CS9 controller IOs and so... (in compare with Yaskawa)

    Hello there

    My company is researching and evaluating to work with Stäubli robots. We current work with Yaskawa robots.

    Looking at their website and this forum doesn't result clear to me how the control of the tool/gripper can be done. For example, we command the gripper via discrete inputs and outputs (f.e. to open and close valves... using simple terminal blocks wired). This valves of the gripper is executed vía programming code in the robot. We communicate the robot with Cell PLC (via Profinet) -with Cell PLC I refer to the cell containing the conveyors and differents machines- to receive states of sensors and so.

    My question is, for a tool/gripper: CS9 allows to wire for discrete signals (I/O)? Or it's only vía ethernet/profinet/ethercat that can manage IOs in a tool/gripper?

    Profinet is the protocol that we use to communicate between PLC (S7-1500) and Robot PLC. But in that case, it's resolved, because that is covered in CS9.

    Thanks in advance for your time!

    Hello CrazyHorse,

    How to control the tool/gripper highly depends on what type of tool/gripper you are using.

    • If you are using a discrete electrical tool/gripper, you need some digital outputs1.
    • If you are using an IO-Link tool/gripper, you would need an IO-Link gateway.
    • If you are using a fieldbus tool/gripper, most common fieldbuses can be configured on the CS9.
    • If you are using a pneumatic tool/gripper, you can either use the internal valves or use external valves connected to some digital outputs1.

    It also depends on if the tool/gripper must be controlled by the robot controller or by an external system. You could for example connect your PLC through the extension cable in the arm to your tool/gripper.

    1 Be aware that by default the CS9 controller only has 2 digital inputs and 2 digital outputs (Fast-IO). It is possible to add I/Os by connecting an EtherCAT slave module to the EtherCAT Master of the CS9.

    The difference between theory and practice is greater in practice than in theory.

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