User`s guide

70 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
4.11 Connecting Customer-Supplied Digital I/O Equipment
The PLC Server provides capability for Inputs and Outputs (I/O) using a hard-wired
interface to the XDIO connector.
The XDIO connector on the PLC Server provides 12 hard-wired inputs and 8 hard-wired
outputs for Digital I/O connections. The signals are numbered 1001 through 1012 for the
inputs and 1 through 8 for the outputs. All the signals have independent source and
ground connections. These inputs contain the four high speed inputs that are used by the
system for interrupts and latching.
XDIO Connector
The XDIO connector on the PLC Server is a 50-pin, standard density D-Sub female
connector (see Figure 4-3 on page 49 for location). There are 12 inputs and 8 outputs, each
optically isolated from the circuitry of the PLC Server. The connector also provides 24V
pins for powering customer equipment. There are four 24V pins and four ground pins,
which are limited to a total of 1A of current. The source of the 24V is the XDC1 or XDC2
connector on the front of the PLC Server.
Input Signals
The XDIO connector handles input signals 1001 to 1012. Each channel has an input and a
corresponding return line. See Table 4-13 for input specifications. The connector pin-outs
are shown in Table 4-15 on page 74.
Table 4-13. DIO Input Circuit Specifications (XDIO connector)
Operational voltage range 0 to 30 VDC
“Off” state voltage range 0 to 3 VDC
“On” state voltage range 10 to 30 VDC
Typical threshold voltage V
in
= 8 VDC
Operational current range 0 to 7.5 mA
“Off” state current range 0 to 0.5 mA
“On” state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Impedance (V
in
/I
in
) 3.9 K Ω minimum
Current at V
in
= +24 VDC I
in
≤ 6 mA
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time