122 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
Item Specification Details
at both ends of cable.
AC Power Nominal supply voltage 200 to 240 VAC (auto ranging)
Minimum operating
voltage
2
180 VAC
Maximum operating
voltage
264 VAC
Operating frequency 50 / 60 Hz, 1-phase
Circuit protection 10 A (user-supplied)
Refer to AC Power Diagrams on page 76 for
more information.
Protective Earth
Ground
Grounding resistance: 10 Ω or less
XIO input circuits Operational voltage range 0 to 30 VDC
OFF state voltage range 0 to 3 VDC
ON state voltage range 10 to 30 VDC
Typical threshold voltage V
in
= 8 VDC
Operational current range 0 to 7.5 mA
OFF state current range 0 to 0.5 mA
ON state current range 2.5 to 7.5 mA
Typical threshold current 2.0 mA
Impedance (V
in
/I
in
) 3.9 KΩ minimum
Current at V
in
= +24 VDC I
in
≤ 6 mA
Turn on response time
(hardware)
5 μsec maximum
Software scan rate and
response time
16 ms scan cycle
32 ms max response time
Turn off response time
(hardware)
5 μsec maximum
XIOoutput circuits Refer to 24 VDC supply in XIOinputs circuits above for Operational
voltage range.
Maximum operational cur-
rent range, per channel
700 mA
Maximum total current
limit, all channels
1.0 A @ 50°C
1.5 A @ 25°C
Maximum ON state res-
istance (I
out
= 0.5 A)
0.32 Ω @ 85°C
Maximum output leakage 25 μA
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