Commonplace Robotics igus robolink DCi User Manual page 12

4.2.3 Use of digital I/Os in robot programmes
The use of the inputs and outputs takes place in CPRog with the number 21 upwards:
I/O Module
DIO 1 (standard)
DIO 2 (optional)
DIO 3 (optional)
Physical input/output
DIn1 to DIn4 on rear wall
DIn5 to DIn7 on inner side
DOut1 to DOut4 on rear wall
DOut5 to DOut7 on inner side
DIn1 to DIn4 on rear wall
DIn5 to DIn7 on inner side
DOut1 to DOut4 on rear wall
DOut5 to DOut7 on inner side
DIn1 to DIn4 on rear wall
DIn5 to DIn7 on inner side
DOut1 to DOut4 on rear wall
DOut5 to DOut7 on inner side
Name in CPRog and in the
robot programme
Inputs: DIn21 to DIn27
Outputs: DOut21 to DOut27
Inputs: DIn31 to DIn37
Outputs: DOut31 to DOut37
Inputs: DIn41 to DIn47
Outputs: DOut41 to DOut47
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