Controllers

CS9 robot controller: the next generation of controllers

The CS9 controller, with its smart design and compacity, offers consistent availability. Its open architecture makes it compatible to the production world and allows faster integration for each user profile.

Safety features are embedded for each application profile.

I/O EQUIPMENT

EtherCAT I/O accessories for CS9

A generic powerful control platform

Compact and smart design

Exclusive integration from the front
Modular design
One single platform to control SCARA, 6 axis robots and POWER cobots as well as mobile robot systems.

Consistent availability

Interchangeable drawers and easy access
Front access for all operations
Standardized components
Universal power supply for all voltages

SP2 manual control unit

This unique terminal combines a lightweight design, ergonomics (for left or right-handed user) and robustness with outstanding functionality:

Operation, configuration and visualization for various use cases (setup, production or maintenance)
Integrated safety functions (3-position dead-man control, emergency stop),
Ease of use, graphics and intuitive interface.

Faster integration for each usage profile

Powerful multitasking VAL 3 language
library based extension possibilities
uniVAL plc offering IEC 61131 PLC language support
uniVAL drive for full joint motion control via ext. motion controller

Safety for each application profile

CS9 controller with integrated modular safety function possibilities:
Safe speed | Safe stop | Safe tool | Safe zone | Safe touch
Seamless configuration switch for highly productive and collaborative applications

CS9 controller energy efficiency

The most energy efficient system based on VDMA norm 24608, 10% less consumption compared to previous generation.
Energy recuperation during each joint deceleration.
Different power saving/sleep modes bring up to 40% consumption savings.

Open architecture

Connectivity to the smart production

Compatibility to all production devices and ERP
All standardized communications protocols, including real time Ethernet, available and configurable via a unique software suite
Embedded html-based web server for user system and custom interfaces available on any device
Smart data for digital production and cockpit
Any system data accessible and linkable to all interfaces
Optional OPC UA Server
IP67 EtherCat I/O modules available for modular connections to peripheral devices

Technical specifications

CS9 controller	CS9	CS9 MP	CS9 HP
Dimensions: H x W x D	270 x 445 x 365 mm	297 x 445 x 365 mm	780 x 680 x 650 mm
Protection class	IP20		IP54
System/programming language	Stäubli Robotics Control / VAL 3
Available interfaces	2 USB ports 1 RS232 port Hardware IOs 2 fast inputs 2 fast outputs 4 safe configurable inputs 3 safe configurable outputs 2 Ethernet ports TCP/IP and UDP Socket communication FTP Server/Client support Web server optional: OPC UA server 1 EtherCAT Master port 2 Real time Ethernet ports Modbus TCP/IP Server & Client Sercos III Slave Ethernet IP Adapter PROFINET (PROFIsafe**) IO-Device EtherCAT/FSoE Slave PowerLink Controlled Node Optional PCIe Card ASI Master CCLink Client Profibus DP Master & Slave Ethernet IP Scanner & Adapter ProfiNet IO -Controller & Device EtherCAT Master & Slave Sercos III Master & Slave PowerLink Controlled Node Optional related EtherCAT IO-equipment digital IOs analog IOs Encoder interface serial interface IP65/66/67 EtherCAT box
Stäubli robots	TS2-40, TS2-60, TS2-80, TS2-100, TX2-40, TX2-60/L, TX2-90/L/XL, MRS90	TX2-140,TX2-160/L	TX2-200/L

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