Chapter 3 - Preparation for Safe and Effective Use of the Robot
74 AdeptModules Instruction Handbook, Volume 1: Adept MV Controller Interface, Rev. A
Digital Inputs and Outputs of the System Input/Output (SIO) Module
The Digital I/O connector on the SIO is a 50-pin, high-density, female D-Sub connector for
digital I/O communication. There are 12 input channels and 8 output channels. All
channels are opto-isolated. The same connector also provides access to the Emergency
Stop circuit (E-Stop input and Passive E-Stop output). To access this connector, a cable
with a 50-pin, male D-Sub connector at one end (not supplied with the system) is needed.
Input Signals
The digital I/O connector handles input signals 1001 to 1012. Each channel has an input
and a corresponding return line. Refer to Table 3-2 for input specifications. The locations
of the signals on the connector are shown in Table 3-4.
a
the input current specifications are provided for reference; voltage sources
are typically used to drive the inputs.
b
2 ms response time (minimum) for fast inputs 1001 to 1003, depending on
program task configuration, when used with V
+
INT.EVENT instruction.
Table 3-2. DIO Input Specifications (SIO module)
Operational voltage range 0 to 24 VDC
“Off” state voltage range 0 to 3 VDC
“On” state voltage range 10 to 24 VDC
Typical threshold voltage V
in
= 8 VDC
Operational current range
a
0 to 20 mA
“Off” state current range
a
0 to 1.2 mA
“On” state current range
a
7 to 20 mA
Typical threshold current, per channel
a
10 mA
Impedance (V
in
/I
in
) 1.3 KΩ minimum
Current at V
in
= +24 VDC I
in
≤20 mA
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/ 32 ms max
response time
b
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/ 32 ms max
response time
b
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