42
I/O expansion interface
I / O expansion for the control box provide external DI (PNP), DO(PNP,24V
24V/Max:500mA), and optional AI and AO. The port has been defined as follow:
Port number
Signal
1
Robot locked(DI)
2
Run program(DI)
3
Paused(DI)
4
Stopped(DI)
5
Reserved(DI)
6
Reserved(DI)
7
DI1
8
DI2
9
DI3
10
DI4
11
DI5
12
DI6
13
DI7
14
DI8
15
Locked status(DO)
16
Run program status(DO)
17
Standby status(DO)
18
Paused status(DO)
19
Finish running program status(DO)
20
Error status(DO)
21
DO1
43
DO2
45
DO3
47
DO4
49
DO5
51
DO6
53
DO7
55
DO8
22
24V
23
24V
24
24V
25
24V
26
24V
27
24V
Summary of Contents for GCR20-1100
Page 1: ...GCR20 1100 Collaborative Robot User Manual Hardware Model GCR20 1100 V2 0 SIASUN Co Ltd...
Page 30: ...26 Figure 4 1 4 1 Robot zero position and positive direction schemata...
Page 37: ...33 Axis Stop distance deg Stop time ms A1 10 7213 217 A2 11 5897 229 A3 16 4914 307...
Page 39: ...35 Image Nameplates and labels...
