igus ReBeL - Connecting Sensors and Buttons at the Base; Connecting Sensors and Buttons at the Robot Arm; Connect Actuator at the Arm

8 HARDWARE CONFIGURATION
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Do not change the number of DIN rail inputs/outputs in the configuration area (File
→ Project Configuration → I/Os)! If modules are removed from the configuration and
added again the automatic configuration assigns IDs according to a scheme incompat-
ible with the Rebel. This can only be reset manually or by a factory reset via TinyCtrl
updater
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You can enter a descriptive name for each input and output. This is only relevant for the display, but
not as a name in program conditions. The reset state indicates which state an output changes to on
reset, the error state is assumed if an error occurs.
8.1.3 Connecting sensors and buttons at the base
• Pin 5 (External GND) of the D-in 1 connector must be connected to the negative terminal (-) of
the sensor power supply.
• The sensor signal (positive) must be connected to an input pin.
• The positive side of the sensor (+) must be connected to the power supply of the sensor.
• The status of the inputs can be monitored in the "Input/Output" tab at the bottom of iRC.
• Inputs can be queried and reacted to in a robot program, e.g. in an if-then-else command.
8.1.4 Connecting sensors and buttons at the robot arm
• Pin 1 (+24V) of the D-in 1 connector must be connected to the sensor.
• The sensor must be connected to a digital input pin.
• The status of the inputs can be monitored in the "Input/Output" tab at the bottom of iRC.
• Inputs can be queried and reacted to in a robot program, e.g. in an if-then-else command.
8.1.5 Connect actuator at the arm
• Pin 3 (GND) of the connector must be connected to GND of the actuator.
• The actuator (relay etc.) is then supplied with power via a free DOut pin.
• You can set the outputs manually in the "Input / Output" tab at the bottom of iRC.
• In a robot program you can set the state of the outputs with the digital-out command in iRC.
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