User`s guide

Chapter 4: System Operation
XIO Input Specifications
Table 4-6. XIO Input Specifications
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 K Ω minimum
Current at V
in
= +24 VDC I
in
≤ 6 mA
Turn on response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
Turn off response time (hardware)
Software scan rate/response time
5 µsec maximum
16 ms scan cycle/
32 ms max response time
NOTE:The input current specifications are provided for reference. Voltage sources
are typically used to drive the inputs.
Adept Cobra s600/s800 Robot, User’s Guide, Rev L
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