STÄUBLI ROBOTICS SUITE (SRS)

User's manual

D28076004A – 10/02/2010
Translation of the original manual
SRS © Stäubli 2010
2 / 24 © Stäubli 2010 – D28076004A SRS
 TABLE OF CONTENTS
INTRODUCTION ..............................................................................................................5
STARTING SRS...............................................................................................................5
SWITCHING FROM ONE LANGUAGE TO ANOTHER ..................................................6
INSTALLING COMPONENTS .........................................................................................6
MIGRATION OF VAL3 S6.X APPLICATIONS ................................................................7
CONVERSION OF ALL THE APPLICATIONS.................................................................... 7
AUTOMATIC CONVERSION .............................................................................................. 7
APPLICATIONS PRIOR TO S3.0........................................................................................ 7
CELL MANAGEMENT .....................................................................................................8
CREATING A NEW CELL ................................................................................................... 8
DUPLICATING A CELL ....................................................................................................... 8
ADDING AN OPTION IN A CELL ........................................................................................ 8
ADDING AN ADD-ON ......................................................................................................... 9
DELETING A CELL ........................................................................................................... 10
IMPORTING APPLICATIONS INTO A CELL .................................................................... 10
IMPORTING CELLS INTO SRS ........................................................................................ 11
CONNECTION TO A CONTROLLER............................................................................12
VAL3 STUDIO................................................................................................................12
EMULATOR ...................................................................................................................13
INSTALLING A NEW VERSION OF THE EMULATOR..................................................... 13
UNINSTALLING A VERSION OF THE EMULATOR......................................................... 13
TRANSFER TO OR FROM A CONTROLLER ..............................................................14
BACKUP ............................................................................................................................ 14
COMMAND LINE............................................................................................................... 15
LICENSES AND DONGLE MANAGEMENT .................................................................17
DONGLES ......................................................................................................................... 17
THE LICENSE MANAGER ................................................................................................ 17
UPDATE FIRMWARE ....................................................................................................... 17
ADD A LICENSE ON A DONGLE ..................................................................................... 18
USER PROFILE MANAGEMENT..................................................................................19
CONFIGURING THE MODBUS I/OS.............................................................................20
ADDING AN OPTION TO A CONTROLLER.................................................................20
VERSION PRIOR TO S5.0................................................................................................ 20
REMOTE ACCESS ........................................................................................................21
TCP REMOTE MAINTENANCE PORT ............................................................................. 21
PLC ................................................................................................................................22
PLC STUDIO ..................................................................................................................... 22
THE PLC ON THE CONTROLLER ................................................................................... 22
SHARING I/OS WITH THE CONTROLLER (I/O IMPORTER) .......................................... 22
QUESTIONS AND ANSWERS ......................................................................................23

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4 / 24 © Stäubli 2010 – D28076004A SRS
Introduction

INTRODUCTION

SRS brings together the tools necessary to program applications for STÄUBLI robots.

SRS operates with :

• WINDOWS XP SP3 (32 & 64 bits)
• WINDOWS Vista SP2 (32 & 64 bits)
• WINDOWS Seven (32 & 64 bits)
SRS has been tested with the following version:
• WINDOWS XP SP3

The minimum recommended hardware for SRS is a PC Pentium 2 GHz (or equivalent) and 1024 Mb of memory.

SRS is based on WINDOWS DOT NET FRAMEWORK. The correct version of FRAMEWORK is installed with
the SRS setup, if necessary.

STARTING SRS

SRS is started via the WINDOWS start menu, then STÄUBLI/SRS/XX/Stäubli Robotics Suite where XX
represents the SRS version. Depending on the installation, it is also possible to set up a shortcut to the latest
SRS version installed, on the desktop and in the quick launch toolbar.

There are two possible forms of SRS:

• A standard form providing access to the menus, the toolbar and a description box.
• A minimized form, providing access to the toolbar.
SRS remembers its form from one session to the next.

The "FILE" menu is used to access the message log.

