7
The digital I/O follows the requirements of IEC61131-2. The electrical specifications
are as follows.
Terminal
parameter
minimum
value
Typical
value
Maximum
value
unit
Digital output
COx / DOx
Current
0
-
1
A
COx / DOx
Voltage drop
0
-
0.5
V
COx / DOx
Leakage current
0
-
0.1
mA
COx / DOx
Function
-
PNP
-
Type
COx / DOx
IEC 61131-2
-
1A
-
Type
Digital input
SIx /DIx
Voltage
-3
-
30
V
SIx /DIx
OFF area
-3
-
5
V
SIx/ DIx
ON area
11
-
30
V
SIx/ DIx
Current（11-30V）
2
-
15
mA
SIx/ DIx
Function
-
PNP
-
Type
SIx/ DIx
IEC 61131-2
-
3
-
Type
Safety I/O
This section introduces special safety input (red text font), please follow the 24V
digital I/O general specification when using.
The safety inputs include emergency stop and safety protection stop. Emergency stop
input is used only for stopping equipment under emergency. The safety protection stop
input is used for all types of safety protection devices. Their functional differences are
shown in the following table.
Terminal
Emergency Stop
Safety Protection Stop
Robot stops moving
Yes
Yes
Run program
Stop
Suspend
Robot power supply
Close
open
Initialization
Manual
Automatic or manual
Frequency of use
Low
Ordinary
Need to be re-initialized
Only release the brake
No
Shutdown category (IEC 60204)
1
2
Performance rate (ISO 13849-1)
PLd
PLd
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