Doosan H2017, Installation Manual

Page: 64 / 190

Doosan Robotics Installation Manual v2.1 64
4.2 Connecting Controller I/O
In addition to the manipulator and teach pendant, various external equipment can be connected to the
controller through the controller I/O terminal. Various peripherals such as safety devices, including
emergency stop switch, light curtain and safety mats, and devices required during robot work cell
setup including pneumatic solenoid valves, relays, PLCs and conveyor belt encoders can be
connected. The controller I/O consists of the following six
units:
•
Terminal Block for Safety Contact Input (TBSFT): Used to connect devices required for
emergency stopping and protective stopping
•
Terminal Block for Safety Contact Output (TBSTO): Used to connect a power switch
•
Terminal Block for Digital I/O Power (TBPWR):
•
Configurable Digital IO Block (TBCI1- 4, TBCO1– 4): Used to connect peripherals required for
robot operation
•
Terminal Block for Analog I/O (TBAIO):
•
Terminal Block for Encoder Input (TBEN1, TBEN2)
The figure below depicts the electric interface layout of the controller interior.
Caution

Turn off the power when connecting terminals to the controller I/O to prevent product damage
and breakdown.

Doosan Robotics will not compensate any product damage caused by inappropriate terminal
connection or user negligence.

Make sure to turn off the external power source when turning off the controller power.