Staubli help

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Staubli help

Postby neuma136@umn.edu » Wed Aug 13, 2008 5:00 pm

Hello all,

This is my first time posting on the board. How exciting!

We have a Staubli RX60CR Robot Chassis that we would like to use with
a Staubli controller Model #CS7MB RX60 LCR running V+ version 13.1. We
are able to enable robot power and calibrate, but once we try to drive
the robot after calibration, we get a *Hard envelope error Mtr x*
error every single time. The robot is in fairly good shape, and it
doesn't seem like a hardware issue, whatsoever.


We are not sure if we have the correct robot specification file (.SPC)
for the robot, as the current one indicates an RX60B. Is there a
difference in robot specification file for the RX60 and RX60B robots?
Could this be the problem?

Any help would be greatly appreciated!
Thank you!



Jimmy Neumann
SMC Automation
jimn@smcltd.com
neuma136@umn.edu
 
Posts: 3
Joined: Wed Aug 13, 2008 5:00 pm

Re: [adept_software] Staubli help

Postby newportrobotics@lineone.net » Wed Aug 13, 2008 5:00 pm

Hello all,
newportrobotics@lineone.net
 
Posts: 8
Joined: Wed Sep 29, 2004 5:00 pm

Re: Staubli help

Postby neuma136@umn.edu » Thu Aug 14, 2008 5:00 pm

Thanks for the reply, Marcus. Everything seems to be working fine.
Could you please explain what you mean by the Links on the back of the
25 Way D-Type Mini Controller? I assume you're not talking about the
I/O and safety circuit plugs on the back of the large Staubli
controller, next to where power comes in. If so, our safety circuit is
indeed jumpered properly.

Again, we are not sure if we have the correct robot specification file
(.SPC) selected for the robot, as the current one indicates an RX60B,
and we are attempting to attach an RX60. Is there a difference in
robot specification file for the RX60 and RX60B robots?
Could this be the problem? If so, does anyone have the .SPC file for
an RX60 that they could e-mail me?

--- In adept_software@yahoogroups.com, "Newport Robotics"
wrote:
>
> Hi Jim
>
> Check Relays AP1 and Ap2 are Working when the Arm is Pressed,
>
> Check Brake Release to see if the Brakes are Working.
>
> If NOT Check the Fuse.
>
> Back of the Mini Controller there is a 25 Way D-Type Make sure you
have the Links.
>
> The Difference between a B is that the B uses Digital Power Amp's
where the older uses Analog Type.
>
> The Controller Type Also Have different Processes the Newer Type
have a AWC Card.
>
> Marcus Pye
> Newport Robotic Services Ltd
> www.newportrobotics.co.uk
>
> ----- Original Message -----
> From: neumannsmc
> To: adept_software@yahoogroups.com
> Sent: Wednesday, August 13, 2008 7:15 PM
> Subject: [adept_software] Staubli help
>
>
> Hello all,
>
> This is my first time posting on the board. How exciting!
>
> We have a Staubli RX60CR Robot Chassis that we would like to use with
> a Staubli controller Model #CS7MB RX60 LCR running V+ version 13.1. We
> are able to enable robot power and calibrate, but once we try to drive
> the robot after calibration, we get a *Hard envelope error Mtr x*
> error every single time. The robot is in fairly good shape, and it
> doesn't seem like a hardware issue, whatsoever.
>
> We are not sure if we have the correct robot specification file (.SPC)
> for the robot, as the current one indicates an RX60B. Is there a
> difference in robot specification file for the RX60 and RX60B robots?
> Could this be the problem?
>
> Any help would be greatly appreciated!
> Thank you!
>
> Jimmy Neumann
> SMC Automation
> jimn@...
>
neuma136@umn.edu
 
Posts: 3
Joined: Wed Aug 13, 2008 5:00 pm

Re: [adept_software] Re: Staubli help

Postby redwingz@sbcglobal.net » Thu Aug 14, 2008 5:00 pm

What joint values are returned by V+ when you type "wh" at the monitor prompt?

John E.
WDC



----- Original Message ----
From: neumannsmc
To: adept_software@yahoogroups.com
Sent: Thursday, August 14, 2008 12:07:22 PM
Subject: [adept_software] Re: Staubli help


Thanks for the reply, Marcus. Everything seems to be working fine.
Could you please explain what you mean by the Links on the back of the
25 Way D-Type Mini Controller? I assume you're not talking about the
I/O and safety circuit plugs on the back of the large Staubli
controller, next to where power comes in. If so, our safety circuit is
indeed jumpered properly.

Again, we are not sure if we have the correct robot specification file
(.SPC) selected for the robot, as the current one indicates an RX60B,
and we are attempting to attach an RX60. Is there a difference in
robot specification file for the RX60 and RX60B robots?
Could this be the problem? If so, does anyone have the .SPC file for
an RX60 that they could e-mail me?

