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Optional Robot Equipment Installation
Internal User Connector Output Specifications
The output specifications in Table 7-4 apply to the EOAPWR, OP3/4, and SOLND
internal user connectors.
Table 7-4. Internal User Connector Output Circuit Specifications
Parameter
Value
Power supply voltage range See Table 4-4 on page 49.
Operational current range, per I out ≤ 700 mA
channel
Total Current Limitation, all channels
on. a
I total ≤ 1.0 A @ 50°C ambient
I total ≤ 1.5A @ 25°C ambient
On state resistance (I out = 0.5A) R on ≤ 0.32Ω @ 85°C
Output leakage current I out ≤ 25 µA
Turn on response time
125 µsec. max., 80 µsec typical
(hardware only)
Turn off response time
60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load (+V - 65) ≤ V demag ≤ (+V - 45)
turnoff (I out = 0.5A, Load = 1 mH)
DC short circuit current limit 0.7A ≤ I LIM ≤ 2.5 A
Peak short circuit current
I ovpk ≤ 4A
a Note: Total current is the sum of the output current used by output
signals 3001-3004 (SOLND and OP3/4) and any user current drawn
from EOAPWR.
7.5 Mounting Locations for External Equipment
Three locations are provided for mounting user external equipment on the robot arm. The
first location is on the J1 Harness Support (top side of the inner link), a second is on the
top side of the outer link, and a third is on the bottom side of the outer link. Each location
has a set of four tapped holes. See Figure 9-4 on page 130 for the dimensions.
NOTE: The cover on the outer link must be removed for maintenance
(lubrication), so keep this in mind when mounting any external
equipment to the outer link cover.
108 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B