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Brooks 609622 User Manual

Guidance input and output module
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Guidance Input and Output (GIO) Module
User Manual
Part Number 609622, Revision A

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Summary of Contents for Brooks 609622

  • Page 1 Guidance Input and Output (GIO) Module User Manual Part Number 609622, Revision A...
  • Page 2 © 2023 Brooks Automation. All rights reserved. The information included in this manual is proprietary information of Brooks Automation, and is provided for the use of Brooks customers only and cannot be used for distribution, reproduction, or sale without the express written permission of Brooks Automation.
  • Page 3 Brooks Automation Part Number: 609622 Rev. A Worldwide Headquarters 15 Elizabeth Drive Chelmsford, MA 01824 U.S.A. Brooks Automation, PreciseFlex Collaborative Robots 201 Lindbergh Avenue Livermore, CA 94551 U.S.A For Technical Support: Location Contact Website +1-800-447-5007 (Toll-Free) +1-978-262-2900 (Local) North America...
  • Page 4 Guidance Input and Output (GIO) Module Part Number: 609622 Rev. A Revision History Revision Date Action Author Releasing manual at Rev. A to follow standard EC147326 08/03/2023 M. Ashenfelder Brooks technical publication styles. Copyright © 2023 Brooks Automation, Inc.

  • Page 5: Table Of Contents

    Brooks Automation Part Number: 609622 Rev. A Table of Contents 1. Safety Safety Setup Authorized Personnel Only Explanation of Hazards and Alerts Safety Text Safety Icons Signal Words and Color Alert Example General Safety Considerations Mechanical Hazards Electrical Hazards Ergonomic Hazards...

  • Page 6: Safety

    1. Safety Safety Setup Brooks uses caution, warning, and danger labels to convey critical information required for the safe and proper operation of the hardware and software. Read and comply with all labels to prevent personal injury and damage to the equipment.

  • Page 7: Explanation Of Hazards And Alerts

    Brooks Automation 1. Safety Explanation of Hazards and Part Number: 609622 Rev. A Alerts Explanation of Hazards and Alerts This manual and this product use industry standard hazard alerts to notify the user of personal or equipment safety hazards. Hazard alerts contain safety text, icons, signal words, and colors.

  • Page 8: Alert Example

    1. Safety Guidance Input and Output (GIO) Module Explanation of Hazards and Alerts Part Number: 609622 Rev. A Alert Example The following is an example of a Warning hazard alert. Number Description How to Avoid the Hazard Source of Hazard and Severity...

  • Page 9: General Safety Considerations

    Brooks Automation 1. Safety Part Number: 609622 Rev. A General Safety Considerations General Safety Considerations                Software Software is not safety rated. Unplanned motion can occur as long as power is supplied to the motors. Maximum torque could be momentarily applied that may cause equipment damage or personal injury.
  • Page 10 1. Safety Guidance Input and Output (GIO) Module General Safety Considerations Part Number: 609622 Rev. A                Magnetic Field Hazard This product contains magnetic motors that can be hazardous to implanted medical devices, such as pacemakers, and cause personal harm, severe injury, or death.

  • Page 11: Mechanical Hazards

    Brooks Automation 1. Safety Part Number: 609622 Rev. A Mechanical Hazards              Seismic Restraint The use of this product in an earthquake-prone environment may cause equipment damage or personal injury. The user is responsible for determining whether the product is used in an earthquake prone environment and installing the appropriate seismic restraints in accordance with local regulations.

  • Page 12: Electrical Hazards

    1. Safety Guidance Input and Output (GIO) Module Electrical Hazards Part Number: 609622 Rev. A              Vibration Hazard As with any servo-based device, the robot can enter a vibratory state resulting in mechanical and audible hazards. Vibration indicates a serious problem. Immediately remove power.

  • Page 13: Ergonomic Hazards

    Brooks Automation 1. Safety Part Number: 609622 Rev. A Ergonomic Hazards                Electrical Fire Hazard All energized electrical equipment poses the risk of fire, which may result in severe injury or death. Fires in wiring, fuse boxes, energized electrical equipment, computers, and other electrical sources require a Class C extinguisher.
  • Page 14 1. Safety Guidance Input and Output (GIO) Module Ergonomic Hazards Part Number: 609622 Rev. A              Trip Hazard Cables for power and communication and facilities create trip hazards which may cause serious injury. Always route the cables where they are not in the way of traffic.

