RealMan (Beijing) Intelligent Technology Co., Ltd.
25
6
orange white
RS485_B
7
brown
RS485_A
8
brown white
digital GND
9
orange
power output: 5V/12V/24V; switch on and off is
controllable
Note that multiplexing function in the above table can be selected by the dialing switch
on the interface board circuit board. When switching the function, the interface board
needs to be taken out from the end of the robot arm, and the corresponding switch can
be dialed according to the dial switch identification on the interface board circuit board.
When leaving the factory, the default pin 4 is the analog output channel (AO), the pin
5 is the analog input channel (AI), and the power output of the pin 9 is 0V (can be set
by the program).
5.3.1 Digital I/O Input
There are two digital input channels, and their electrical characteristics are shown in
the table below.
Digital Input
Min
Typical
Max
Unit
input power Vin
0
——
24
V
input voltage
-0.5
24
V
logic low level
1
V
logic high level
Vin-0.5
V
5.3.2 Digital I/O Output
There are two digital output channels at the tool end, which can be configured directly
through the controller by teaching software or JSON protocol. The electrical
characteristics are shown in the table below.
Digital
Output
Min
Typical
Max
Unit
input
power Vin
0
——
24
V
