OKM Hermes, User Manual, Page: 64 / 140

Hermes Robot User Manual
36 Document Version V3.0(01-11-2023)
Note 1
: The rated current of one-way 24V DC output power supply is 1A;
The 24V DC output power supply cannot be connected to external
devices, but can only be used for I/O output.
Figure 4-5 Diagram of input circuit (left) and output circuit (right)
1. The ordinary digital output DO indicates NPN output in
open-circuit mode, with a maximum operating frequency of
1kHz, and a maximum current of less than 200mA;
2. The ordinary digital input DI indicates input in PNP mode,
with a maximum operating frequency of 1kHz;
3. The high-speed digital input HDI indicates input in PNP
mode, with a maximum operating frequency of 1MHz;
4. Range of DI/HDI trigger level: logic 1 (relative to the
reference pin) > 11V; logic 0 (relative to the reference pin) <
5V;
Load circuit
Internal circuit Internal circuit