The "TOOLS" menu shows all the tools available in SRS.
The "LANGUAGE" menu shows all the languages available in SRS.
The "WINDOWS" menu is used to select the SRS form (minimized or standard).
The "?" menu shows the help available.

At the first run, SRS launches a wizard to ask about creating a new cell or importing existing cells. If cells of a
previous SRS version already exist on disk, choose "import cells" and follow the wizard. In the other case,
choose "create a cell" and follow the wizard.

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 SWITCHING FROM ONE LANGUAGE TO ANOTHER

1. In the "LANGUAGE" menu, select the desired language.

2. Close and restart SRS to take the new language into account.

The new language is taken into account for all the tools except the ones shown below:
• PLC STUDIO
• EMULATOR

To switch between languages for the emulator, start up the emulator and then select the language in the
CONTROL PANEL/CONTROLLER CONFIGURATION/LANGUAGE menu.

To select the language for PLC STUDIO, go to the WINDOWS start menu and then to STRATON/LANGUAGE.

INSTALLING COMPONENTS

To install or re-install a component of SRS (EMULATOR, SRS or PLC STUDIO), execute the SETUP.EXE file,
choose language, approve license and then choose the required components.

Also, each VAL3 CD contains an emulator setup corresponding to its version.

This can be found in the SRS directory of the CD (SETUP.EXE).

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Migration of VAL3 s6.x applications

MIGRATION OF VAL3 s6.x APPLICATIONS

Applications prior to the s4.0 version of VAL3 are not compatible with SRS. They must be converted for use in
the various SRS tools.

CONVERSION OF ALL THE APPLICATIONS

See: Importing applications into a cell.

AUTOMATIC CONVERSION
When an s6.x application is loaded into an emulator or a controller, it is converted automatically without user
confirmation.

CAUTION:
Only libraries possessing the AUTOLOAD attribute are converted automatically. The
others are converted by loading them manually.

APPLICATIONS PRIOR TO S3.0

Applications prior to the s3.0 version must be converted to s3.0 beforehand using the VAL3UP tool, to enable
their use by SRS. This tool is supplied on an SRS CD starting with version 3.0 (MISC\VAL3 CONVERTER
directory). This tool requires an IO VAL3 library (in s3.x format, .DAT extension) containing the cell I/Os used by
the program to be converted. This library can be created with a 3.x version emulator or by using the example
supplied on the SRS CD (MISC\VAL3 CONVERTER directory).

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 CELL MANAGEMENT

A cell is made up of a set of specific files for a given robot application. It contains the configuration, input/output,
PLC and VAL3 application files. SRS always has a current cell. The cell name is displayed in the SRS title bar.
The cell is used by all the SRS clients (VAL3 STUDIO, TRANSFER MANAGER, etc.) to find out:
- The VAL3 version
- The storage paths (applications VAL3,I/O,configuration, etc.)
- The VAL3 syntax checking system
- ...

CAUTION:
It is impossible to change the current cell if an SRS client is being executed
(VAL3 Studio, 3D Studio, etc.).

In the minimized view of SRS, the list of the cells is available and it allows to choose the current cell.
If some cells cannot be read when running SRS then these cells are marked as disabled. They appear greyed in
the cell view and the cause of the disabled state is explained in the description of the cell.

CREATING A NEW CELL

1. Execute the tool via the TOOLS/CELLS MANAGER menu (SHIFT+CTRL+C).
2. Click on the CELL/NEW icon (CTRL+N) . In the window, enter the cell name, the VAL3 version on
which it is based and the path in which it is to be created.
3. Press the OK button to validate the choices.

(See also: Importing applications into a cell).

Remark: For VAL3 versions prior to S5.3, all the files (including the executable files) are copied in the cell.

DUPLICATING A CELL
1. Execute the cell manager via the TOOLS/CELLS MANAGER menu, (SHIFT+CTRL+C).
2. Select the cell to be copied and click on the CELL/COPY icon (SHIFT+CTRL+N) .
3. Select the cell name, its location and the VAL3 version. The VAL3 version of the new cell must be
compatible with the old one.
4. Press the OK button to validate the choices.