  • Page 15: Emergency Stop Circuit (E-Stop)

    Do not override or bypass the emergency stop circuit. Recycling and Hazardous Materials Brooks Automation complies with the EU Directive 2002/96/EU Waste Electrical and Electronic Equipment (WEEE). The end user must responsibly dispose the product and its components when disposal is required.

  • Page 16: Introduction To The Hardware

    2. Introduction to the Hardware Guidance Input and Output (GIO) Module Guidance Input and Output (GIO) Module Overview Part Number: 609622 Rev. A 2. Introduction to the Hardware Guidance Input and Output (GIO) Module Overview The Guidance Input and Output (GIO) module is a very compact device that connects to any Guidance Controller and adds an additional twelve (12) optically isolated remote digital input channels and eight (8) optically isolated remote digital output channels.
  • Page 17 IO interfaces, or those that require that the I/O be located a greater distance from a Guidance Controller, Brooks sells an Ethernet-based Remote Input and Output Module (RIO). For detailed information on the Guidance Controller or the RIO, refer to the Brooks PreciseFlex Library. Copyright © 2023 Brooks Automation, Inc.

  • Page 18: Installation, Configuration, And Software

    3. Installation, Configuration, and Software Guidance Input and Output (GIO) Module Mounting and Installation Part Number: 609622 Rev. A 3. Installation, Configuration, and Software Mounting and Installation The Guidance Input and Output (GIO) module is an open frame device with exposed 24VDC and must be mounted inside of a cabinet or other enclosure.

  • Page 19: Gio Hardware And Software Configuration

    Brooks Automation and Software GIO Hardware and Software Part Number: 609622 Rev. A Configuration The GIO contains unshielded 24VDC signals and pins. This product is intended to be mounted in a cabinet or machine chassis that is not accessible when power is turned on.

  • Page 20: Rs-485 Signal Termination

    3. Installation, Configuration, and Software Guidance Input and Output (GIO) Module GIO Hardware and Software Configuration Part Number: 609622 Rev. A GIO Unit GIO Keyword GIO_4 GIO_5 GIO_6 GIO_7 GIO_8 RS-485 Signal Termination There is one hardware configuration option that is dependent upon the ordering of modules in the RS-485 daisy chain.

  • Page 21: 24Vdc Logic Power Considerations

    Brooks Automation and Software GIO Hardware and Software Part Number: 609622 Rev. A Configuration This allows GIO boards to be assigned to fixed node numbers regardless of how many other slave boards might be in the system. Having a fixed node number means the I/O signal numbers are also fixed.

  • Page 22: Accessing Gio Remote Dio

    3. Installation, Configuration, and Software Guidance Input and Output (GIO) Module Accessing GIO Remote DIO Part Number: 609622 Rev. A Table 3-2: Trajectory Periods, Maximum Number of GSB or GIO Nodes Trajectory period (msec) Maximum number of GIO or GSB nodes...

  • Page 23: Hardware Reference

    Brooks Automation 4. Hardware Reference Guidance Input and Output Part Number: 609622 Rev. A (GIO) Hardware Overview 4. Hardware Reference Guidance Input and Output (GIO) Hardware Overview The Guidance Input and Output (GIO) module provides additional digital input and output signal interfaces that further enhance a Guidance Controller's ability to connect to external equipment.

