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Chapter 6 - System Operation
XIO Output Signals
The eight digital outputs share a common, high side (sourcing) Driver IC. 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 up to
0.7 A of current. This Driver has overtemperature protection, current limiting, and
shorted-load protection. In the event of an output short or other overcurrent situation, the
affected output of the Driver IC turns off and back on automatically to reduce the
temperature of the IC. The Driver draws power from the primary 24 VDC input to the
robot through a self-resetting polyfuse.
The outputs are accessed through direct connection to the XIO connector (see
on page
83), or through the optional XIO Termination Block. See the documentation
supplied with the XIO Termination Block for details.
XIO Output Specifications
Power supply voltage range
Operational current range, per
channel
Total Current Limitation, all channels
on.
On state resistance (I
Output leakage current
Turn on response time
Turn off response time
Output voltage at inductive load
turnoff (I
= 0.5 A, Load = 1 mH)
out
DC short circuit current limit
Peak short circuit current
86
Adept Cobra i600/i800 Robot User's Guide, Rev E
Table 6-8. XIO Output Circuit Specifications
Parameter
= 0.5 A)
out
Value
See
Table 4-1 on page
47.
≤ 700 mA
I
out
≤
I
1.0 A @ 50° C ambient
total
≤
I
1.5 A @ 25° C ambient
total
Ω
≤ 0.32
R
@ 85× C
on
≤ 25 µA
I
out
125 µsec. max., 80 µsec typical
(hardware only)
60 µsec. max., 28 µsec typical
(hardware only)
(+V - 65) ≤ V
≤ (+V - 45)
demag
0.7 A ≤ I
≤ 2.5 A
LIM
≤ 4 A
I
ovpk
Table 6-6
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