the arm base (mainly the interconnection cable).
•
If wiring is OK, change
RSI
board.
-
Controller status
...
-
Joint position
J1: xx J2: xx J3: xx
...
J4: xx J5: xx J6: xx
+ W S L 7 - 0 0 7 J
- W S L 4 - 0 0 7 J
4 - 6 M 1 0 2 1 J
3 - 6 M 1 0 2 1 J
4 - 6 M 0 0 2 1 J
3 - 6 M 0 0 2 1 J
J7
0
1
-1
6
L
S
W
2
-
J
7
01
-1
5
LS
W
2
+
J
7
01
-1
4
LS
W
1
-
J
7
01
-1
3
LS
W
1
+
2 1 - 1 0 1 J + 0 1 W S L
5 - 1 0 1 J - 0 1 W S L
s u f V 4 2
I S R
3 W S L 2 W S L 1 W S L
1 1
4 4 4
1
, 0 6 X T
, 0 9 X T
0 6 1 X R
0 4 X T
C I B R B