MIR MiR250 Dynamic - Right Side Interfaces

11. Electrical interfaces
MiR250 Dynamic Integrator Manual (en) 09/2023 - v.2.1 ©Copyright 2020–2023: Mobile Industrial Robots A/S. 113
11.2 Right side interfaces
This section describes the general purpose interfaces located in the right side compartment on
top of MiR250 Dynamic.
GPIO A and B
The GPIO has the following pins:
l
Four inputs, for use with 24V, but robust against 48V.
l
Four outputs, for use with 24V.
The GPIO supports low current/power devices like relays, contactors, lamps, and separate PLC
units.
Figure 11.4 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 Shelf feature is 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 shelf feature uses a different kind
of communication that is specific to the MiR top modules.