LIBRARY ı6ıul 0) - Cranfield University

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Appendix G
This Appendix shows the external connections of the interface box built in this
work and gives information about its internal electronic circuits. Figure G. 1 shows the
external view of the Interface Box. This box was primarily built to transform available
robot inputs and outputs (I/Os) from switch-type to 24 Vdc I/Os, so that they could
be connected to the table controller and the power source robot interface. It was
designed to allow up to 8 robot inputs and up to 8 outputs to be used as 24 Vdc I/Os.
The transformation between the robot I/Os and the 24V I/Os was provided by using
an internally built 24 Vdc (800 mA) power supply and contact relays. The circuits for
the outputs and the inputs are shown in Figure G. 2 and Figure G. 3, respectively.
Table G. 1 gives the connections made in the Interface Box internal relay board and
Table G. 2 gives the connections made in the 37-way D-connector. The touch sensor
was also mounted inside the interface box and its circuit is shown in Figure 5.1.
Table G. 1 - Relay board connector pin layout
pIN
Terminal
input Relay A** B** C** D**
I 1 com*** 2 3
2 5 com 6 7
3 10 com 8 9
4 13 com 11 12
5 15 com 14 16
6 22 com 20 21
7 23 com 24 25
8 28 com 26 27
9* 31 com 29 30
* This relay was mounted but aas not used
** See Figure G. 4
*** Pins 4 and 32 were connected to the common of the 24V power supply, which was also powering
the table controller.
Pins 17,18 and 19 were not connected.
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