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

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Chapter 6 - Optional Equipment Installation SOLND Connector Circuit For optional <strong>Robot</strong> Solenoid Kit installation, or +24VDC other user supplied devices. Signal 3001 Pin 1 Load (equivalent Pin 2 circuit) GND Signal 3002 Pin 3 Pin 4 Load GND OP3/4 Connector Circuit +24VDC (equivalent circuit) Signal 3003 GND Signal 3004 GND For optional second set of solenoids, or other user supplied devices. Pin 1 Load Pin 2 Pin 3 Pin 4 Load Figure 6-6. OP3/4 and SOLND Circuits EOAPWR Connector This 4-pin connector (see Figure 6-4 on page 68) provides 24 VDC power and ground for user applications. See Table 6-3 for the pinouts and Table 6-4 for the output specifications. Table 6-3. EOAPWR Connector Pinout Pin # Description Pin Location 24 VDC (see Table 6-4 for 1 current specs) 2 Ground 24 VDC (see Table 6-4 for 3 current specs) 4 Ground Mating Connector: AMP/Tyco #172167-1, 4-pin Mini-Universal Mate-N-Lok AMP/Tyco #770985-1, Pin Contact, Mini-Univ. Mate-N-Lok 2 1 4 3 EOAPWR Connector as viewed on robot 70 <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C
Internal User Connectors Internal User Connector Output Specifications The output specifications in Table 6-4 apply to the EOAPWR, OP3/4, and SOLND internal user connectors. Table 6-4. Internal User Connector 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. 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. <strong>Adept</strong> <strong>Cobra</strong> <strong>s600</strong>/<strong>s800</strong> <strong>Robot</strong> User’s <strong>Guide</strong>, Rev C 71
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Adept Cobr
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The information contained herein is
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Table of Contents 3 Robot</
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Table of Contents Tools Required .
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Table of Contents V+ Monitor Comman
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List of Figures Figure 6-17. Joint
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Chapter 1 - Introduction Joint 2 Jo
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Chapter 1 - Introduction 1.2 Instal
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Page 22 and 23: Chapter 2 - Safety 2.2 Warning Labe
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Chapter 10 - IP 65 Option 10.5 User
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Chapter 10 - IP 65 Option 10.6 Main
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Index E-stop circuit 139 installati
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Index softstops modifying for Joint
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Revision History • Added new mate
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