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8 HARDWARE CONFIGURATION
8 Hardware Configuration
In order to use additional hardware such as switches, PLCs, actuators, axis brakes or additional axes,
these must first be connected and configured. This chapter explains how to configure the hardware
related to axes and input/output. Further settings concerning the behavior of the robot and the soft-
ware interfaces (including cameras) can be found in chapter 9.
8.1 In-/Outputs
The controller supports different types of digital inputs and outputs (DIO), which can be configured
in the project configuration area under "Inputs/Outputs":
• Basic inputs/outputs: These inputs and outputs with numbers from 1-20 are only relevant for
Mover series robots. The Rebel controller ignores them.
• DIN-Rail inputs/outputs: The Rebel has two integrated input/output modules. With DIN-Rail
controllers, up to 3 input/output modules can be connected and configured.
• Global signals: These are virtual inputs/outputs. They can be set and read via robot programs,
the CRI interface or the Modbus interface. Up to 100 global signals can be used.
8.1.1 Electrical Integration
The easiest way to connect switches, actuators or PLC is via digital inputs and outputs. The Rebel is
supplied with two integrated DIO modules; four digital inputs are available at the base and two inputs
and outputs each at the arm.
The inputs on the base are galvanically isolated from the robot controller. To control them, a volt-
age (approx. 24V) must be applied between one of the DIn pins and External Ground. In contrast,
the inputs and outputs on the arm are not galvanically isolated. Here, 24V and GND from the robot
controller are available at the connector.
The outputs are controlled by solid state relays and can switch up to 500 mA. This value must not be
exceeded during the switching process (e.g. by charging currents of capacitors) to prevent damage to
the relays.
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