MIR 600 - Page 223

18. Interface specifications
MiR600 User Guide (en) 08/2021 - v.1.0 ©Copyright 2021: Mobile Industrial Robots A/S. 223
The GPIO supports low current/power devices like relays, contactors, lamps, and separate
PLC units.
Figure 18.3. Outputs and RTNs are used to send signals to the top module, and inputs and 24V pins are used to
receive signals from the top module.
To use the GPIO for a top module of your own design, ensure that the Pallet
lift and Shelf features are disabled under System >Settings >Features. This
enables the GPIO interface to work as input and output to top modules that
can be controlled in missions. The pallet lift and shelf features use a different
kind of communication that is specific to the MiR top modules.
Outputs (O0, O1, O2, O3) can be toggled on and off by the robot in a Set I/Omodule mission
action or manually in Setup >I/O modules.
A top module can be connected to the output pins and monitor when they are active at 24V.
RTN is used as ground.
Inputs (I0, I1, I2, I3) can be used by the top application to send inputs to the robot. When 24V
is connected to the input pin, the robot registers the input as active.