Doosan M0609 Installation Manual page 56

Terminal
Digital output
Digital input
Caution

The VIO (IO 24 V) and GIO (IO GND) terminals, which can be used as power for digital I/O, are
separated from VCC (24 V) and GND, which serve as power for other parts in the safety I/O
circuit. If you do not connect the control box's internal power to digital IO power via a digital I/O
power terminal block (TBPWR) connection, or if you do not supply 24 V power to the VIO and
GIO terminals using an external power supply, configurable digital I/O may not function, and the
product's diagnostics function may also detect an error and cut off the power used for the robot's
operation. So be careful not to let this happen.
When you use configurable digital I/O as general digital I/O, you can use it for various purpose
s, including operating low current equipment such as voltage solenoid valves and exchanging si
gnals with PLC systems or peripheral devices. The following are examples of using configurable
digital I/O for such purposes:
•
When receiving a dry-contact input
This method involves connecting a switch or a contact between the VIO terminal and Ixx terminal in
the TBCI1~TBCI4 terminal blocks. As output of an external device only works through a relay
through open/close of contact, the system becomes electrically insulated from an external device.
Doosan Robotics Installation Manual v1.3
Parameter
[Oxx] Voltage
[Oxx] Electric current
[Oxx] Voltage drop
[Oxx] Leakage current
[Ixx] Voltage
[Ixx] Off area
[Ixx] On area
[Ixx] Electric current
56
Specification
0 - 24 V
0 - 1 A
0 - 1 V
0 - 0.1 mA
0 - 30 V
0 - 5 V
18 - 30 V
2 – 15 mA