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Chapter 6 - System Operation
86 Adept Cobra i600/i800 Robot User’s Guide, Rev E
XIO Output Signals
The eight digital outputs share a common, high side (sourcing) Driver IC. The Driver is
designed to supply any kind of load with one side connected to ground. It is designed for
a range of user-provided voltages from 10 to 24 VDC and each channel is capable of up to
0.7 A of current. This Driver has overtemperature protection, current limiting, and
shorted-load protection. In the event of an output short or other overcurrent situation, the
affected output of the Driver IC turns off and back on automatically to reduce the
temperature of the IC. The Driver draws power from the primary 24 VDC input to the
robot through a self-resetting polyfuse.
The outputs are accessed through direct connection to the XIO connector (see Table 6-6
on page 83 ), or through the optional XIO Termination Block. See the documentation
supplied with the XIO Termination Block for details.
XIO Output Specifications
Table 6-8. XIO Output Circuit Specifications
Parameter Value
Power supply voltage range See Table 4-1 on page 47 .
Operational current range, per
channel I
out
≤
700 mA
Total Current Limitation, all channels
on. I
total
≤
1.0 A @ 50° C ambient
I
total
≤
1.5 A @ 25° C ambient
On state resistance (I
out
= 0.5 A) R
on
≤
0.32
Ω
@ 85× C
Output leakage current I
out
≤
25 µA
Turn on response time 125 µsec. max., 80 µsec typical
(hardware only)
Turn off response time 60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (I
out
= 0.5 A, Load = 1 mH)
(+V - 65)
≤
V
demag
≤
(+V - 45)
DC short circuit current limit 0.7 A
≤
I
LIM
≤
2.5 A
Peak short circuit current I
ovpk
≤
4 A