Doosan H2017 Installation Manual

Doosan Robotics Installation Manual v2.1
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4.2.4 Setting the Configurable Digital I/O (TBCI1 - 4,TBCO1 - 4)
The digital I/O of the controller consists of 16 inputs and 16 outputs. They are used to connect
peripherals required for robot control or are set to dual safety I/O to be used for safety signal I/O
purposes.
The electrical specifications of the configurable digital I/O are as follows:
Terminal
Parameter
Specification
Digital Output
[Oxx]
Voltage
0 - 24 V
[Oxx]
Current
0 - 1 A
[Oxx]
Voltage Drop
0 - 1 V
[Oxx]
Leakage Current
0 - 0.1 mA
Digital Input
[Ixx]
Voltage
0 - 30 V
[Ixx]
OFF Range
0 - 5 V
[Ixx]
ON Range
11 - 30 V
[Ixx]
Current
2 – 15 mA
Caution
 The VIO (IO 24V) and GIO (IO GND) terminals that can be used as power supplies for digital
I/O are separated from the VCC (24V) and GND of other power supplies on the safety I/O
circuit. Take caution as the diagnostic functions of the robot will detect errors if the internal
power supply is connected as a digital I/O power supply through the Terminal Block for Digital
I/O Power (TBPWR), or if 24V power is not supplied to the VIO and GIO terminals through an
external power supply, the configurable digital I/O does not work, and shuts off operating power
to the robot.

Doosan H2017 Specifications

General

Brand	Doosan
Model	H2017
Category	Robotics
Language	English