Staubli Robot Common Faults, Repairs and FAQs

The problem of Staubli teaching pendant is very important. Most of the robots used in my country's production are imported. Domestic robot maintenance technology is lacking and can only rely on foreign suppliers. There are generally inadequate after-sales service, long repair cycle and high maintenance cost. The maintenance cost of tens of thousands or hundreds of thousands of replacement costs makes domestic robot users miserable. Shanghai Rouzhi Robot specializes in the maintenance of Staubli robot teaching pendants and Staubli robot maintenance services.

Common faults and repair solutions of Stäubli teaching pendant

1. The touch panel of the teaching pendant is poor or partially ineffective (replace the touch panel)

2. The teaching pendant has no display (repair or replace the internal motherboard or LCD screen)

3. The teaching pendant has poor display, vertical lines, vertical stripes, flowery screen, etc. (replace the LCD screen)

4. The buttons on the teaching pendant are defective or not working properly (replace the button panel)

5. The teaching pendant has a display but no backlight (replace the board)

6. The XYZ axis of the teaching pendant is defective or not working properly (replace the joystick)

7. The emergency stop button is invalid or not working (replace the emergency stop button)

8. The data cable cannot communicate or cannot be powered, there is a disconnection inside, etc. (Replace the data cable)

Common maintenance methods and suggestions for Stäubli robots

1. Stäubli robot maintenance, Stäubli six-axis body standard maintenance routine inspection

1. Clean the robot body according to the on-site work.

2.Fix the main body and the 6-axis tool end. Check whether the body and the tool are fixed well.

3. Check the limit stops of each axis.

4. Check the cable status. Check the use and wear of the robot cable, power cable, user cable and body cable.

5. Check the sealing status. Check whether the gear box and wrist of the machine body are leaking or seeping oil.

Maintenance of Stäubli robots, functional measurement of Stäubli six-axis industrial robots

1. Check the temperature. Use a professional temperature measuring gun to check whether the temperature during operation is normal, and compare the numerical values ​​of each axis motor to see if they are consistent with the standard values.

2. Noise inspection: The noise meter is used to check whether the motor is abnormal during manual operation, and can be used as a standard for checking the status of components.

3. Repeatability Use a dial indicator to check whether the robot's repeatability is normal.

4. Zero position measurement detects whether the current zero position of the robot is consistent with the standard calibration position.

5. Check the motor braking status, check the voltage value for opening the motor brake, and test the braking function of each axis motor.

Stäubli robot maintenance and replacement

1. Change the oil of the gearbox, balance cylinder or connecting rod of the main body oil change robot.

2. Robot SMB board inspection and battery replacement Check whether the SMB board fixed connection is normal and replace the battery.

2: Standard maintenance and daily inspection of the Staubel robot control cabinet

1. Clean the control cabinet. Clean the exterior of the robot control cabinet and remove dust inside the control cabinet.

2. Check the firmness of each part of the control cabinet. Check the tightness of all parts in the control cabinet.

3. Clean teaching equipment, clean and organize teaching equipment and cables.

4. Circuit board indicator light status Check the status light of each circuit board in the control cabinet to confirm the status of the circuit board.

5. Check the cables in the control cabinet. All cable plugs in the control cabinet are firmly connected and the cables are neat.

1. Basic introduction of Stäubli robots

1.1 TX90 1st generation robot

1.2 TX2-90 2nd generation robot

1.3 Robot Model

1.4 Robot movement position

2. Introduction of Stäubli SP1 and SP2 robot teaching pendants

2.1 TX90 Teaching Pendant

2.2 TX90 Button Function Description

1. Working mode switch button (1)

a. If WMS is not used, this button is used to switch the robot working mode. If WMS is used, this button is invalid.

b. A green light around the button indicates the current robot working mode.

2. Arm power button (2)

a. This illuminated button is used to power the arm on and off.

b. When the green indicator light is on steadily, the arm is powered on. In manual mode, the enable button DeMan(11) must be pressed to power on the arm.

3. Emergency brake button (3)

The emergency brake should only be used in unforeseen situations during operation. It should only be used to brake when it is really necessary.

