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

) Network@
5
'-!+('-(-!?('-+(%%+A!$-!-!+'-)(+-,-(,0!"!('",/"%%JJ204 (+ J205K@
6
'-!-4.%")''-A,%--!-!+'-)(+-2(.0'--(.,'"--!+,,',.'-&,$('
-!)()G.)"%( (1@--!-( 192.168.1.20 ',--!,$-( 255.255.255.0@
7
.+'(52(.+?('-+(%%+'",(''-"-+(&)(0+@(%%(02(.+"%"-2E,%($(.-N- (.-)+(.+(+
&(/"' ('@
8
",(''--!-4.%")''-+(&-!('-+(%%+@--!)''-,"(+'(0@
9
VERSION 5.1.0
P8688((-", 11

CONNECTING THE READY PENDANT
!  )''- "'%.,-!,,-2(.-).-,B
7@ 20"-!J((-)+-"('(K
8@ !+G(,"-"(''%"' 0"-!
9@ &+ '2-().--('
!'(-!  )''- %"'%.,B
7@ ':;-!+'-%(+(&&.'"-"('0"-!-! @
8@ 7;%2"' %,H8(+)(0+A78(+,-2NA'7.'.,%@
Electric Shock Warning: ",(''-%%(&)(''-,+(&)(0+,(.+,
(+--&)-"' -!","',-%%-"('@
VERSION 5.1.0
P8688((-", 12

(%%(0-!,,.,-),-((''--!  )''- (&&.'"-"('A)(0+A',-20"+"' @
(.0"%%+(.--!  )''- %2"' %,-(-!,-"'-"(',"'-!",-%B
Pendant Flying Leads Function Destination
+(0' '%"' 0"-!"+."-7 769G=
%%(0 '%"' 0"-!"+."-7 769G>
+' '%"' 0"-!"+."-8 769G78
+2 '%"' 0"-!"+."-8 769G7=
"'$ 8: 1-+'%(0+G8:
+'N+(0' &+ '2-()"+."-7 769G9
!"-N+' &+ '2-()"+."-7 769G:
+2N"'$ &+ '2-()"+."-8 769G;
N%. &+ '2-()"+."-8 769G<
%$ 6 1-+'%(0+G6
"(%- 20"-!"+."-7 1-+'%(0+G8:
!"-N"'$ 20"-!"+."-7 -2%2G7
!"- 20"-!"+."-8 1-+'%(0+G8:
%. 20"-!"+."-8 -2%2G8
!"-N%. (-(''-
(''--!  )''-E,-!+'-%-(-! @(.&2(''--!)''--!+(. !'
-!+'-,0"-!-("'+,-!'.&+(-!+'-)(+-,@
a
(''--!)''-E,)(0+%,-(8:A8@;,(.+@(''--!"'$0"+-(Q8:'-!
%$0"+-(6@
b
(''--!+&"'"' ,-2N%,-(2(.+('-+(%)'%(+,-2"'-@$2(.+(0'%N
0"+"' (+-!78,-2," '%,%(' '(. !-(+!-!"+,-"'-"(',"'-!-%@
c
1
VERSION 5.1.0
P8688((-", 13

!'%"' ,0"-!'&+ '2,-()"+."-,(''--(-!-4.%")''-)(+-J769K('-!?
-!+(. !-!&)!'(%89(''-(+@,,&%-!89(''-(+.,"' -!,-"'-"('-%'
-!,,,&%2"',-+.-"(',B000@&)!'(%G,"'@(&N)N89G+",G,,&%2G',-+.-"(',@)@!
)"''.&+,(-!&)!'(%(''-(+'-!-.%")''-)(+-,!(.%&-!@
d
--!-!89(''-(+-()(+-769('-!?B%" '-!&%)"',-(-!&%!(%,',+0-!
(''-(+E,,!%%('%($0",@
e
"'",!(''-"' -!20"-!"+."--(767-!+(. !,-2+%2@!",1&)%.,,76G8
,-2+%2@
'-!",-%A(''--!-0(,-"'-"(',-!-,!++(0B
Pendant Flying Leads SICK Relay CS9 Safe Input Block 24V External Power Supply
!"-N"'$ 7
%. 8
79 767G;
7 767G;
7: 767G8
8 767G9
8 6
2
VERSION 5.1.0
P8688((-", 14

.,,-2'A(''--!'('--,-2"').-,('766B
Function Destination
'B('--77 766G?
'B('--78 766G77
'B('--87 766G76
'B('--88 766G78
3
2(.('(-"',-%%1-+'%,-2'"' B
(''--+&"'%, 766G?'766G77 0"-!#.&)+0"+@
a
(''--+&"'%, 766G76'766G78 0"-!#.&)+0"+@
b
4
VERSION 5.1.0
P8688((-", 15

POWERING ON
(''--!-4.%"('-+(%%+-()(0+,(.+'-.+'"-('@
1
%. 2(.+ E,)(0+%"'-()(0+(.-%-@
2
(0+('2(.+ @
3
-!++",,.,A)(0+(5!/"A",(''-+(&)(0+,.))%",A'!$2(.+0"+"' @
4
VERSION 5.1.0
P8688((-", 16

SIGNING IN TO FORGE/OS
(%%(0-!,,-),-()"+-!  )''- 0"-!-!  '," '"'-((+ N;@
2(.'-("',-%%(+ N;('2(.+ A,-()!+'(%%(0%%-!,-),"' ))'"1A-!'(&$
-(-!,,-),@
1
!'2(.)(0+('2(.+  )''- ' A-!''-"+"' ,+'))+,('-!  )''-@
)-!%. PAIR PENDANT .--('0!'"-))+,@-&2-$.)-(('&"'.--())+@
Note: If the pendant fails to pair or the PAIR PENDANT button is unavailable for longer than two minutes,
check the Ethernet connection to the IPC. If the pendant still doesn't pair, connect the pendant's Ethernet
cable to another LAN port on the IPC. The READY pendant IP Address is preset to 172.16.255.253. The network
interface that the pendant connects to should use an IP Address of 172.16.255.x and Subnet mask
255.255.255.0.
2
) Admin '," '"'@!.%-&"'),,0(+",F(+ &"'F@
3
VERSION 5.1.0
P8688((-", 17

(+ N","'-"/A"-()',-!--"' ,))')+/'-,2(.+(&()'"' (-!+)),@2(.,-!
,+'%(0A(%%(0 -"/-"' (+ N0"-!"',( "'))'"1@
4
"-!(+ N-"/A&(/('-(-!'1-,-"('@
5
VERSION 5.1.0
P8688((-", 18

GETTING SETUP FILES FOR YOUR ROBOT
'-!",,-"('A2(.-!+((-"'(+ N'()2('" .+-"('"%,-(-!+((-('-+(%%+@
'-! Admin +(%A()'-! Device Configuration ))@
1
) New + -(()'-!/""++2@
2
,-! Filter by +()(0'-(,!(0+((-()-"(',@%--! Stäubli industrial robot ()-"(''-) NEXT -(
('-"'.0"-!('" .+-"('@
3
VERSION 5.1.0
P8688((-", 19

%--!+((-('-+(%%+&(%A-!',%--!+((-&(%@(.'"%%"'-!(-!+"'(+&-"('%-+@
4
',+-%,!+"/"'-(-!  ,"',-+.-('-!,+'@,'&)-2%,!+"/0"-!-%,-8(
,-(+ @
Tip: Do not connect the USB flash drive to the READY pendant.
5
) Start Transfer '0"-(+"--("'",!@
6
&(/-!%,!+"/0!')+(&)-@
7
VERSION 5.1.0
P8688((-", 20