Hardware Reference
PreciseFlex™ DDR Collaborative Robots
P/N: PFD0-DI-00010, Rev 5.0.0, April 9, 2022
68
Copyright © 2022, Brooks Automation, Inc.
4
RS232 TXD (Com1)
5
OSSD1 (Output Signal Switching Device for Safety Devices)
6
RS485+
7
A+ (Belt)
8
B+ (Belt)
9
48VDC
10
GND
11
RS232 RXD (Com1)
12
OSSD2 (Output Signal Switching Device for Safety Devices)
13
RS485-
14
A- (Belt)
15
B- (Belt)
Interface Panel
Connector Part No
DB15 Female Connector AMP 5747299-7
User Plug Part No
DB15 Male Plug Amp 1658656-1 (crimp) Pins 22-26AWG 745254-6
Digital Input and Output Signals
Digital Input Signals
The standard PFDD robots provides 12 general purpose optically isolated digital input signals at the
Facilities Panel (in addition to those signals that are available at the Gripper Control Board).
The input signals can be configured as "sinking" or "sourcing" in blocks of 4 by means of a software
configuration setting. Set DataID 531 "DIN sink mode 1-4, 5-8, 9-12" to configure source vs. sink for
digital input groups.
0 means sourcing, 1 means sinking.
Output signals can be configured individually. Set DataID 530 "DOUT sink mode 1, 2, 3, 4, 5, 6, 7, 8" to
configure source vs. sink for digital outputs.
0 means sourcing, 1 means sinking. Changing any of these
values clears all 8 digital outputs.
If an input signal is configured as "sinking", the external equipment must pull its input high to 5VDC to
24VDC to indicate a logical high value or must allow it to float to no voltage for a logical low. This input is
configured at the factory as “sinking”.