Equipment/Staubli/J11

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General

The J11 connector on the back of the Staubli controller contains the digital IO lines.

There are 6 relay outputs and 12 digital inputs. The connector can also supply 24v power.

The outputs are isolated, normally open, relay contacts, maximum rating at 125v @ 1A. Outputs 7 & 8 are used in the arm to control the gripper solenoids.

The inputs are opto-isolation 24v LED inputs. LOW = 0v-3v. HIGH = 10-24v. As they are LED opto-isolators, they only work with the correct polarity. The manual states that you should use your own isolated, regulated power supply.

Inputs 1, 2 & 3 (and 4? depending on which manual you read) can be configured as "fast" inputs, with a response time of 1ms. All the other inputs have a 16ms response time.

The outputs can be activated and deactivated in V+ like this :

SIGNAL 1                  // turns relay output 1 on
SIGNAL -1                 // turns relay output 1 off
SIGNAL 1,2,3,4,5,6        // turns relays 1-6 all on
SIGNAL -1,-2,-3,-4,-5,-6  // turns relays 1-6 all off

The inputs are used in V+ like this :

WAIT SIG(1001)            // this pauses the V+ program until input 1 is activated and then continues.

CS7 back.jpg

The connector has 50 pins, in three rows. Refer to the following manuals for details and schematics :

Pinout

StaubliJ11.png
Pin# Description
1 O1+ (Output 1 relay contacts)
2 O1- (Output 1 relay contacts)
3 O2+ (Output 2 relay contacts)
4 O2- (Output 2 relay contacts)
5 O3+ (Output 3 relay contacts)
6 O3- (Output 3 relay contacts)
7 O4+ (Output 4 relay contacts)
8 O4- (Output 4 relay contacts)
9 O5+ (Output 5 relay contacts)
10 O5- (Output 5 relay contacts)
11 O6+ (Output 6 relay contacts)
12 O6- (Output 6 relay contacts)
13 I1+ (Input 1 positive)
14 I1- (Input 1 negative)
15 I2+ (Input 2 positive)
16 I2- (Input 2 negative)
17 I3+ (Input 3 positive)
18 I3- (Input 3 negative)
19 I4+ (Input 4 positive)
20 I4- (Input 4 negative)
21 I5+ (Input 5 positive)
22 I5- (Input 5 negative)
23 I6+ (Input 6 positive)
24 I6- (Input 6 negative)
25 I7+ (Input 7 positive)
26 I7- (Input 7 negative)
27 I8+ (Input 8 positive)
28 I8- (Input 8 negative)
29 I9+ (Input 9 positive)
30 I9- (Input 9 negative)
31 I10+ (Input 10 positive)
32 I10- (Input 10 negative)
33 I11+ (Input 11 positive)
34 I11- (Input 11 negative)
35 I12+ (Input 12 positive)
36 I12- (Input 12 negative)
37 NC / unknown
38 NC / unknown
39 NC / unknown
40 NC / unknown
41 NC / unknown
42 NC / unknown
43 24v power
44 24v power
45 NC / unknown
46 NC / unknown
47 NC / unknown
48 NC / unknown
49 NC / unknown
50 NC / unknown
Shell / Shield Ground