Once the new cell has been created, the VAL3 application importer tool is called automatically to select the VAL3
applications that are to be copied in the new cell (see: Importing applications into a cell).

ADDING AN OPTION IN A CELL

1. Execute the tool via the TOOLS/CELLS MANAGER menu (SHIFT+CTRL+C). A list of the options
available for the emulator version can be found in the options node.
2. Select the desired option; Select TRUE to install the option and FALSE else.
3. Save the cell.

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Cell management

ADDING AN ADD-ON
The add-on management depends on the VAL3 version.
For cell in VAL3 version before s6.2
1. Stop the emulator.
2. Stop VAL3 STUDIO.
3. Install the add-on DLL in the usr/app folder of the cell (if this folder doesn't exist, create it).
4. Restart the emulator.
5. Open an application or create a new one.
6. Go in the command line (menu F2).
7. Execute the command: export("").
8. A val3.cfx file is created in the usr/app folder of the cell.
9. Overwrite the val3.cfx file that is on the root of cell with this new one.
10. Now, add-on keywords are recognized in VAL3 STUDIO and VAL3 checker.

For cell in VAL3 version in s6.2 and before s6.4

1. Stop VAL3 STUDIO.
2. Stop the emulator.
3. Put the add-on files (DLL and CFX) in the usr/app folder of the install directory of the VAL3 version
(usually program files\staubli\cs8\sx.y).
4. Open the cell manager, select the cell in the right VAL3 version (or create it) and choose the desired add-
on in the add-on section.
5. Save the cell.
6. Now, add-on keywords are recognized in VAL3 STUDIO and VAL3 checker.

For cell in VAL3 version s6.4 and above

1. Stop VAL3 STUDIO.
2. Stop the emulator.
3. Stop SRS.
4. Install the add-on installation program. (If the VAL3 emulator corresponding to the VAL3 version of the
add-on is not installed on the PC an error message box will appear).
5. Restart SRS.
6. Open the cell manager, select the cell in the right VAL3 version (or create it) and choose the desired add-
on in the add-on section.
7. Save the cell.
8. Now, add-on keywords are recognized in VAL3 STUDIO and VAL3 checker.

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DELETING A CELL

CAUTION:
It is impossible to delete the current cell if an SRS (VAL3 Studio,...) customer is running.
If a cell is deleted, all the cell data are lost, including the VAL3 applications.

1. Execute the cell manager via the TOOLS/CELLS MANAGER menu, (SHIFT+CTRL+C).
2. Select the cell to be deleted and click on the CELL/DELETE icon .

A confirmation message is displayed.

3.1 Validate your choice by clicking on "Yes" to:

• Delete the SRS cell.
• Clear the cell from the disk.

CAUTION:
The VAL3 applications are also cleared.

3.2 Validate your choice by clicking on "No" to:

• Delete the SRS cell while keeping the files on the disk. This cell can be imported subsequently if
necessary.

3.3 Click on cancel to stop the deletion procedure.

IMPORTING APPLICATIONS INTO A CELL

1. Execute the cell manager via the TOOLS/CELLS MANAGER menu, (SHIFT+CTRL+C).

2. Using the CELL/IMPORT APPLICATIONS icon, (CTRL+I) , display the import window.

3. Select a cell from the list and then click on Next.

4. Select the application or applications to be imported and click on Next and then on End.

The import sequence starts, and if the applications require a conversion, the import software does it
automatically.

The applications converted are placed in the cell directory. If any errors occur, they are displayed at the end of
the conversion procedure.

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Cell management

IMPORTING CELLS INTO SRS

After installation of a new version (higher than SRS 6.0.1).
The first time SRS is launched, a wizard asks the user about creating a new cell or importing existing cells (see
starting SRS).

Using the cell manager.

