MIR 500 - Page 143

10. Interface specifications
MiR500 User guide (en) 09/2019 - v.1.3 ©Copyright 2018-2020: Mobile Industrial Robots A/S. 143
Output pins must be connected to RTN pins, and input pins must be connected to 24V pins.
The following table contains the description of the pins of the GPIO interface.
Pin number Signal name Max. current Description
1 O0 1A @ 24V Output 0.
2 RTN Protected return.
3 O1 1A @ 24V Output 1.
4 RTN Protected return.
5 O2 1A @ 24V Output 2.
6 RTN Protected return.
7 O3 1A @ 24V Output 3.
8 RTN Protected return.
9 I0 PNP Input 0.
10 24V 1A @ 24V Protected output.
11 I1 PNP Input 1.
12 24V 1A @ 24V Protected output.
13 I2 PNP Input 2.
14 24V 1A @ 24V Protected output.
15 I3 PNP Input 3.
16 24V 1A @ 24V Protected output.
17 Unassigned Unassigned.