Staubli RRS Servers

The Staubli RRS interface supports all versions of Staubli RCS module. Unless otherwise indicated, the data on this page applies to all Staubli RRS server versions.

This task shows you how to:

See Also
Staubli RRS Interface
Staubli RRS Profiles/Attributes

Installing the Staubli RRS Server

The following steps describe how to install the Staubli RRS server and all of its components on a Windows 7 and higher RRS server machine. Note that you should have administrator rights when installing these components.

  1. Install the Staubli Robotics Suite (SRS) component by running the top level setup.exe on the SRS CD you received from Staubli. This will install the SRS and CS8 Emulator components. Refer to the top level readme.pdf on the same CD for further details.
  2. Extract the contents of the rcs_win32_staubli_1.0.4_delmia.zip file (folder hierarchy preserved) under any folder (e.g., <Delmia RRS Server Root>) on the same RRS server machine.
  3. Contact Staubli to obtain any licenses/dongles that may be required to use SRS.

Running the Staubli RRS Server and RRS Connecting DELMIA Robots

The following steps describe how to run the Staubli RRS server (and its components) and then RRS connect Delmia robots to this RRS server. Note that a cell containing proxies of each Delmia robot to be RRS-connected must first have been loaded into SRS prior to RRS-connecting the Delmia robots.

Note: The version of Staubli to which this task applies is 2016.1.7. If you do not have that version, or if these directions refer to user interface that has become obsolete, please refer to Staubli documentation for additional information.

  1. From the desktop on the RRS server machine, double-click Staubli Robotics Suite (or select Start > Programs > Staubli > SRS > 2016 > Staubli Robotics Suite 2016.1.7) to start SRS.
  2. If an SRS Cell containing Delmia robots to be RRS-connected has already been created, skip this step and proceed to Step 3. Otherwise, do the following to create such a cell in SRS:
    1. Click the upper left circular robot button and select New > New empty cell.
    2. In the dialog that appears, enter a Name for the cell and click OK.
    3. Select Home > New robot. In the New Local Controller dialog that appears, scroll down to locate and select the desired Staubli manipulator type to be added into the cell.
    4. In the dialog box that appears, click Finish. The newly created cell appears in the SRS Cell Explorer window, as well as the new controller and under it the new robot that was added.
    5. Repeat steps c and d if additional controllers and robots are needed. Note that a new controller and robot must be added for each Delmia robot instance (even if it is of the same type).
    6. Click the upper left circular robot button and select Settings > Emulator > General, and ensure that Emulator Ports are set to 850-953;5660-5663.
    7. In the SRS Cell Explorer window, click on the first Controller# (e.g., Controller1) node and then on Home > Show emulator to display the Emulator Controller# window in SRS. Click until remote working mode is activated.
    8. Click the "+" side of the override speed button to increase it to 100% (from the default 10%).
    9. Repeat steps g and h for each of the other Controller# nodes listed in the SRS Cell Explorer window.
    10. Select Home > Show 3D view to see all of the robots added into the cell in the SRS 3D View window. Note that it is normal that they appear on top of each other.
    11. Optional: If you want the proxy robots in the SRS cell also moving during RRS simulation, click Simulation > .
    12. Click the upper left circular robot button and select Save All to save this cell for later use. Note that an SRS license/dongle may be necessary to save the cell.
  3. Click the upper left circular robot button and select Recent. Click the desired *.cell file listed under Recent cells.

    Note: If the desired cell is not shown under Recent cells, click the upper left circular robot button and select Open. Select the desired *.cell file, and click Open in the file browser that appears.

  4. In the SRS Output window, select Display Messages from Emulator.
  5. In the Starting emulator Controller# … line for each Delmia proxy robot, jot down the # in "[Soap, #]" that is displayed. This is the Robot Number value entered when RRS connecting the corresponding Delmia robot.
  6. Create a C:\tmp folder, if it does not exist.
  7. Start the Delmia Staubli RRS server by running the following commands from a Windows command shell:
    1. cd <Delmia RRS Server Root>\STAUBLI\bin
    2. erase C:\tmp\rcssrv_STAUBLI.pid
    3. .\rcssrv_STAUBLI.exe -tcp 5300

      Note: If a different TCP port number is used, ensure that the same port number is specified on the RRS server line that will be selected during RRS connection in the rrs.servers file of the Delmia product.

  8. In the Delmia robot simulation product, RRS-connect each Delmia robot:
    1. Select the Staubli RRS server that was started in Step 7 above in the RRS Server Selection dialog.
    2. In the RRS Properties dialog box, set the Robot Number corresponding to the SRS proxy robot’s Soap number that was noted in Step 5 above.