Controller I/O

Description

The electrical interface inside the Control Box consists of groups Inputs and Outputs I/Othat allow for communication and configurations between the robot arm and different types of equipment. The I/O groups include:

Digital (24V)
Configurable (24V)
Analog
Safety (24V)

The illustration below shows the layout of electrical interface groups inside the Control Box. Observe and maintain the purpose of the color scheme, as illustrated below.

Yellow with red text	Dedicated safety signals
Yellow with black text	Configurable for safety
Gray with black text	General purpose digital I/O
Green with black text	General purpose analog I/O

I/O groups

You can install the robot according to the electrical specifications which are the same for all three listed inputs.

Safety I/O.
Configurable I/O.
General purpose I/O.

Configurable I/O are I/O configured as either safety-related I/O or normal I/O. These are the yellow terminals with black text.

It is possible to power the digital I/O from an internal 24V power supply or from an external power source by configuring the terminal block called Power. This block consists of four terminals. The upper two (PWR and GND) are 24V and ground from the internal 24V supply. The lower two terminals (24V and 0V) in the block are the 24V input to supply the I/O. The default configuration uses the internal power supply.

Power supply default

In this example the default configuration uses the internal power supply

External power supply

If more current is needed, you can connect an external power supply as shown below.

The fuse is Mini Blade type with maximum current rating of 10 A and a minimum voltage rating of 32 V. The fuse must be UL marked. If the fuse is overloaded, it must be replaced.

In this example the configuration uses an external power supply for more current.

Power supply specification

The electrical specifications for both the internal and external power supply are shown below.

Terminals	Parameter	Min	Typ	Max	Unit
Internal 24V power supply
`[PWR - GND]`	Voltage	23	24	25	V
`[PWR - GND]`	Current	0	-	2*	A
External 24V input requirements
`[24V - 0V]`	Voltage	20	24	29	V
`[24V - 0V]`	Current	0	-	6	A

*3.5A for 500ms or 33% duty cycle.

Digital I/O specification

The digital I/O are constructed in compliance with IEC 61131-2. The electrical specifications are shown below.

Terminals	Parameter	Min	Typ	Max	Unit
Digital Outputs
`[COx / DOx]`	Current*	0	-	1	A
`[COx / DOx]`	Voltage drop	0	-	0.5	V
`[COx / DOx]`	Leakage current	0	-	0.1	mA
`[COx / DOx]`	Function	-	PNP	-	Type
`[COx / DOx]`	IEC 61131-2	-	1A	-	Type
Digital Inputs
`[EIx/SIx/CIx/DIx]`	Voltage	-3	-	30	V
`[EIx/SIx/CIx/DIx]`	OFF region	-3	-	5	V
`[EIx/SIx/CIx/DIx]`	ON region	11	-	30	V
`[EIx/SIx/CIx/DIx]`	Current (11-30V)	2	-	15	mA
`[EIx/SIx/CIx/DIx]`	Function	-	PNP +	-	Type
`[EIx/SIx/CIx/DIx]`	IEC 61131-2	-	3	-	Type

*For resistive loads or inductive loads of maximum 1H.