Specifications

Electrical Specifications

MAF, not safety-related

Parameter	Min	Typ	Max	Unit
24V Voltage tolerance	-10%	–	10%	V
Current available from 24V supply	–	–	750	mA
Overload protection	–	2	–	A
MAF Input high level voltage*	11	–	–	V
MAF Input low level voltage*	–	–	5	V
MAF Input voltage range*	-0.4	–	36	V
MAF Input current at 24V input voltage	–	11	–	mA

*With reference to ground (GND) from the IMMI.

Stop I/O, safety-related signals

The emergency stop output signals are controlled by force guided safety relays conforming to EN 50205. The switch contacts are galvanically isolated from all other signals, and conform to IEC 60664-1 pollution degree 2, overvoltage category II.

Parameter	Min	Typ	Max	Unit
ZA1-ZA4 Voltage*	22	24	26	V
ZC1-ZC4 Input Current (each output) at 24V input voltage	–	11	–	mA
ZC1-ZC4 Input voltage range*	-0.4	–	36	V
ZC1-ZC4 Input high voltage*	11	–	–	V
ZC1-ZC4 Input low voltage*	–	–	5	V
A1-C1 A2-C2 A3-C3 Current AC/DC	0.01	–	6	A
A1-C1 A2-C2 A3-C3 Voltage DC	5	–	50	V
A1-C1 A2-C2 A3-C3 Voltage AC	5	–	250	V

*With reference to ground (GND) from the IMMI.

Digital Inputs, not safety-related

The digital inputs are pnp-type, and are galvanically connected to the control box. The inputs are compliant with all three types of digital inputs defined in IEC 61131-2.

Parameter	Min	Typ	Max	Unit
Input current at 24V input voltage	–	11	–	mA
Input voltage range*	-0.4	–	36	V
Input high level voltage*	11	–	–	V
Input low level voltage*	–	–	5	V

*With reference to ground (GND) from the IMMI.

Digital Outputs, not safety-related

The digital outputs are pnp-type, and are galvanically connected to the IMM. The galvanic isolation between the IMM and robot potential conforms to IEC 60664-1 pollution degree 2, overvoltage category II. The outputs are constructed in compliance with IEC 61131-2.

Parameter	Min	Typ	Max	Unit
Source current per output	0	–	200	mA
Voltage drop when ON	0	70	300	V