Staubli CS8C, Instruction Manual

Page: 70 / 248

© Stäubli 2009 –
D28070504A
CS8C 70 / 248
5.3. RS
ROBOTS
In the case of
RS
robots, Inputs/Outputs are available as an option on the forearm using the
CIO
board (first
generation) or
ARMIO
board (second generation):
• 8
x
24V
digital inputs
• 8
x
24V
digital outputs
• 4
x
± 10V
analog inputs
• 4
x
0/+10V
analog outputs (only for
ARMIO
second generation)
These Inputs/Outputs are driven from the controller via a dedicated
CAN
bus. The
CAN
bus is connected to
J211
on controller side and
J1202
at the base of the arm. A user cable can be supplied as an option to take the intputs
/ outputs as close as possible to the tool flange through the ball screw.
An
ASI
bus can also be supplied as an option on the
CIO
board (not available on
ARMIO
board).
The "Control panel" page allows you to see the status of the
CAN
Inputs/Outputs.
Note:
To display the status of the Inputs/Outputs or to programme them, select the "I/O" branch in the
control panel accessible via the main menu.
5.3.1.
INSTALLATION OF THE OPTION
The option includes:
•
A
CAN
board to be installed in the
CS8C
computer module. The board is provided with a cable and mounting
screws.
•
A cable between
CS8C
and the base of the arm.
•
An I/O board for the arm.
Figure
5.10
CAUTION:
If this cable is fitted, rotation of joint
4
must be limited to
± 180°
. This limitation is configured
at the factory if the option is supplied.