User`s guide

72 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
Figure 4-14 shows two examples of different connections to the digital outputs on the
XDIO connector. The examples are negative common and positive common using the
internal 24V and ground connections.
Example 1: outputs 0001 to 0004 are shown with positive common.
Example 2: outputs 0005 to 0008 are shown with negative common.
Table 4-14. DIO Output Specifications (XDIO connector)
Operating voltage range 0 to 24 VDC
Operational current range, per channel I
out
≤ 100 mA, short-circuit
Protected
V
drop across output in “on” condition V drop ≤ 2.7 V at 100 mA
V
drop ≤ 2.0 V at 10 mA
Output off leakage current I
out
≤ 600 µA
Turn on response time (hardware)
Software scan rate/response time
3 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
Turn off response time (hardware)
Software scan rate/response time
200 µsec maximum
16 ms scan cycle/ 32 ms max.
response time