--- In adept_software@ yahoogroups. com, "Newport Robotics"
wrote:
>
> Hi Jim
>
> Check Relays AP1 and Ap2 are Working when the Arm is Pressed,
>
> Check Brake Release to see if the Brakes are Working.
>
> If NOT Check the Fuse.
>
> Back of the Mini Controller there is a 25 Way D-Type Make sure you
have the Links.
>
> The Difference between a B is that the B uses Digital Power Amp's
where the older uses Analog Type.
>
> The Controller Type Also Have different Processes the Newer Type
have a AWC Card.
>
> Marcus Pye
> Newport Robotic Services Ltd
> www.newportrobotics .co.uk
>
> ----- Original Message -----
> From: neumannsmc
> To: adept_software@ yahoogroups. com
> Sent: Wednesday, August 13, 2008 7:15 PM
> Subject: [adept_software] Staubli help
>
>
> Hello all,
>
> This is my first time posting on the board. How exciting!
>
> We have a Staubli RX60CR Robot Chassis that we would like to use with
> a Staubli controller Model #CS7MB RX60 LCR running V+ version 13.1. We
> are able to enable robot power and calibrate, but once we try to drive
> the robot after calibration, we get a *Hard envelope error Mtr x*
> error every single time. The robot is in fairly good shape, and it
> doesn't seem like a hardware issue, whatsoever.
>
> We are not sure if we have the correct robot specification file (.SPC)
> for the robot, as the current one indicates an RX60B. Is there a
> difference in robot specification file for the RX60 and RX60B robots?
> Could this be the problem?
>
> Any help would be greatly appreciated!
> Thank you!
>
> Jimmy Neumann
> SMC Automation
> jimn@...
>
redwingz@sbcglobal.net
 
Posts: 26
Joined: Fri Jun 06, 2008 5:00 pm

Re: Staubli help

Postby neuma136@umn.edu » Fri Aug 15, 2008 5:00 pm

Hi John,

Before attempting to calibrate, with the robot aligned with all of the
scribe marks, the joint values are (in order from 1-6):

400.007, 48.950, 465.005, -.003, .006, .000

After calibration, the values read

5.114, 49.092, 864.836, 179.403, 3.016, -174.501

I still get a fault when I attempt to drive the robot around by
pendant. Is it ok that this older RX60 robot chassis is connected to a
Staubli Controller Model #CS7MB RX60 LCR? Please note again that the
surrent .SPC file selected is for an RX60B robot. Will this work?

Thanks for the help guys. Hopefully this can be solved.

Jim Neumann
SMC Automation




--- In adept_software@yahoogroups.com, John E wrote:
>
> What joint values are returned by V+ when you type "wh" at the
monitor prompt?
>
> John E.
> WDC
>
>
>
> ----- Original Message ----
> From: neumannsmc
> To: adept_software@yahoogroups.com
> Sent: Thursday, August 14, 2008 12:07:22 PM
> Subject: [adept_software] Re: Staubli help
>
>
> Thanks for the reply, Marcus. Everything seems to be working fine.
> Could you please explain what you mean by the Links on the back of the
> 25 Way D-Type Mini Controller? I assume you're not talking about the
> I/O and safety circuit plugs on the back of the large Staubli
> controller, next to where power comes in. If so, our safety circuit is
> indeed jumpered properly.
>
> Again, we are not sure if we have the correct robot specification file
> (.SPC) selected for the robot, as the current one indicates an RX60B,
> and we are attempting to attach an RX60. Is there a difference in
> robot specification file for the RX60 and RX60B robots?
> Could this be the problem? If so, does anyone have the .SPC file for
> an RX60 that they could e-mail me?
>
> --- In adept_software@ yahoogroups. com, "Newport Robotics"
> wrote:
> >
> > Hi Jim
> >
> > Check Relays AP1 and Ap2 are Working when the Arm is Pressed,
> >
> > Check Brake Release to see if the Brakes are Working.
> >
> > If NOT Check the Fuse.
> >
> > Back of the Mini Controller there is a 25 Way D-Type Make sure you
> have the Links.
> >
> > The Difference between a B is that the B uses Digital Power Amp's
> where the older uses Analog Type.
> >
> > The Controller Type Also Have different Processes the Newer Type
> have a AWC Card.
> >
> > Marcus Pye
> > Newport Robotic Services Ltd
> > www.newportrobotics .co.uk
> >
> > ----- Original Message -----
> > From: neumannsmc
> > To: adept_software@ yahoogroups. com
> > Sent: Wednesday, August 13, 2008 7:15 PM
> > Subject: [adept_software] Staubli help
> >
> >
> > Hello all,
> >
> > This is my first time posting on the board. How exciting!
> >
> > We have a Staubli RX60CR Robot Chassis that we would like to use
with
> > a Staubli controller Model #CS7MB RX60 LCR running V+ version
13.1. We
> > are able to enable robot power and calibrate, but once we try to
drive
> > the robot after calibration, we get a *Hard envelope error Mtr x*
> > error every single time. The robot is in fairly good shape, and it
> > doesn't seem like a hardware issue, whatsoever.
> >
> > We are not sure if we have the correct robot specification file
(.SPC)
> > for the robot, as the current one indicates an RX60B. Is there a
> > difference in robot specification file for the RX60 and RX60B
robots?
> > Could this be the problem?
> >
> > Any help would be greatly appreciated!
> > Thank you!
> >
> > Jimmy Neumann
> > SMC Automation
> > jimn@
> >
>
neuma136@umn.edu
 
Posts: 3
Joined: Wed Aug 13, 2008 5:00 pm


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