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Wiring the System
Table 4-12. DIO Output Specifications (XDIO connector)
Operating voltage range
Operational current range, per channel
Vdrop across output in “on” condition
0 to 24 VDC
I out ≤ 100 mA, short-circuit
Protected
V drop ≤ 2.7 V at 100 mA
V drop ≤ 2.0 V at 10 mA
Output off leakage current I out ≤ 600 µA
Turn on response time (hardware)
Software scan rate/response time
Turn off response time (hardware)
Software scan rate/response time
3 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
200 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
Figure 4-16 shows two examples of different connections to the digital outputs on the
XDIO connector. The examples are negative <strong>com</strong>mon and positive <strong>com</strong>mon using the
internal 24V and ground connections.
Example 1: outputs 0001 to 0004 are shown with positive <strong>com</strong>mon.
Example 2: outputs 0005 to 0008 are shown with negative <strong>com</strong>mon.
68 <strong>Adept</strong> <strong>Cobra</strong> <strong>PLC600</strong>/PLC800 Robot User’s <strong>Guide</strong>, Rev B