Specifications for all digital I/Os
This section defines the electrical specifications for the following 24-V digital I/O ports on the control unit:
- Safety inputs/outputs
- General inputs/outputs
Install the robot in accordance with the electrical specifications, which vary depending on the inputs and outputs. Some of the output ports on the I/O blocks are connected to an internal 24-V power supply and some of the inputs are connected to ground.
Illustration 35: Assignment of the I/O terminal blocks
Safety blocks S1 through S6 are highlighted in blue.
Explanation of the other connections on the safety block:
- Res – external reset
- AM – automatic mode
- MM – manual mode
- P1 – pulse signal (for operating modes and external devices)
- RO – system/emergency stop relay output
- RI – system/emergency stop relay input
- S(1.1-2.2) – system shutdown
- sup – surveillance robot stopped
The remaining pins are described in Secure inputs/outputs.
Electrical specifications
The digital I/Os are configured in accordance with IEC 61131-2. The electrical specifications for the entire I/O block are listed in the following table:
| Parameters | Min. | Type | Max. |
|---|---|---|---|
| General I/O: Outputs | |||
| Current | 0.5 A | ||
| Output voltage | 21.6 V | 24 VDC | 26.4 V |
| Inputs | |||
| Current | 3 mA | ||
| OFF range | 0 VDC | 5 VDC | |
| ON range | 18 VDC | 24 VDC | 30 VDC |
| Safety I/O (in accordance with IEC 61131-2): Outputs | |||
| Current | 0.5 A | ||
| Output voltage | 24 VDC | ||
| Inputs | |||
| Current | 20 mA | ||
| OFF range | 0 VDC | 5 VDC | |
| ON range | 15 VDC | 30 VDC |