Setting up Pickit with Stäubli

The setup of Pickit with a Stäubli consists of 4 steps:

Check Stäubli software version

The software version should be at least 7.

To verify this go to MENU > CONTROL PANEL > CONTROLLER CONFIGURATION > VERSION.

../../_images/staubli-step-1.png ../../_images/staubli-step-2.png

Setup the network connection

Hardware connection

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.

IP configuration

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.

../../_images/staubli-step-3.png

Setup socket

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
../../_images/staubli-step-4.png ../../_images/staubli-step-5.png

You can test the new socket connection by pushing the Test button.

Load the program files

Loading the program files consists of 4 steps:

Upload the files to the robot

Upload these files using SRS.

../../_images/staubli-step-6.png

Start and verify communication

Starting and verifying communication consists of 2 steps:

Start communication

To start the communication, on the robot you have to select a Pickit example program. You can test this by using the OpenComm program.

Verify on the Pickit interface

To verify the data packages are received by Pickit: Check for the V icon next to ‘Robot’ in the top bar of the Pickit interface.

Test robot connection on Pickit

Details on testing this connection can be found on: Testing the Robot to Pickit connection