ROKAE xMate CR7, Hardware Installation Manual

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202206291217/V0.1
6 Electrical Connections
xMate CR7Hardware Installation Manual 37
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6.2.9 Tool interface
Adjacent to the tool flange on the robot wrist, there is a round connector that provides the
extended electrical interface for the robot end effector. A special-purpose gripper of the
xMate CR7 robot can be used as the end effector in this interface.
Figure 28. The wrist round connector interface
No. Definition
1 0V/+12V/+24V( 电源)
2 GND
3 DI_0
4 DI_1
5 DO_0
6 DO_1
7 AI_0/RS485A
8 AI_1/RS485B
6.2.9.1
Special-purpose tool IO
The xMate CR7 robot supports the use of a special-purpose gripper as the end effector. The
electrical and special-purpose communication interfaces of the gripper are integrated into
this connector.
6.2.9.2
General-purpose tool IO
This connector provides power and control signals for grippers and sensors used on a
specific robot tool.
The electrical specifications of the tool's power supply are listed below.
Min Typical Max Unit