Automata Eva Technical Reference User Manual page 22

E) Analog Outputs
There are two non-differential, single ended analog outputs on the base I/O,
configurable as current (4 - 20 mA) or voltage (0 - 10 V) mode. The mode can be
specified in Choreograph, or via API calls.
They can, for example, be used to control a gripper with an analog position
control input.
DAC Resolution
V Voltage mode outputs
AV
I Current mode outputs
AI
Advice for getting a clean analog signal:
Current mode will usually be more immune to noise that voltage mode
Use screened cable to improve noise immunity. Ground the screen at one
side only
Keep connections as short as possible, with a maximum length of 3 m
Connect to the ground pin closest to the analog I/O on the robot
22
Base Ao1 (Pin21)
GND (Pin 23)
Signal
Base Ao2 (Pin 23)
GND (Pin 24)
Min
-
0V
4mA
Typ Max
12-bit -
- 10V
- 20mA