Hola @Enric ,

In order to setup via Profinet over Staubli, you will need to use a Universal controller and to setup the communication with the robot. 

First of, you need to setup the communication with the gripper. Using Robotiq's Universal controller with Profinet, you can use the GSDML file provided here. If this does not work for your robot controller, you will need to manually setup the parameters, that are defined here. 

Afterwards, you need to configure the gripper's registers. You can refer to this section of the instruction manual. 

Feel free to post your questions below!