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

Using Digital I/O on <strong>Robot</strong> XIO Connector
XIO Output Signals
The eight digital outputs share a <strong>com</strong>mon, high side (sourcing) Driver IC. The Driver is
designed to supply any kind of load with one side connected to ground. It is designed for
a range of user provided voltages from 10 to 24 VDC and each channel is capable of up to
0.7A of current. This Driver has overtemperature protection, current limiting, and shorted
load protection. In the event of an output short or other overcurrent situation, the affected
output of the Driver IC turns off and back on automatically to reduce the temperature of
the IC. The Driver draws power from the primary 24VDC input to the robot through a
self-resetting polyfuse.
The outputs 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.
XIO Output Specifications
Table 5-7. XIO Output Circuit Specifications
Parameter
Value
Power supply voltage range See Table 4-2 on page 42.
Operational current range, per I out ≤ 700 mA
channel
Total Current Limitation, all channels
on.
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
<strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 59