Existing cells can be imported into SRS via the cell manager.
Execute the cell manager via the TOOLS/CELLS MANAGER menu, (SHIFT+CTRL+C).
Then click on the CELL/IMPORT CELLS icon (SHIFT+CTRL+I) .
The tool then displays all the cells found in the path shown in the upper part of the window (by default the parent
directory for the current cell). If the cells to be imported are not in the directory, change the path using the " "
button, or enter the path in the text box.
Then select the cells to be imported, and click on the IMPORT button.
The existing cells are shown in green and they cannot be re-imported.
Cells in error status are shown in red and they cannot be imported. The cause of the error is shown in the status
column.
Once all the cells have been imported, exit the tool by clicking on the EXIT button.

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 CONNECTION TO A CONTROLLER

A connection to a controller is necessary to:

- Transfer VAL3 applications or configuration or I/O files, etc.
- Transfer a (PLC) project (see: The PLC on the controller).
- Use the (Remote Access)remote maintenance tool (see: REMOTE ACCESS).
- Add an option.
- Add/delete a user profile (see: User profile management).

The connecting window is the same in all cases. It shows:

- A drop-down list containing the history of the IP addresses already used. A comment can be linked to
each address.
- A button that is used to delete the IP address from the history.
- The "user name" corresponds to the profile with which SRS connects to the controller.
- The "password" corresponds to the CONNECTIONPASSWORD field in the profile (see: User profile
management).

If there are no profiles on the controller, it is always possible to connect up the system using the "DEFAULT"
profile without any password being required.

VAL3 STUDIO

The VAL3 STUDIO tool is used to create, develop, modify or print VAL3 applications. The tool, a demonstration
version of which is supplied with SRS, requires a license. To run it, click on the VAL3 STUDIO button or the
TOOLS/VAL3 STUDIO (SHIFT+CTRL+V) menu.

Installing a VAL3 STUDIO license (see: Licenses and dongle management).

To find out more about VAL3 STUDIO, see the specific VAL3 STUDIO documentation.

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EMULATOR

EMULATOR

This tool can be used to start an emulator (SHIFT+CTRL+E). The emulator acts as a controller and provides the
same interface via a simulation of the manual control pendant.

It can be used to:

• Load, execute, or debug a VAL3 application.
• Display and switch the I/Os.
• Display events.
• Simulate arm movements.

INSTALLING A NEW VERSION OF THE EMULATOR

A setup for the emulator is supplied on each SRS and VAL3 CD.

(In the Emulator directory for the VAL3 CD and at the root for the SRS CD).

See also:
Installing components.

UNINSTALLING A VERSION OF THE EMULATOR

If emulators other than SRS have been installed, they can be uninstalled via the WINDOWS start menu and then
STÄUBLI/CS8/XX/UNINSTALL (where XX represents the emulator version).

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 TRANSFER TO OR FROM A CONTROLLER

The TRANSFER MANAGER tool enables configurations and applications to be copied to a controller and vice
versa. The tool can be executed via the toolbar or the TOOLS/TRANSFER MANAGER menu (SHIFT+CTRL+T).
A network connection to the controller is required (see: connection to a controller).
Once it has been connected, the tool displays the emulator cell in the left-hand panel, and the controller cell in
the right-hand panel.
To select the elements (VAL3 PLC, I/O applications, etc.), click in the corresponding check boxes.

The arrows on each side of the TRANSFER button show the direction in which the transfer is to be made.

Press the TRANSFER button to start the transfer.

The REFRESH button is used to refresh the corresponding display.
The DELETE button is used to delete the elements selected.

BACKUP
It is possible to make a full backup copy of the controller by clicking on the SAVE button.

The name of the backup folder is composed of the directory chosen by the user (by default :
MY DOCUMENTS\STAUBLI\BACKUPS), after the order number of the controller and finally the date.

The SYS partition is saved in the SYS directory, the USR partition in the USR directory and the LOG partition in
the LOG directory.

The /usr/configs/arm.cfx file is renamed arm.< order number of arm >.cfx in the backup.

