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Staubli CS8 Pause and IO commands
#1
Hi Jeremy.

First of all, I hope you're all ok.

I've been trying to get the Pause and IO commands working with my CS8 controller. The programs run, but both commands are ignored. Am I missing something? 

RoboDK 4.2.3
Staubli CS8 Controller (TX60L)
Staubli Val3 InLineMove post-processor used.

I've attached the 2 compiled programs, plus the .rdk file.

Thanks for your help, Jonathan


   


Attached Files
.zip   Prog1_PAUSE_Test.zip (Size: 3.26 KB / Downloads: 23)
.zip   Prog2_IO_Test.zip (Size: 3.21 KB / Downloads: 20)
.rdk   TX60L_IO_Pause_Test.rdk (Size: 482.31 KB / Downloads: 22)
#2
Hi Jonathan,

Can you tell me what exact syntax is required by the robot controller for the Pause and IO command?
The post-processor may required some small adjustment.

Jeremy
#3
I'm not sure - I'll find out if I can. If anyone else happens to know this, please add to this thread as getting info on Staubli programming seems to be difficult.

Thanks

Jonathan
#4
Hi Jeremy

I've had this response from Staubli re the Digital IO:


You should create a dio variable in you VAL3 application.
That variable then needs to be linked to a real physical IO before it can be used.
This can be done from the interface on the pendant (application manager – application – global data –dio) or from SRS or using the command dioLink.
This variable can then be set to true of false from a program if linked to an output.


Does RoboDk already to that as part of the programme build?

Thanks,

Jonathan
#5
Hi Jonathan,

The Staubli VAL3 post processor automatically creates an array of data to manage digital outputs when you use the set digital output instruction.
If the post processor doesn't generate what you need it would be best if you indicate what changes you need to make and we'll update the post accordingly.

Albert
  




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