Equipment/Staubli/J11

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.

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

• Page 9 – CS7 Electrical Diagrams
• Page 50 – CS7 User Guide

Pinout

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