Setting up Pickit with Stäubli¶
The setup of Pickit with a Stäubli consists of 4 steps:
The software version should be at least 7.
To verify this go to MENU > CONTROL PANEL > CONTROLLER CONFIGURATION > VERSION.
The Pickit processor has to be connected to the robot controller using an Ethernet cable.
This Ethernet cable should be plugged in:
- The ROBOT port of the Pickit processor;
- The robot controller.
To allow communication between Pickit and the robot controller both must have a different IP address in the same subnet.
By default, the Ethernet port on the Pickit processor labeled ROBOT is configured to have the following static IP address: 169.254.5.180 with a subnet mask of 255.255.0.0.
If this setting is kept, the following has to be done on the robot controller:
For the CS8 controller, go to MENU > CONTROL PANEL > CONTROLLER CONFIGURATION > NETWORK > J204 or J205.
For the CS9 controller this can be found in HOME > SETTINGS > NETWORK > J204 or J205.
- Set the IP address of the robot to 169.254.5.182 which is an IP address in the same subnet as the Pickit IP address.
- Set the subnet mask to 255.255.0.0.
Push Enter to edit. Push F8 OK.
The IP address of the robot can of course not be the same as the IP address of the Pickit processor.
For the CS8 controller, go to MENU > CONTROL PANEL > IO > SOCKETS > TCP CLIENTS > NEW.
For the CS9 controller this can be found in HOME > IO > SOCKETS > TCP CLIENTS > +.
- Choose Type: Client
- Add name: pickit
- Add the Pickit IP address
- IP: 169.254.5.180
- Port: 5001
You can test the new socket connection by pushing the Test button.
Loading the program files consists of 4 steps:
Starting and verifying communication consists of 2 steps:
To start the communication, on the robot you have to select a Pickit example program. You can test this by using the OpenComm program.