A case of COVID meant Foakes missed last month's victory over India, a fourth in four games under the new leadership team of Ben Stokes and Brendon McCullum, but he reclaims the gloves from Kent's Sam Billings.
That is the only change to the starting XI, with Robinson unable to break up a pace attack comprising James Anderson, Stuart Broad and Matthew Potts.
Robinson has not played for his country since the final match of the Ashes in January, with a series of fitness issues disrupting a bright start to his international career.
He made his way back into the squad after proving his fitness during the England Lions' win over the Proteas at Canterbury but sits out alongside fellow seamer Craig Overton and Yorkshire's in-form batter Harry Brook.
Skipper Ben Stokes, meanwhile, admitted taking some satisfaction from hearing South Africa counterpart Dean Elgar wade into the debate about England's new approach to Test cricket.
"The opposition seem to be doing a lot of talking about [Bazball] at the moment, we don't really speak about that much. We just concentrate on what we do," said Stokes.
"We don't dive into it too much, but I'm happy for Dean and the South Africa team to say they're not interested and then keep talking about it.
"We've got a style of play, they've got a style of play. At the end of the day it's bat against ball and whoever plays best over a Test match is more than likely to win."
Elgar himself was keen to move off the topic.
With all due respect I am really not going to entertain that (Bazball) anymore. We have chatted about it long and hard. I just want to crack on with the cricket," Elgar said.
"What they (England) did, the conditions were pretty nice to bat in during those specific Tests.
"They did really unique things around that time, those months ago, chasing the scores they did and it was something where I was also blown away with. It was pretty impressive.
"But I would like to think the bowlers we have, even if the wickets are pretty flat, I think we have covered our bases with regards to our bowling unit and we can bowl them out even if they are chasing."
South Africa will check on Kagiso Rabada before naming their XI with the fast bowler recently absent with an ankle injury.
"I think Kagi is very close to being fully fit for this Test. He has had a really good few days so it is looking pretty good for us," said Elgar.
14°C