Chapter 4: System Cable Installation
Pin No.
Designation
Signal Bank
19
Output 1
20
Output 2
21
Output 3
22
Output 4
23
Output 5
24
Output 6
25
Output 7
26
Output 8
Pin 1
Pin 9
Pin 10
Pin 18
Pin 26
Pin 19
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 and/or sink line.
The inputs are accessed through direct connection to the XIO connector (see the previous
table), or through the optional XIO Termination Block. See the documentation supplied with
the termination block for details.
XIO Input Specifications
Table 4-6. XIO Input Specifications
Parameter
Value
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 6 mA
Typical threshold current
2.0 mA
Impedance (V
in
/I
in
)
3.9 KΩ minimum
Current at V
in
= +24 VDC
I
in
≤ 6 mA
Turn on response time (hardware)
5 μsec maximum
Software scan rate and response time 16 ms scan cycle
21861-000 Rev A
Viper 650 and 850 Robot with EtherCAT
71