READY Stäubli CS9 User guide

Stäubli CS9 Startup Guide

!(.&'--"('A,-)+-",A'+(&&'-"(',)+(/"2
((-",((',-"-.-,-2/"@+(.-,,(%-!+(. !
((-",+'(-2-!&,%/,.%%2"'- +-0(+$%%@,
+*."+"'7687>G8A((-",,-+(' %2+(&&',
)+(+&"' (&)%-+",$,,,,&'-(-!"'- +-0(+$%%)+
78766@(.&20",!-(.,-!&-!((%( 2(.'"'-!N
7;@96<,$G,",$,,,,&'--!((%( 2@
VERSION 5.1.0
P8688((-", 2

CONTENTS
/+/"0 @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ :
+0+*."+&'-,@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ ;
(-0+*."+&'-,@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ =
('"+&"' (-0+*."+&'-, @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ >
!' "' -!-4.%"-0(+$--"' ,@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 76
(''-"' -! )''- @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 78
(0+"' '@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 7<
" '"' '-((+ N @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@7=
--"' -.)"%,(+(.+((- @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 7?
()2"' "%,-(-!((-@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 87
"' -!((-"'/"('" .+-"(' @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 8>
))'"1B--"' )(+ N@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 98
',-%%"' (+ N @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ 98
-"/-"' (+ N0"-!"',(@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ :6
!((,"' ++', @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ :;
,(.+, @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ :=
VERSION 5.1.0
P8688((-", 3

OVERVIEW
!", ."!%),2(.,-.)2(.+ -4.%"? ('-+(%%+-(0(+$0"-! (+ N ;@
(.0"%%(%%(0-!,,-),B
7@ -.)-2N!+0+@
8@ (''--!  )''-@
9@ (''--!+((-('-+(%%+-(-! @
:@ (0+('2(.+,2,-&,@
;@ -+((-('" .+-"('"%,+(&(+ N@
<@ !' +((-,--"' ,'-+',+-!+((-('" .+-"('"%,@
=@ -!+((-"'(+ NC
Note: This guide assumes that you have installed the robot and CS9 controller following Stäubli instructions.
Make sure the robot controller is in working order before moving on. We recommend backing up your robot
controller.
REFERENCES
Reference Description, Link
L7M &)!'(%(''-(+,,&%2',-+.-"(',A
000@&)!'(%G,"'@(&N)N89G+",G,,&%2G',-+.-"(',@)
VERSION 5.1.0
P8688((-", 4

HARDWARE REQUIREMENTS
Image Part Name Description Vendor Part Number
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Note: Refer to the Forge/OS
5 User Manual for IPC
requirements.
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-!+'-%,
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 )''- -( @
VERSION 5.1.0
P8688((-", 5

Image Part Name Description Vendor Part Number
%,!+"/A
>(+%+ +
*."+-(-+',++((-"%,
+(&(+ N-(-!+((-@

((-", G:66696
VERSION 5.1.0
P8688((-", 6

SOFTWARE REQUIREMENTS
Controller Minimum Software Version
? ,>@78@7
Tip: To check what software version your controller is on, refer to the next section: Confirming Software
Requirements.
(.%,('-!"-&,"'-!-%%(0B
Requirement Part
Number Description Supplier
&(-.'-"&
"',)-"(' 7:98=<<6 *."+-((''--!  )''- -(-! +((-('-+(%%+'-(('-+(%-!+((-@
-4.%"
-4.%"((-",."-JK
(-0+(+"'(0, G*."+-(('" .+-!-4.%"('-+(%%+' -+',+(+ N"%,-(-!('-+(%%+@
VERSION 5.1.0
P8688((-", 7

CONFIRMING SOFTWARE REQUIREMENTS
(%%(0-!,,-),-(!$-!,(-0+/+,"('('?+((-('-+(%%+@
%. -!-4.%"('-+(%%+"'-()(0+,(.+@(%%(0-4.%""',-+.-"(',(+)(0+"' -!('-+(%%+@
1
.+'-!)(0+,0"-!('-!('-+(%%+%($0",-()(0+-!('-+(%%+('@"-(+-!('-+(%%+-(((-.)@
2
'-!-4.%"-!)''-A)+,,-!(&.--('"'-!.))+G%-(+'+@
3
) ROBOT ('-!-(.!,+'@
4
VERSION 5.1.0
P8688((-", 8

'-!((-&'.A-) Information@
5
'-!'(+&-"('&'.A,+!-!+(. !-!"'(+&-"(') ,.'-"%2(."' System@
6
(($--!'-+2-(-!+" !-( System@-!'-+2(,'E-,-+-0"-!F,>@78@7F(+%-+A('---4.%"-(
.) +@
7
VERSION 5.1.0
P8688((-", 9

CHANGING THE STÄUBLI NETWORK SETTINGS
(%%(0-!,,-),-(('" .+-!-4.%"('-+(%%+-((''-0"-!(+ N@(.0"%%",(''--!-4.%"
)''---!'(-!",,-"('@
%. -!-4.%"('-+(%%+"'-()(0+,(.+@(%%(0-4.%""',-+.-"(',(+)(0+"' -!('-+(%%+@
1
.+'-!)(0+,0"-!('-!('-+(%%+%($0",-()(0+-!('-+(%%+('@"-(+-!('-+(%%+-(((-.)@
2
'-!-4.%"-!)''-A)+,,-!.--('"'-!.))+G%-(+'+@
3
) SETTINGS ('-!-(.!,+'@
4
VERSION 5.1.0
P8688((-", 10