Remarks:
If the order number of controller is not filled in the options.cfx file file, it is replaced by the IP address of the
controller.
If the order number of arm is not filled in the arm.cfx file, it is replaced by the IP address of the controller.

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Transfer to or from a controller

COMMAND LINE
The transfer tool can be started using a command line instruction to carry out automatic transfers. The
commands are also summerized in the HELP button:

-Hhost "HOST" specifies the controller's IP address.

"USR_ROOT_PATH" specifies the emulator directory corresponding to
-Pusr_root_path
the user root path.
"LOG_ROOT_PATH" specifies the emulator directory corresponding to
-Glog_root_path
the logger root path.
-Ulogin "LOGIN" corresponds to the profile used for the connection.
-Wpassword "PASSWORD" corresponds to the password used to connect the profile.
-I[mbsof*]
m = mio
b = bio
s = sio I/O transfer
M = modbus
f = fieldbus
* = all
-L download logger Logger file transfer (only from the controller to the emulator)1.
-a[*VAL3 application name] Transfer of the VAL3 applications ( for all the applications).
-t[*VAL3 template name] Transfer of the VAL3 models ( for all the models).
-* Transfer of all the elements. Corresponds to -I* -a* -t* -L
Silence mode. Overwrites the existing files without requesting
-q quiet mode
confirmation.
-B[pDdCc] Backup options p = Backup directory
C = Add controller's name in the directory (by default)
c = Without controller's name in the directory
D = Add date in the directory (by default)
d = Without date in the directory's name
-F[cdu] Action to be carried out
c = connect Connect = Connection on the controller only
b = backup Backup = Perform a complete backup of the controller
d = download Download = from the controller
u = upload Upload = to the controller

1
the logger is registered in a LOG sub-directory (-G option). This sub-directory bears the name of the controller's
IP address (-H option).

Example:
• Transfer from the controller of the VAL3 FOO and FOO2 applications and all the I/O files to the DEFAULT
cell, which is in the C:\STAUBLI\CS8 directory:

FTP_MANAGER -PC:\STAUBLI\CS8\DEFAULT\USR -H127.1.1.2 -UUSER -WPASSWORD

-AFOO -AFOO2 -I* -Fd

• Backup of the controller in C:\backups\<name_controller>\<Date> directory:

FTP_MANAGER -H127.1.1.2 -UPROFIL -Wpassword -BpC:\BACKUPS -Fb

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 • Backup of the controller in C:\backups\backup1 directory in automatic silence mode:

FTP_MANAGER -H127.1.1.2 -UPROFIL -Wpassword -BpC:\BACKUPS\BACKUP1 -

Bd -Bc -Q -Fb

Remark: The online command, used with WINDOWS task manager, can be used to make regular
scheduled backups of controller data (see: Scheduled tasks in the WINDOWS help menu).

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Licenses and dongle management

LICENSES AND DONGLE MANAGEMENT

The licenses of for SRS are protected with a USB dongle. The licenses are installed on the dongle and the
presence of this dongle enables these licenses.

DONGLES
There are 2 types of dongle:
• Local dongle: This dongle is used for a single PC. When it is plugged into the USB port, all the licenses that
are installed on this dongle are enabled for this PC.
• Network-50 dongle: This dongle grants floating licenses on a network. This dongle is limited to a maximum
of 50 users.

THE LICENSE MANAGER

This tool scans all the dongles that are visible from the PC: the local plugged dongles and the accessible network
dongles. It displays the identifier of each dongle and their firmware version.

For each licence, following information are displayed:

• Name of the licence
• Identifier of the licence (unique number)
• Firmware version of the license: 2.16 means that this license is usable by SRS 6.x and further. From the
3.21 version, the license is usable by SRS 7.x and further.
• Type of the License: Local or Network.
• Maximum executions of the license: This is the maximum number of uses of the license. Once this number
is reached, the license is invalid. Perpetual if there is no limit.
• Already done executions: This is the number of times the license has been used. "-" if the license is
perpetual.
• Concurrency user's limit: only for network licenses. This is the number of users that can simultaneously use
the license.

