Define the TX60 Failure Pattern
The confirmed symptom is a Stäubli TX60 that reports an envelope error after moving for a short distance. The fault occurs both during pendant-controlled manual motion and during motion commanded over the LAN. Because the command source changes but the result does not, investigate robot configuration, calibration, and reachability before treating the LAN connection as the primary cause.
Separate the Supported Cause Categories
| Cause category | Condition to check | Decision |
|---|---|---|
| Calibration | The arm is uncalibrated or incorrectly calibrated. | Confirm calibration validity before commanding further motion. |
| Calibration backup | The battery that preserves calibration data has low voltage or is dead. | Check the battery condition and determine whether calibration data was lost. |
| EOAT transformation | The end-of-arm-tool transform is calculated incorrectly. | Validate the active tool definition before evaluating the programmed target. |
| Reachability | The commanded TCP position or arm position is outside the reachable envelope. | Review the target and approach path; do not assume the final point is reachable merely because motion begins. |
These are evidence-supported diagnostic hypotheses, not confirmed root causes. The available information does not identify an error code, controller model, software version, active tool data, target coordinates, or the precise position where motion stops.
Run the Diagnostic Sequence
- Reproduce the fault at reduced manual-command scope and record the motion direction, active EOAT transform, commanded target, and robot position when the envelope error appears.
- Confirm that the arm has valid calibration. If calibration is missing or suspect, resolve that condition before testing the same motion again.
- Check the battery used to retain calibration data. A low-voltage or dead battery can explain missing or invalid calibration.
- Validate the active EOAT transform. An incorrect transform changes the calculated TCP position and can make an otherwise plausible command fail the envelope check.
- Evaluate whether the commanded TCP target and the arm configuration are reachable. If necessary, revise the target or motion path, then test from both the pendant and LAN command paths.
Verify the Corrective Action
Repeat the same motion that previously produced the error while keeping the calibration state, EOAT transform, target, and path documented. The correction is verified only when the robot completes that motion without an envelope error. If both pendant and LAN operation still fail at the same location, retain the recorded configuration and fault details for escalation through an official Stäubli support channel.
FAQ
Why does my Stäubli TX60 show an envelope error in both manual and LAN operation?
A shared failure across both command paths points first to calibration, calibration retention, EOAT transformation, or target reachability rather than the LAN connection alone.
Can an incorrect EOAT transform cause a TX60 envelope error?
Yes. A badly calculated or incorrectly invoked EOAT transform changes the calculated TCP location, which can make the commanded position unreachable.
Can a low calibration-backup battery cause this TX60 fault?
A low-voltage or dead backup battery may compromise retained calibration. Check battery condition and confirm valid arm calibration before repeating the motion.