  • Page 24: Digital Input And Output Signals

    Guidance Input and Output (GIO) Module Digital Input and Output Signals Part Number: 609622 Rev. A The GIO contains unshielded 24VDC signals and pins. This product is intended to be mounted in a cabinet or machine chassis that is not accessible when power is turned on.
  • Page 25 Brooks Automation 4. Hardware Reference Digital Input and Output Sig- Part Number: 609622 Rev. A nals Figure 4-3: Sinking Digital Input If an input signal is configured as "sourcing," the external equipment must pull the signal input pin to ground to indicate a logical high and must let the line float high to 24VDC to signal a logical low value.
  • Page 26 4. Hardware Reference Guidance Input and Output (GIO) Module Digital Input and Output Signals Part Number: 609622 Rev. A Figure 4-5: Sinking Digital Output If an output signal is "sourcing," the external equipment must pull-down the output pin to ground and the GIO pulls this pin to 24VDC when the signal is asserted as true.
  • Page 27 Brooks Automation 4. Hardware Reference Digital Input and Output Sig- Part Number: 609622 Rev. A nals Table 4-1: Digital Input and Output Connector Pin Out & Corresponding GPL Signal Numbers GPL Signal Number GPL Signal Signal Figure 4-7: Signal Number...
  • Page 28 4. Hardware Reference Guidance Input and Output (GIO) Module Digital Input and Output Signals Part Number: 609622 Rev. A Figure 4-8: DB25 Female In this case, the 26 pin of the GIO's Digital Input and Output Signals Connector is not utilized.  The pin numbers for the signals are changed due to the DB25 pin numbering scheme.

  • Page 29: Rs-485 Signal / 24Vdc Power Connector

    Brooks Automation 4. Hardware Reference RS-485 Signal / 24VDC Power Part Number: 609622 Rev. A Connector RS-485 Signal / 24VDC Power Connector The GIO communicates with a Guidance Controller using a RS-485 interface. RS-485 is a two-wire, bi-directional, multi-drop, daisy chained, high-speed serial interface. Once the GIO and controller...
  • Page 30 4. Hardware Reference Guidance Input and Output (GIO) Module RS-485 Signal / 24VDC Power Connector Part Number: 609622 Rev. A Description RS485+ RS485- User Plug AMP 746285-1 or Molex 22-55-2101 or 90142-0010. For the Molex plug, use Molex pins 16-02- Part No 0103 and Molex crimp tool 63811-1000.

  • Page 31: Rs-485 Termination Jumper

    Brooks Automation 4. Hardware Reference Part Number: 609622 Rev. A RS-485 Termination Jumper RS-485 Termination Jumper For the RS-485 daisy chained serial bus to operate properly, the ends of the bus must be electrically terminated. This electrical termination prevents transmitted signals from being reflected back into the cable and corrupting valid data.

  • Page 32: Unit Number Jumpers

    4. Hardware Reference Guidance Input and Output (GIO) Module Unit Number Jumpers Part Number: 609622 Rev. A System Status LED State Description Board operating, The GIO CPU has completed it start-up process and is operational. The Blinking waiting for GIO is waiting for RS-485 communication with the master Guidance red single communications.

  • Page 33: Gio Board Jumpers

    Brooks Automation 4. Hardware Reference Part Number: 609622 Rev. A GIO Board Jumpers Table 4-5: Interpretation of Unit Number Jumpers (J7, J8, J9) GIO Unit GIO Keyword GIO_1 GIO_2 GIO_3 GIO_4 GIO_5 GIO_6 GIO_7 GIO_8 GIO Board Jumpers The GIO board has a number of hardware jumpers that determine the configuration of various hardware functions.
  • Page 34 4. Hardware Reference Guidance Input and Output (GIO) Module GIO Board Jumpers Part Number: 609622 Rev. A Figure 4-13: Locations of Key Sets of Jumpers Table 4-6 describes each of the sets of jumpers and how the pins must be shorted ("jumpered") in order to set a specific configuration.
  • Page 35 Brooks Automation 4. Hardware Reference Part Number: 609622 Rev. A GIO Board Jumpers Jumpers Description Setting In the low-level RS-485 communication protocol, the Unit Number determines which GIO is the originator or recipient of each message, not the position of the GIO board in the RS-485 daisy chain. See the...

  • Page 36: Appendix A: Product Specifications

    Appendix A: Product Specifications Guidance Input and Output (GIO) Module Part Number: 609622 Rev. A Appendix A: Product Specifications Table 5-1: Guidance Input & Output (GIO) Module Specifications General Range & Features Specification Interface to Guidance Controller Communications Interfaces via a two-wire, bi-directional, daisy chained RS-485 line and can be located up Interface to approximately six (6) meters away from the controller.
  • Page 37 Appendix A: Product Spe- Brooks Automation cifications Part Number: 609622 Rev. A General Range & Features Specification 24VDC required for logic and input/output functions A minimum of 0.05 Amps is required for logic power. A maximum of 1 Amp additional is...

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