Robotics CS8C Manuel d'utilisateur Page 135
- Page / 248
- Table des matières
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
CS8C © Stäubli 2009 – D28070504A
135 / 248
Chapter 6 - Operation
6.7.3. MOVEMENT IN CARTESIAN MODE (FRAME, TOOL)
After the arm has been powered up, press the Frame button (1) on the MCP. The corresponding indicator light
comes on.
Figure 6.11
By pressing the keys in the set of movement keys (2) or one of the Sel keys on the minijog (5), it is possible to
carry out movements along the three axis of the current coordinate system (Frame as default setting). These
movements are carried out in the positive direction (set of keys with the "+" sign) or the negative direction (set of
keys with the "-" sign).
The movements can be made in translation and rotation:
(see figures 6.12, 6.13, 6.14)
• In Translation (X, Y, Z keys):
A movement in the direction of the X axis is called X+, and a movement in the opposite direction to the X axis is
called X- (the same is the case for the Y and Z axes).
• In Rotation (RX, RY and RZ keys):
Rotation around the X axis in the direction of X+ is called RX+, and a rotation in the opposite direction from the
X axis is called RX- (the same is the case for the Y and Z axes).
Specific case (Arm RS):
RZ rotation is only possible if the Z axis of the current position coincides with the Z axis of the World mark. RX and
RY rotations are without any effect.
Figure 6.12
2
5
16
4
3
Displacement
direction
Displacement
direction
X
RX
+
X
RX
-
- CS8C Controller 1
- TABLE OF CONTENTS 3
- 1 INTRODUCTION 3
- 3 SAFETY 3
- 4 INSTALLATION 3
- 5 INTEGRATION 5
- 6 OPERATION 5
- 7PC UTILITIES 7
- 8 MAINTENANCE 7
- CONTROLLER 7
- CHAPTER 1 9
- INTRODUCTION 9
- 1.1. FOREWORD 11
- 13 / 248 13
- CHAPTER 2 15
- DESCRIPTION OF THE CONTROLLER 15
- 2.1. IDENTIFICATION 17
- 2.2.1. THE CONTROLLER 18
- 2.2.2. THE MCP 19
- 2.2.3. WMS FRONT PANEL 19
- CHAPTER 3 21
- Chapter 3 - Safety 23
- 3.4.1. CONNECTIONS 28
- 31 / 248 31
- CHAPTER 4 33
- INSTALLATION 33
- 4.1.1. POSITIVE SAFETY 35
- 4.1.2. POWER SOURCES 35
- 4.2. ON-SITE PREPARATION 36
- 4.2.1. ELECTRICAL NETWORK 36
- 4.2.2. PNEUMATIC NETWORK 37
- 4.2.3. WORK ENVIRONMENT 37
- 39 / 248 39
- 4.2.4.2. CS8C FOR RX160 ARM 39
- Figure 4.2 39
- Detail: A 39
- Scale: 1:1 39
- 4.2.5. AIR CIRCULATION 40
- 4.2.6. ACCESSIBILITY 40
- 4.3. UNPACKING AND HANDLING 41
- 4.3.2. HANDLING OF PACKING 41
- THE CONTROLLER 41
- 4.4. FIXING THE MCP 42
- 4.4.1. CHARACTERISTICS 42
- 43 / 248 43
- Holder measurements: 43
- Figure 4.5 43
- 4.5. FIXING THE WMS 44
- 90 * 50 45
- 4.6. CONNECTIONS 46
- 1 98 7 6 47
- 4.6.3. CONNECTING THE SIGNALS 49
- Chapter 4 - Installation 51
- CHAPTER 5 53
- INTEGRATION 53
- 57 / 248 57
- Emergency stop channels 57
- Figure 5.1 57
- Figure 5.2 58
- 59 / 248 59
- Figure 5.3 59
- Figure 5.4 60
- 5.1.2. CONNECTION WITH CELL 61
- 5.2. BASIC INPUTS/OUTPUTS 62
- 5.2.1. USER-IN INPUTS 62
