adept technology Cobra s600, User Manual

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Chapter 5 - System Operation
60 Adept Cobra s600/s800 Robot User’s Guide, Rev H
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 63
for information. This cable is not compatible 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 Adept XIO
Termination Block Installation Guide 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 common source/sink line.
The inputs are accessed through direct connection to the XIO connector (see Table 5-6 on
page 59 ), 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 Guide for information on digital I/O
programming.
XIO Input Specifications
NOTE:
The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
Table 5-7. XIO Input Specifications
Operational voltage range 0 to 30 VDC
“Off” state voltage range 0 to 3 VDC
“On” state voltage range 10 to 30 VDC
Typical threshold voltage V
in
= 8 VDC
Operational current range 0 to 7.5 mA
“Off” state current range 0 to 0.5 mA
“On” state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Impedance (V
in
/I
in
) 3.9 K
Ω
minimum
Current at V
in
= +24 VDC I
in
≤
6 mA
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time