Adept Quattro s650H Robot
Adept Quattro s650H Robot User's Guide - Asimo.pl
Adept Quattro s650H Robot User's Guide - Asimo.pl
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Using Digital I/O on <strong>Robot</strong> XIO Connector<br />
Optional I/O Products<br />
These optional products are also available for use with digital I/O:<br />
• XIO Breakout Cable, 5 meters long, with flying leads on user’s end. See page 72<br />
for information. This cable is not compatible with the XIO Termination Block.<br />
• XIO Termination Block, with terminals for user wiring, plus input and output<br />
status LEDs. Connects to the XIO connector with 6-foot cable. See the <strong>Adept</strong> XIO<br />
Termination Block Installation Guide for details.<br />
XIO Input Signals<br />
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated<br />
from the other bank and is optically isolated from the robot’s ground. The six inputs<br />
within each bank share a common source/sink line.<br />
The inputs are accessed through direct connection to the XIO connector (see Table 5-5 on<br />
page 68), or through the optional XIO Termination Block. See the documentation supplied<br />
with the Termination Block for details.<br />
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or<br />
vision triggers. See the V+ Language User’s Guide for information on digital I/O<br />
programming.<br />
XIO Input Specifications<br />
Table 5-6. XIO Input Specifications<br />
Operational voltage range<br />
“OFF” state voltage range<br />
“ON” state voltage range<br />
Typical threshold voltage<br />
Operational current range<br />
“OFF” state current range<br />
“ON” state current range<br />
Typical threshold current<br />
Impedance (V in /I in )<br />
Current at V in = +24 VDC<br />
Turn-on response time (hardware)<br />
Software scan rate/response time<br />
Turn-off response time (hardware)<br />
Software scan rate/response time<br />
0 to 30 VDC<br />
0 to 3 VDC<br />
10 to 30 VDC<br />
V in = 8 VDC<br />
0 to 7.5 mA<br />
0 to 0.5 mA<br />
2.5 to 7.5 mA<br />
2.0 mA<br />
3.9 KΩ minimum<br />
I in ≤ 6 mA<br />
5 µsec maximum<br />
16 ms scan cycle/<br />
32 ms max response time<br />
5 µsec maximum<br />
16 ms scan cycle/<br />
32 ms max response time<br />
NOTE: The input current specifications are provided for reference.<br />
Voltage sources are typically used to drive the inputs.<br />
<strong>Adept</strong> <strong>Quattro</strong> <strong>s650H</strong> <strong>Robot</strong> User’s Guide, Rev A 69