- 5.2.3. ENCODER INPUT 66
- 2 32*360*4*e00Counts 68
- 5.2.4. SYSTEM INPUTS 69
- 5.3. RS ROBOTS 70
- LED1LED2LED3 74
- 1234567891011121314 75
- 77 / 248 77
- Figure 5.13 77
- Switches 77
- 81 / 248 81
- Figure 5.14 81
- 89 / 248 89
- Figure 5.18 89
- Figure 5.19 89
- 5.6. FIELD BUS 91
- 5.6.1. CHARACTERISTICS 91
- 5.6.2. CONFIGURATION 91
- 5.6.3. DIAGNOSIS 92
- 5.7.1. INSTALLATION 96
- 5.7.3. PLC PROGRAMMING IN SRS 98
- 5.8. ETHERNET LINK 101
- 5.8.1. CONFIGURATION 101
- 5.8.2. FTP PROTOCOL 101
- 5.8.3. MODBUS TCP PROTOCOL 101
- 5.8.4. ETHERNET SOCKETS (TCP) 103
- 5.9. SERIAL PORT 104
- 5.10. SOFTWARE CONFIGURATIONS 105
- , user marks) 107
- Chapter 5 - Integration 109
- 111 / 248 111
- CHAPTER 6 113
- OPERATION 113
- Chapter 6 - Operation 115
- 6.2. PRESENTATION OF THE MCP 116
- 6.2.1. GENERAL PRESENTATION 116
- 6.2.2. CONTROL KEYS 120
- 6.2.4. NAVIGATION KEYS 121
- (2) (3)(4)(5) (6) 123
- 6.3. ARM POWER-UP 125
- 6.4. EMERGENCY STOP 126
- This is done in the recovery 127
- 6.5.3. ADJUSTMENT PROCEDURE 128
- 6.6. WORKING MODES 129
- 6.6.1. MANUAL MODE 129
- 6.6.2. LOCAL MODE 129
- 6.6.3. REMOTE MODE 130
- 6.7. JOG INTERFACE 131
- 6.7.1. PRESENTATION 131
- 6.8. STARTING AN APPLICATION 138
- 6.9. STOPPING MOVEMENTS 140
- 6.10.4. METHODS FOR DIAGNOSIS 148
- 6.11. TEACHING FRAMES 150
- 6.12. TEACHING POINTS 151
- 6.14. CONTROLLER BACKUP 152
- 153 / 248 153
- CHAPTER 7 155
- PC UTILITIES 155
- 7.1.1. INSTALLATION 157
- 7.1.2. FUNCTIONALITIES 157
- 7.2. FTP ACCESS FROM A PC 158
- 7.2.1. FTP CLIENT 158
- 7.2.3. FUNCTIONS VIA FTP 158
- 7.3. FTP ACCESS TO A PC 159
- 7.3.1. INSTALLING CESAR FTP 160
- 161 / 248 161
- CHAPTER 8 163
- MAINTENANCE 163
- Chapter 8 - Maintenance 165
- 8.2. GLOSSARY 166
- 8.3. COMPONENT LOCATION 167
- 8.4. SAFETY 168
- 8.5. INPUT VOLTAGE 169
- 8.5.1. DESCRIPTION 169
- 8.5.2. ACCESS 170
- 8.5.3. TROUBLE SHOOTING 171
- Figure 8.9 174
- Figure 8.10 174
- 8.6.1. DESCRIPTION 176
- 8.6.2. ACCESS 177
- 8.6.3. TEST POINTS 177
- 8.6.4. TROUBLE SHOOTING 178
- 181 / 248 181
- Figure 8.17 181
- Figure 8.18 181
- Figure 8.19 181
- Figure 8.22 184
- 8.6.5. ALIM_OK SIGNAL 187
- 8.6.5.4. ADVANCED INFORMATION 188
- Figure 8.26 188
- 8.6.6. SECTEUR_OK SIGNAL 189
- 8.6.6.4. ADVANCED INFORMATION 190
- Figure 8.28 190
- 8.6.7. BRK_x SIGNALS 191
- Output from ARPS to 193
- Output from RSI to ARPS 193
- 8.7. RPS POWER SUPPLY 194
- 8.7.1. DESCRIPTION 194
- 8.7.2. ACCESS 194
- Figure 8.34 196
- 8.7.3. TROUBLE SHOOTING 199
- 8.8. RSI 203
- 8.8.1. DESCRIPTION 203
- 8.8.2. ACCESS 204
- 8.8.3. TROUBLE SHOOTING 204
- External 24V 207
- Internal 218
- External 24 VDC for E 218
- Stop lines 218
- 8.9. STARC BOARD 232
- 8.9.1. DESCRIPTION 232
- 8.9.2. ACCESS 232
- 8.9.3. TROUBLE SHOOTING 234
- 8.10. PREVENTIVE MAINTENANCE 242
- 8.10.1. VENTILATION 242
- 243 / 248 243
- APPENDIX 245
- APPENDIX 1 247
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