How to make records for behaviours on CS8C version using USB drive
PARDUBICE 22.10.2015
From system version s6.0 and greater allows us to make records of robot trajectory directly
from Control panel of MCP (For system version less than s6.0, it is only possible using an add-
ons and by modifying customer VAL3 application).
1. Based on your system version and robot type (6axis, 4axis) go to the folder in
this zip file with [Link] file and copy it to the root folder of 2 GB Stäubli USB
drive.
Example:
If you have SCARA robot TS60 with system s7.2 go to the folder:
o \SRC s7.2 and greater\4axis\
If you have 6axis TX90 with s6.9.1 go to the folder:
o \SRC s6.x to s7.1.3\6axis\
You can find your system version on Control panel of MCP:
Tip:
If you do not have 2 GB Stäubli USB drive, you can use standard USB flash drive, but
maximum size is 2 GB and it has to be in FAT format. Otherwise controller wouldn’t be
able to read it.
1/4
Stäubli Systems, s.r.o.
Hradecká 536 Tel +420 466 616 125
CZ - 530 09 PARDUBICE Fax +420 466 616 127
How to make records for behaviours on CS8C version using USB drive
PARDUBICE 22.10.2015
2. Put The USB drive in to the one of the “USER” USB ports (J209, J202).
3. Initialize Recorder
Select in menu Recorder and press F6 key to Init the Recorder.
Recorder use a configuration file “[Link]”, which is on USB key, to define some
parameters, this step loads this file.
Tip:
After init, if you go in menu to Controller or Drive submenu, you can press F8 key for
info. The you can see, if the record is opened from USB and what will be name of
recorded file.
From system version s7.2 and higher parallel recording is possible. So the output will
be two recording files. Standard file with Joint Commanded position, Joint feedback
position and moveID. Second file for OptimizeLab lifetime analysis.
2/4
Stäubli Systems, s.r.o.
Hradecká 536 Tel +420 466 616 125
CZ - 530 09 PARDUBICE Fax +420 466 616 127
How to make records for behaviours on CS8C version using USB drive
PARDUBICE 22.10.2015
4. Start robot cycle and when arm reaches the area to record, start recorder by
pressing F7 key. System will store in 60 seconds of motion in controller memory.
Caution:
With system less than s7.4 a record can NOT be stop! It has to end with the duration
specified in the configuration file. Duration can be modified in the [Link] file and
have been tested up to 120 seconds.
With system s7.4 and greater stop key of recorder can be used.
5. Store data on USB key by pressing F8. Wait until it is saved. Can take a while
based on record length.
3/4
Stäubli Systems, s.r.o.
Hradecká 536 Tel +420 466 616 125
CZ - 530 09 PARDUBICE Fax +420 466 616 127
How to make records for behaviours on CS8C version using USB drive
PARDUBICE 22.10.2015
Information:
After each sequence “start” → “stor” a new file is created. Filename is increment
by one.
“clr.” button will delete all records file from USB key.
6. Send both recorded files to Stäubli to analyze it or open it in OptimizeLab.
Tip:
OptimizeLab_c_xxx.rec files are able to open in Stäubli Robotics Suite 2013 and more
to display the trajectory.
OptimizeLab_d_xxx.rec files are for OptimizeLab Lifetime analysis.
Tip:
If you have OptimizeLab software, you can connect directly to controller using
Ehthernet (FTP). Then you can send the configuration files via OptimizeLab and you do
not need USB drive anymore.
4/4
Stäubli Systems, s.r.o.
Hradecká 536 Tel +420 466 616 125
CZ - 530 09 PARDUBICE Fax +420 466 616 127
