5. Software Reference PreciseFlex 100 Robot
Servo Gripper Controller Digital Inputs and Outputs Part Number: 603988 Rev. A
Servo Gripper Controller Digital Inputs and Outputs
The Servo Gripper Controller PCA (GSB) adds three general optically isolated digital outputs and
three general optically isolated digital inputs to the standard digital I/O found on the Guidance
Controller. Like the other general inputs and outputs, they can be utilized as remote DIO by the
master Guidance Controller for general workcell interfacing; driving an LED, encoder latching inputs
for conveyor tracking or camera synchronization; inputs to the GSB servo for homing or limit stops;
etc. These signals are presented in an eight-pin AMP 3-794618-8 that mates with an AMP 794617-8
plug. (See Figure 5-4.) This type of connector permits these signals to be easily interfaced to other
devices.
Figure 5-4: Eight-pin AMP 3-794618-8 and an AMP 794617-8 plug
Unlike the controller's standard digital I/O that are directly accessed on demand, these I/O are
scanned by the controller. The scanning period is nominally 4 milliseconds, so the application in use
must be able to handle a delay of up to 4 milliseconds for signal changes to propagate through the
system.
For the PP100, Output 3 of the servo gripper controller is connected to the blue status LED, and so
is not available for general IO.
The GSB I/O signals are shown in Table 5-1:
Pin GPL Signal Number Description
1 200013 Digital Output 1
2 200014 Digital Output 2
3 200015 Digital Output 3 (LED on Theta Cover)
4 24VDC output
5 GND
6 210001 Digital Input 1
7 210002 Digital Input 2
8 210003 Digital Input 3
Table 5-1: GSB/IO Signals and Signal Numbers
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