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Chapter 6 - System Operation
84 Adept Cobra i600/i800 Robot User’s Guide, Rev E
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/sink line.
The inputs 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 Termination Block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or
vision triggers.
XIO Input Specifications
NOTE:
The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
Table 6-7. XIO Input Specifications
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 7.5 mA
Typical threshold current 2.0 mA
Impedance (V
in
/I
in
) 3.9 K
Ω
minimum
Current at V
in
= +24 VDC I
in
≤
6 mA
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/32 ms max response time