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The controller is now a Raspberry Pi running Rasbian.

Serial cables

The silver cable is always mapped to /dev/staubli-terminal, and that's for the V+ console.

The black cable is mapped to /dev/staubli-data, and that's for our IO.

This was done using the udev rules:

SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523", SYMLINK+="staubli-terminal"
SUBSYSTEM=="tty", ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="staubli-data"