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CODESYS SoftMotion Stäubli Support

Restriction

CODESYS EtherCAT version 4.10.0.0 contains a known issue with the function "Load PDO info from the device", which prevents it from working properly with the CODESYS SoftMotion Stäubli Support package.

Please use either an earlier or a newer version of CODESYS EtherCAT instead.

The CODESYS SoftMotion Stäubli Support add-on makes it possible to control Stäubli robots from the TS2 and TX2 series via the uniVAL drive interface with CODESYS SoftMotion. The robots are supported in the form of suitable device descriptions and kinematic transformations.

Requirements

  • The controller is real-time capable and supports EtherCAT.

  • The CODESYS SoftMotion package is installed.

  • A Stäubli CS9 Controller is available.

You can download the CODESYS SoftMotion Stäubli Support from CODESYS Store International or CODESYS Store North America. There you will also find the data sheet for the product.

Robot models

The add-on supports the following robot models.

  • ts2_40-S1-D25-L200-ceiling-R4-V8

  • ts2_40-S1-D25-L200-floor-R4-V7

  • ts2_40-S1-D25-L400-ceiling-R1-V9

  • ts2_40-S1-D25-L400-floor-R1-V8

  • ts2_60-S1-D25-L200-ceiling-R4-V7

  • ts2_60-S1-D25-L200-floor-R4-V7

  • ts2_60-S1-D25-L400-ceiling-R1-V8

  • ts2_60-S1-D25-L400-floor-R1-V8

  • ts2_80-S1-D25-L200-ceiling-R4-V7

  • ts2_80-S1-D25-L200-floor-R4-V7

  • ts2_80-S1-D25-L400-ceiling-R1-V8

  • ts2_80-S1-D25-L400-floor-R1-V8

  • ts2_100-S1-D25-L200-ceiling-R4-V7

  • ts2_100-S1-D25-L200-floor-R4-V7

  • ts2_100-S1-D25-L400-ceiling-R1-V9

  • ts2_100-S1-D25-L400-floor-R1-V9

  • tx2_40-S3-R2

  • tx2_60l-S2-R2

  • tx2_60-S2-R3

  • tx2_90l-S2-R4

  • tx2_90-S2-R3

  • tx2_90xl-S2-R4-V1

  • tx2_140-S3-R1

  • tx2_160l-S3-R1

  • tx2_160-S3-R1

  • tx2_200l-S3-R1-V6

  • tx2_200-S3-R1-V6

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