firing up a Staubli rx60 2

[cambria]

We have just acquired a used Staubli 6 axis robot. No manual, but one is one the way. We deduced that the system was either 480 or 240, and with the connectors rated at 400volts, I figured 240 was the good guess. With 240 vac the controller electronics side powered on with various error lights, but there were no lights in the motor drive bays. I assume at this point we need to don pith helmets and crawl deeply into the box to decypher the transformer connections. Or is there a magic breaker I cant find? Any experienced Staubli people out there?

 

[tygerdawg]

Staubli: 864-433-1980

Staubli robots are VERY specific to model number, serial number, controller type. You need to get all of that information FIRST before you start asking for help.

Those transformers are multi-tap and you can set the incoming voltage to whatever you want. Make sure you get it right or you'll nuke the controller.

If you got it used, you'll probably have to make sure the e-stop circuits are jumped to get the red lights to go out.

Best bet is to leave it alone until you get manuals.

TygerDawg

 

[cambria]

Thanks. It is overly complicated that way. We are waiting for the manuals. The transformers are impressive, but the labelling is not. With 240 on, the controller lights up but with errors, and the pendent says "lost communication." We will stop till the manuals get here. Better let it sit for a few days. The kiddies were anxious to play.....thanks for the help TD, will be back in a week when the manuals come.

cambria

 

[cambria2]

Thanks Tygerdawg,
Like my boss said... I'm not going to try it... but are there terminals where the estops can be jumpered? I'm assuming an e-stop condition shuts down the drives.

 

[tygerdawg]

Depending on the controller type, the estop jumpers can be made on a set of small green terminal blocks normally visible to the user once the cabinet is open. Until it is jumped, no power is allowed to enable the servos. This info is in the ....ummmm....Installation Manual? Electrical Manual?

Also depending on the vintage of the unit, Staubli may give you some guff about not supporting it. Some of the units out there are quite old, and it's a pain to keep current on obsolete equipment.

Once you get it up and running, BE VERY CAREFUL with the wrist joint...treat it like fine delicate crystal. You bump it, you're screwed (no repair possible). And you'll have to mortgage your kids to pay for another one.

TygerDawg

 

[tygerdawg]

I forgot to mention, the "LOST COMMUNICATION" thing is normal. That message should go away after the controller fully boots.

The pendant doesn't support pendant-programming. You'll have to get a dumb terminal or hook up a PC using a terminal emulator to see the monitor. Alternately, your unit MAY have a "VGA Card" in the rack for Video Graphics Adapter. Then you could connect a regular PC monitor see the monitor output. Depending upon how the previous user had his unit set up, the startup batch file may be waiting for all sorts of machine signals to be made before allowing boot process to continue.

TygerDawg

 

[cambria]

Thanks TD. The these are '99 vintage. Staubli says they still support it, so I think we will be ok there. We will proceed with caution.

cambria