Equipment/Staubli/J11
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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.
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
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 | |
44 | |
45 | NC / unknown |
46 | NC / unknown |
47 | NC / unknown |
48 | NC / unknown |
49 | NC / unknown |
50 | NC / unknown |
Shell / Shield | Ground |