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Staubli CS8 Hardware Axis Limit Change — MRMC-Authorised Procedure

DANGER — MRMC-AUTHORISED TECHNICIANS ONLY BOLT (STAUBLI CS8)

This procedure is for MRMC-authorised technicians and trained Staubli engineers only

Changing hardware axis limits on the Staubli CS8 controller can permanently disable safety limits designed to protect the robot, equipment, and personnel from damage or injury. Do not attempt this procedure without explicit authorisation and guidance from MRMC Support. The procedure requires the spec_cal maintenance password, which should not be shared with or used by general operators. If you believe you need to change hardware axis limits, contact MRMC Support at support@mrmoco.com first.

Summary

The Staubli CS8 controller stores hardware axis limits (physical joint travel limits enforced by the controller firmware, separate from Flair's software limits). Changing these limits requires entering a maintenance profile using the spec_cal password and modifying the Arm Limits through the CS8 Control Panel. J6 Roll is a commonly adjusted axis.

This page documents that the procedure exists and where to find it, so that relevant issue pages can point to it appropriately. The full step-by-step procedure should only be performed under MRMC guidance.

When This Might Be Needed

  • A Staubli Bolt's J6 (wrist roll) axis is hitting its hardware limit before the intended physical stop, preventing full-range roll moves.
  • An axis limit was previously changed and needs to be restored to factory settings.
  • MRMC Support specifically instructs you to modify an axis limit as part of a fault diagnosis or rig configuration change.

General Overview of the Procedure

(For reference only — do not execute without MRMC authorisation)

The procedure involves:

  1. Connecting to the Staubli CS8 controller pendant.
  2. Entering Maintenance Profile mode using the spec_cal maintenance password.
  3. Navigating to: Control Panel → Controller Configuration → Arm Limits.
  4. Adjusting the relevant axis limit values (e.g., J6 Roll maximum/minimum).
  5. Saving the configuration and returning to normal operating mode.

Official Documentation

Flair Classic Manual — Ch.14A High Speed Robots / EtherCAT — p.235

Flair 7 Manual — Ch.11 High Speed Robots / EtherCAT — p.195