9
4.1.1
Pin assignment of support module and power supply
DC24V In
0V Outer
24V Inner
Ethernet
RJ45 Standard Ethernet socket
Ext. Relay /
Motor bridge
Motor bridge For motors, power supply
can be interrupted here.
Pin 1: 24V output
Pin 2: 24V Input for
power electronics
Connection
display
View of the plug contacts
Pin 1: 24V
Pin 2: Emergency stop signal (active
low)
Pin 3: TX
Pin 4: CAN-L
Pin 5: GND
Pin 6: GND
Pin 7: RX
Pin 8: CAN-H
Pin 9: GND
Caution! The connection is proprietary.
It is not suitable for a null modem cable
or the like.
4.2
Digital Inputs/Outputs
4.2.1
Digital I/Os and the back wall
From the Digital Input/Output (DIO) board, 4 digital outputs and 4 digital inputs are routed to
the outside. If further inputs and outputs are required, 3 more each can be achieved on the same
module in the housing of the robot. Plug-in connectors are included.
The outputs are not galvanically isolated in delivery condition; 24V and GND of the robot
control system are used. If galvanic isolation is required, this can be done as described in
section 10.1 "Galvanic isolation".
For testing, an LED with series resistor (e.g., 2K) can be connected between e.g. DOut1
(sw 24V) and GND of the right 6-pin plug-in connector. This can be switched later in the
software.