UPDATE FIRMWARE
If the firmware version is prior to 3.21, it is necessary to update it. To do so, unplug all the other dongles, select
the Update / Update Firmware menu and follow the prompts.

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ADD A LICENSE ON A DONGLE
To update a dongle with a new license, follow these steps:
1. Plug the dongle into the USB port of a PC with SRS.
2. Run the SRS licenses manager (from menu TOOLS/SRS LICENSES MANAGER).
3. In the SRS license manager, use the UPDATE/GENERATE THE DONGLE IDENTIFICATION FILE menu
to create the C2V file (C2V = Customer to Vendor).
4. Contact STÄUBLI and command order the license update that you want.
5. Send the C2V file by email to STÄUBLI.
6. You will receive a V2C file from STÄUBLI by email (V2C = Vendor to Customer).
7. Plug the dongle into the USB port of a PC with SRS.
8. Run the SRS licenses manager (from menu TOOLS/SRS LICENSES MANAGER).
9. Update the dongle using the UPDATE/UPDATE LICENSES command.

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User profile management

USER PROFILE MANAGEMENT

The controller provides the possibility of having several users with different rights. To use the system, it is
necessary to create user profiles and enter the desired rights for each profile.

For full documentation on profile rights, refer to the "software configuration" chapter of the controller user manual.

The profile management tool can be accessed via the TOOLS/PROFILE EDITOR menu (SHIFT+CTRL+F).
This tool can be used to create, modify or delete profiles for a controller. To edit the profiles for a controller, select
CONTROLLER in the left-hand panel and then enter the connection information (see: connection to a controller).
The left-hand panel is used to list the profiles, and the current profile is displayed in the right-hand panel.

To modify the values for a profile, double-click on the desired value.

The PROFILE menu is used to:

- Create a new profile (NEW) (CTRL+N).
- Make a copy of the profile selected (COPY) (CTRL+C).
- Delete the profile selected (DELETE).
- Save the profile selected (SAVE) (CTRL+S).
- Import a profile from the current SRS cell (IMPORT) (CTRL+I).
- Export a profile to the current SRS cell (EXPORT) (CTRL+E).

To rename a profile, change the name in the editing box at the top of the right-hand panel and then validate the
name by pressing the tab key. Then accept the change of name by saving the profile.

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 CONFIGURING THE MODBUS I/OS

This tool is used to create the MODBUS.XML file containing the declaration for the I/Os for the MODBUS server.
To transfer the MODBUS.XML file to or from a controller, use the transfer tool (see: Transfer to or from a
controller).

To create or modify the file, execute the tool via the TOOLS/MODBUS IO CONFIG menu (SHIFT + CTRL + A).
Click on the NEW button to create a new MODBUS configuration or open an existing one with the OPEN
button . If a MODBUS file already exists in the cell it is opened automatically.
Click on the save button to save the configuration. Remember that the name of the file must be
"MODBUS.XML" to be take in account by the CS8.
To add an item, click on the new button on the item toolbar . Then choose the name, the type, the
size and the access.
Item can be inserted through the insert button or deleted with the delete button . The order of items can
be changed by using the drag and drop feature.
It is possible to append an existing MODBUS configuration file with the APPEND button .
The corresponding CSV file can be create through the EXPORT button CSV. This file is needed to the configure
the Applicom OPC server (APPLICOM IMPSYMB).

ADDING AN OPTION TO A CONTROLLER

CAUTION:
For controllers with a version prior to s5.0 (see: Version prior to s5.0).

1. Execute the TOOLS/CONTROLLER/OPTIONS MANAGER menu (SHIFT+CTRL+O).

2. Enter the connection information. See: connection to a controller. A list of the options available for the
controller is displayed, with 3 choices for each option:
- Disabling the option (DISABLED).
- Activating the option in demonstration mode (DEMO). The limitations for the demonstration mode depend
on each option.
- Activating the option using the (VERSION) software key. This key is supplied by STÄUBLI following an
order.
Once the options have been selected, it is necessary to restart the controller to put them into effect.

