Connecting I/O Signals - ABB PickMaster Twin - PowerPac Applications Manual

2.6.3 Connecting I/O signals

Introduction to I/O connections
The Runtime concept consists of a number of I/O components that need to be
connected physically.
Robot controller I/O board
At least one standard DI/DO board is required. Encoder boards are needed for
conveyor tracking.
The encoder boards are delivered with a standard address that can differ from the
I/O configuration. This address can be changed.
For further information about how to read the encoder board address, see the
product manual for the controller, see
Prerequisites
Make sure all power has been switched off.
Connecting the I/O signals
Use this procedure to connect the I/O signals.
I/O connections
The trigger strobe loop enables very precise synchronization between the robot
controller and the image acquired. The I/O port of the Gigabit Ethernet camera
closes this loop.
To be able to use more than one connection in input number 9 (StartSig) on the
encoder board we recommend using diodes, for example HER105/Taw diode 1A
400V DO41 (the diodes are not supported by ABB). This will eliminate any
possibilities of reverse currents.
When connecting a camera to multiple robot controllers it is important to consider
how the system should work if one of the controllers is turned off. We recommend
using an external 24V power supply to power the cameras. This way the cameras
will have both power and I/O regardless if the controllers are turned off.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
1 If conveyors are used, connect each conveyor controller to the standard
DI/DO board for control from Runtime.
The drawings in Circuit diagram - PickMaster Twin, 3HAC024480-020, uses
ACS 301-1P6-3 as conveyor controller, but other conveyor controllers can
be used. The same applies to the encoder used, a Lenord-Bauer Gel
260-V-02500A001.
2 Connect the trig/strobe wires of the power/trig/strobe cables from the cameras
to the robot controller.
3 Connect the I/O cables from any external tool signals to the robot controller.
4 Connect the I/O cables for other external devices, such as sensors to the
robot controller.
5 Connect the encoders, see Application manual - Conveyor tracking.
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2.6.3 Connecting I/O signals
References on page 10.
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