Difference between revisions of "Equipment/Staubli/J11"

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(Created page with "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 powe...")
 
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There are 6 relay outputs and 12 digital inputs. The connector can also supply 24v power.
 
There are 6 relay outputs and 12 digital inputs. The connector can also supply 24v power.
  
−
Outputs 7 & 8 are used in the arm to control the gripper solenoids.  
+
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 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.
  
 
[[File:CS7_back.jpg|500px]]
 
[[File:CS7_back.jpg|500px]]
Line 52: Line 65:
 
|12
 
|12
 
|O6- (Output 6 relay contacts)
 
|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
 +
|44
 +
|+24v
 +
|45
 +
|NC / unknown
 +
|46
 +
|NC / unknown
 +
|47
 +
|NC / unknown
 +
|48
 +
|NC / unknown
 +
|49
 +
|NC / unknown
 +
|50
 +
|NC / unknown
 +
|Shell / Shield
 +
|Ground
 
|}
 
|}

Revision as of 14:08, 17 February 2015

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 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 :

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
44
24v
45 NC / unknown 46 NC / unknown 47 NC / unknown 48 NC / unknown 49 NC / unknown 50 NC / unknown Shell / Shield Ground
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