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Chapter 6 - System Operation
Signals
XIO Input
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/sink line.
The inputs are accessed through direct connection to the XIO connector (see
page
83), or through the optional XIO Termination Block. See the documentation supplied
with the Termination Block for details.
The XIO inputs cannot be used for REACTI programming, high-speed interrupts, or
vision triggers.
XIO Input Specifications
Operational voltage range
"Off" state voltage range
"On" state voltage range
Typical threshold voltage
Operational current range
"Off" state current range
"On" state current range
Typical threshold current
Impedance (V
/I
)
in
in
Current at V
= +24 VDC
in
Turn on response time (hardware)
Software scan rate/response time
Turn off response time (hardware)
Software scan rate/response time
NOTE: The input current specifications are provided for reference.
Voltage sources are typically used to drive the inputs.
84
Adept Cobra i600/i800 Robot User's Guide, Rev E
Table 6-7. XIO Input Specifications
0 to 30 VDC
0 to 3 VDC
10 to 30 VDC
V
= 8 VDC
in
0 to 7.5 mA
0 to 0.5 mA
2.5 to 7.5 mA
2.0 mA
3.9 KΩ minimum
≤ 6 mA
I
in
5 µsec maximum
16 ms scan cycle/32 ms max response time
5 µsec maximum
16 ms scan cycle/32 ms max response time
Table 6-6 on
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