VERSION PRIOR TO S5.0

To access the options on a controller in an s4.0 version, it is necessary to select a cell in s4.0 version
beforehand. If this is not the case, the list may contain options that are not valid for the controller.

See also: Adding an option in a cell.

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REMOTE ACCESS

REMOTE ACCESS

This tool is used to log on to a controller using the graphical interface from the emulator.
1. To log on, start the tool by clicking on the button or via the TOOLS/CONTROLLER/ REMOTE ACCESS
menu (SHIFT+CTRL+R).
2. Enter the log in information. See: connection to a controller, TCP remote maintenance port.
3. Validate.
Once connected, the simulated manual control pendant displays exactly the same interface as the real pendant.
The 2 pendants remain connected in parallel, and all the actions carried out on one are reflected in the other. The
actions prohibited on the simulated pendant are as follows:
- Switching arm power on.
- Changing the operating modes.
- Starting a VAL3 application using the START button.
- Stopping a VAL3 application using the STOP button.
- Changing the manual movement mode.
- The MOVE/HOLD button.
- The manual movement keys.
- Changing speed.
- Buttons 1, 2 and 3.

To exit remote maintenance, close the simulated manual control pendant.

CAUTION:
This option only functions on s5.0 or subsequent controller versions.

This tool is under license:

- A SRS license (Dongle) allow to use the remote maintenance on all controller (version >= s5.0). To use
the Remote Maintenance license, see : Licenses and dongle management.
- A runtime VAL3 license installed on the controller allow to use Remote Maintenance without dongle (see:
Adding an option to a controller).

TCP REMOTE MAINTENANCE PORT

To connect up to a controller, the remote maintenance tool uses a TCP port. The default port is 800. If that port is
already in use by another application, different port can be selected.
1. At the PC end, switch ports when the connection information is requested (see: connection to a
controller).
2. Click on the PORT tick box, and enter the desired port number.
3. At the controller end, enter the CONTROL PANEL/CONTROLLER CONFIGURATION and change the
TELEMAINTENANCE PORT. If remote maintenance tools are already connected when the port number
is changed, the connections are cut off.

CAUTION:
We strongly recommend selecting a number greater than 1000, as the lower numbers
have already been reserved.

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 PLC
PLC (Programmable logic controller).

This section presents the tools used to program a PLC on a controller.

The set of SRS PLC tools includes:

- A development workshop in compliance with the IEC-61131 standard.
- A management tool for the I/Os common to the controller and the PLC.

PLC STUDIO
This tool is a PLC development workshop in compliance with the IEC-61131 standard. It supports the languages
used in compliance with the standard, i.e. IL (INSTRUCTIONS LIST), ST (STRUCTURED TEXT),
SFC(SEQUENTIAL FLOW CHART), FBD (FUNCTIONAL BLOCK DIAGRAM) and LD (LADDER).

This tool is used to create and modify PLC applications, and also to intervene remotely on a controller executing
a PLC in order to debug it. The PLC developed with this tool behaves in exactly the same way as an external
programmable controller, i.e. communication with the VAL3 world is provided via the cell I/Os.

The tool is optional and it requires a hardware key and a software key.
There are 2 options available:
- Fewer than 256 variables.
- More than 256 variables. This option does not set an upper limit for the number of variables, but Stäubli
only guarantees 1024 variables.
An option is available to switch from the first option to the second one.

By default, a demonstration version is installed at the same time as SRS.

THE PLC ON THE CONTROLLER

An execution time license is required on the controller to execute a PLC and set up a connection to PLC STUDIO
(see: Adding an option to a controller).

CAUTION:
This option is only valid as from the s5.0 version of VAL3.

SHARING I/OS WITH THE CONTROLLER (I/O IMPORTER)

CAUTION:
The import tool only operates for cell versions prior to 7.0.