4. Sports buttons (4)

Available in Manual mode, used to generate the movement of the arm (joint coordinates or Cartesian coordinates), depending on the selected movement mode (Joint, Frame, Tool).

5. Sport mode selection button (5)

When the arm is powered on and in manual mode, any of these 4 keys can be used to select the desired motion mode (Joint, Frame, Tool, or Point). The indicator light corresponding to the key indicates the current mode.

6. Speed ​​adjustment button (6)

This key allows the speed to be varied within the limits of the sport mode. The speed is given in the status display of the MCP. The speed changes by a predetermined value (approximately 2 times per key press). By pressing the Shift and speed keys simultaneously, the current speed can be increased or decreased by 1%.

7. Function keys (7)

Use them to select the menu that appears above them.

8. Number keys (8)

These keys are used to enter the data you require.

9. Interface and navigation keys(9)

10. Application control key (10)

a. The STOP key is used to stop an application, the RUN key is used to start an application, and the Move / Hold key is used to control the movement and pause of the robot.

b. In manual mode, the arm can move while the Move / Hold key is pressed. Once the key is released, the arm stops moving immediately on the programmed trajectory.

c. In local or remote mode, press the Move / Hold key, the motion is stopped and the robot is put into hold mode. Press the key again and the motion resumes.

d. In Manual and Local modes, the robot is always in Pause mode when the arm is powered on. In Remote mode, arm movement is allowed once power is applied.

11. Enable button (11)

The button has three positions and its states are:

a. When the button is not pressed, it is turned on.

b. In the middle position, closed.

c. The button is in the fully depressed position, corresponding to the user's tense state, open.

Only the middle position of the button allows the arm to be powered on in manual mode. The other 2 positions prohibit the arm from being powered on, or from being powered off if the arm is powered on in manual mode. In automatic mode, the position of the button has no effect.

12. Digital output shortcut keys (12)

In manual mode, these keys change the state of the digital outputs to which they are connected. The output can be linked by selecting it in the output/input list of the control panel and then pressing the "Shift" button and the "1", "2" or "3" button simultaneously.

13. Jog key (13)

In manual mode this key is activated and is used to generate arm movements (joint coordinates or Cartesian coordinates), depending on the selected movement mode (Joint, Frame, Tool).

2.3 TX2-90 Teaching Pendant

2.4 TX2-90 Button Function Description

a. JOG: manual control, teaching, moving to a point;

b. VAL3: VAL3 application, with functions such as open, run, modify and save;

c. LOGGER: event log;

d. IO: Input/Output, between the robot and peripheral devices (including "safety");

e. ROBOT: calibration, recovery, phasing, brake release, and software version, recorder, safety functions;

f. SETNGS: Settings, language, time and date, access rights.

1. JOG manual control function

Note: When no application is loaded, only the default tool flange and the default coordinate system wld can be selected for motion control.

2. Joint movement pattern

Joint mode is a motion mode that controls each axis of the robot separately and independently. After entering Joint mode, the motion control keys on the teaching box will correspond to each joint of the robot.

3. Frame coordinate system mode—spatial coordinate system/Cartesian coordinate system

a. After entering the Frame mode, the motion control keys on the teaching box will correspond to the robot's translation (X, Y, Z) or rotation (RX, RY, RZ) in each direction of the currently selected spatial coordinate system.

b. When judging the direction of robot movement, the right hand customization is usually used to judge the three directions.

c. Frame coordinate system mode—spatial coordinate system position and direction

The World coordinate system is the default coordinate system of the robot. Its direction is only related to the arm zero position and the installation method. The Z+ direction of the World coordinate system is perpendicular to the installation bottom surface and outward, the X+ direction is the direction facing the front of the robot, and the Y+ direction is the left direction of the robot.

4. Tool mode

a. The motion control keys will correspond to the robot's translation (X, Y, Z) or rotation (RX, RY, RZ) in each direction according to the currently selected tool coordinate system.

b. By default, the origin of the tool coordinate system is at the flange surface point, the Z+ direction is perpendicular to the flange plane and outward, the X+ direction is along the flange surface and outward from the locating hole, and the Y+ direction can be determined by the right-hand rule.