CS8/CS9 Connections

If you are using the Stäubli add-on with a real or emulated Stäubli CS8/CS9 controller, refer to the following points for guidance in technical and development matters.

  1. Communication is handled using TCP/IP, HTTP and SOAP protocols.
    • The Stäubli controller implements a SOAP web service with a HTTP endpoint.
  2. The Stäubli add-on can connect to a CS8/CS9 emulator as well as a real CS8/CS9 controller.
    • CS8 version 7.7 or higher is recommended.
    • For realistic cycle time, use SRS 2019 with a CS8 emulator version 7.7 or higher.
    • CS8 version 7.0 or higher is required due to usage of SOAP web service.
    • CS8/CS9 controller requires SOAP web service version 2.1 or higher to support Virtual simulation mode.
  3. The Stäubli add-on uses a username and password to connect to CS8 controllers.
    • The default login for a CS8/CS9 controller/emulator:
      • Username is Default
      • Password is empty string
    • The connection password for CS8 and CS9 controller/emulator is different:
      • For CS8 is empty string
      • For CS9 is "default"
    • Note: The default profile does not have all permissions enabled by default, e.g., ioWriteAccess, armWriteAccess, and 123KeysControl are false. To exchange IOs and use values to grasp and release, both ioWriteAccess and 123KeysControl need to be set to true. armWriteAccess must be enabled for the add-on to work, e.g., to update axis values in the controller when jogging robot in 3D world.
  4. The default port for connecting CS8/CS9 version 7 emulators is 5653. The add-on uses SOAP port for the connection, which default is 851.
  5. The Stäubli add-on uses hardcoded settings for the WCF SOAP client.
  6. Before connecting a CS8-CS9 controller, review the steps in Getting Started.