A tool can be used to manage the I/Os that have to be shared between the PLC and the controller. The stages
are as follows:
1. First define the configuration of the controller I/Os: addresses and mnemonics (via the emulator, the
Applicom I/O tools and the Modbus I/O configuration. See: Configuring the Modbus I/Os.
2. Execute the emulator to generate the VAL3 I/O library correctly.
3. Start the tool via the TOOLS/PLC/IO IMPORTER menu (SHIFT+CTRL+I).

Open or create a PLC project via the FILE menu. A list of the current cell I/Os is displayed in the left-hand panel,
with those of the PLC in the right-hand panel (the inputs are at the top and the outputs at the bottom). Then use
the mouse to drag and drop the desired I/Os as inputs or outputs in the PLC. To delete I/Os from the PLC, select
them and press the DEL key on the keyboard or drag and drop them to the controller.
The CS8 FILE/OPEN THE I/Os menu can be used to open I/Os from another cell.

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Questions and Answers

QUESTIONS AND ANSWERS

When I click on Emulator, which cell is it linked to?

SRS has a cell that is known as the current cell. This cell is selected using the TOOLS/CELLS MANAGER cell
management menu. It is displayed in the SRS title bar.
The current cell is then used for all the tools requiring a cell, such as:
- The emulator (Emulator).
- VAL3 STUDIO for:
• Checking syntax.
• Location of the VAL3 applications.
• Creation of an application (location of the VAL3 templates).
- The I/O IMPORTER tool.

See also: Cell management.

Which SRS version do I use?

To find the version of SRS and all the tools linked to SRS, start the ?/ABOUT menu.
The version of PLC STUDIO can be accessed via the ?/ABOUT menu in PLC STUDIO.

Can I install more than one version of SRS on my PC?

Yes, the different versions of SRS are installed in different default directories.

See also: Installing components.

I can't find an emulator version.

The emulators installed using SRS can be uninstalled using the WINDOWS/Control Panel/Add/Remove
software. However, it is possible to reinstall an emulator from an SRS or VAL3 CD.

See also: Installing components.

The remote maintenance tool does not connect.

Make sure that:
- The controller version is at least 5.0.
- The port number entered in the tool connection information corresponds to that of the controller.
- Your controller is connected to the network.
- The profile and the profile password are correct.
- There is no (FIREWALL) software preventing the connection.

See also:
Licenses and dongle management.
REMOTE ACCESS.

SRS © Stäubli 2010 – D28076004A 23 / 24

The TRANSFER MANAGER does not connect.
Make sure that:
- Your controller is connected to the network
- The profile and the profile password are correct.
- There is no (FIREWALL) software preventing the connection.

See also:
User profile management.
Transfer to or from a controller.

I can't find my I/Os on my emulator.

When the cell is configured, tick boxes are used to activate or not the simulation of the BIO and MIO/BIO2
boards. Check the configuration.
For the MODBUS I/Os, check that the MODBUS.XML file is present in USR/APPLICOM/MODBUS. The name
and location cannot be modified.
For the APPLICOM I/O I/Os, check that the CONFIGTAG.XML file is present in the USR/APPLICOM/IO
directory. The name and location cannot be modified.
Moreover, if you want to set APPLICOM I/O, the board simulator must be started using the
APPLICOM CONSOLE tool or via the APPLICOM menu in the WINDOWS start menu.

See also:
Configuring the Modbus I/Os.
Cell management.

The PLC STUDIO does not connect to my emulator or my controller.

Have you activated the PLC option on your controller? Once the option has been activated, it is necessary to
restart the controller.
Check that the port number in PLC STUDIO (1100 by default) corresponds to the number in the PLC software on
the controller.

To change the port number for the PLC soft, it is necessary to change the PORT input in the PLC.CFX cell file.
This file is in the USR/CONFIGS directory.

See also:
Adding an option to a controller.
Transfer to or from a controller.
PLC.
The PLC on the controller.

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