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4.2 Connecting Digital I/O to the System
XIO Input Signals
The 12 input channels are arranged in two banks of six. Each bank is electrically isolated from
the other bank and is optically isolated from the robot's ground. The six inputs within each
bank share a common source and/or sink line.
The inputs are accessed through direct connection to the XIO connector (see the previous
table), or through the optional XIO Termination Block. See the documentation supplied with
the termination block for details.
XIO Output Signals
The eight digital outputs share a common, high side (sourcing) driver integrated circuit. The
driver is designed to supply any kind of load with one side connected to ground. It is designed
for a range of user-provided voltages from 10 to 24 VDC and each channel is capable of
switching up to 0.7 A of current. The driver draws power from the primary 24 VDC input to
the robot through a self-resetting polyfuse.
78
Pin No.
Designation
10
GND
11
24 VDC
12
Common 2
13
Input 1.2
14
Input 2.2
15
Input 3.2
16
Input 4.2
17
Input 5.2
18
Input 6.2
19
Output 1
20
Output 2
21
Output 3
22
Output 4
23
Output 5
24
Output 6
25
Output 7
26
Output 8
Pin 9
Pin 18
Pin 26
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Signal
V+ Signal
Bank
Number
2
2
1103
2
1104
2
1105
2
1106
2
1107
2
1108
0097
0098
0099
0100
0101
0102
0103
0104
Pin 1
Pin 10
Pin 19
22793-000 Rev. A
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