68 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
Robot Connector Channel Switch Position(1, 2) Signal Number
2 XIO XIO N/A 97 to 104
EXPIO IOBlox Group 1 OFF, OFF 129 to 136
ON, OFF 137 to 144
OFF, ON 145 to 152
ON, ON 153 to 160
XBELTIO IOBlox Group 2 OFF, OFF 161 to 168
ON, OFF 169 to 176
OFF, ON 177 to 184
ON, ON 185 to 192
3 XIO XIO N/A 193 to 200
EXPIO IOBlox Group 1 OFF, OFF 225 to 232
ON, OFF 233 to 240
OFF, ON 241 to 248
ON, ON 249 to 256
XBELTIO IOBlox Group 2 OFF, OFF 257 to 264
ON, OFF 265 to 272
OFF, ON 273 to 280
ON, ON 281 to 288
4 XIO XIO N/A 289 to 296
EXPIO IOBlox Group 1 OFF, OFF 321 to 328
ON, OFF 329 to 336
OFF, ON 337 to 344
ON, ON 345 to 352
XBELTIO IOBlox Group 2 OFF, OFF 353 to 360
ON, OFF 361 to 368
OFF, ON 369 to 376
ON, ON 377 to 384
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