Adept Cobra s600/s800 Robot User's Guide - pulsar.com.tr

Using Digital I/O on <strong>Robot</strong> XIO Connector
Optional I/O Products
These optional products are also available for use with digital I/O:
• XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 60
for information. This cable is not <strong>com</strong>patible with the XIO Termination Block
mentioned below.
• XIO Termination Block, with terminals for user wiring, plus input and output
status LEDs. Connects to the XIO connector with 6 foot cable. See the <strong>Adept</strong> XIO
Termination Block Installation <strong>Guide</strong> for details.
XIO Input Signals
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated
from the other bank and is optically isolated from the robot’s ground. The six inputs
within each bank share a <strong>com</strong>mon source/sink line.
The inputs are accessed through direct connection to the XIO connector (see Table 5-5 on
page 56), or through the optional XIO Termination Block. See the documentation supplied
with the Termination Block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or
vision triggers. See the V+ Language User’s <strong>Guide</strong> for information on digital I/O
programming.
XIO Input Specifications
Table 5-6. XIO Input Specifications
Operational voltage range
“Off” state voltage range
“On” state voltage range
Typical threshold voltage
Operational current range
“Off” state current range
“On” state current range
Typical threshold current
Impedance (V in /I in )
Current at V in = +24VDC
Turn on response time (hardware)
Software scan rate/response time
Turn off response time (hardware)
Software scan rate/response time
0 to 24VDC
0 to 3VDC
10 to 24VDC
V in = 8VDC
0 to 6 mA
0 to.5 mA
2 to 6 mA
2.5 mA
3.9 K Ω minimum
I in ≤ 6 mA
5 µsec maximum
16 ms scan cycle/
32 ms max response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
NOTE: The input current specifications are provided for reference. Voltage
sources are typically used to drive the inputs.
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 57