Specifications

Connecting Customer-Supplied Digital I/O Equipment
Adept SmartController User’s Guide, Rev. H 61
NOTE: Power from pins 41-44 and 47-50 can be substituted for the
customer power supply. See Figure 3-7 on page 62 and Tab le 3-12 on
page 61 for additional information.
REACT Input Signals 1001 to 1012
Inputs 1001 to 1012 (only) may be used by the V
+
REACT and REACTI instructions. See
the V+ Language Reference Guide for information on these instructions. If you are going to
use these instructions, you should plan your digital I/O channel usage accordingly.
Fast Input Signals 1001 to 1004
In addition to functioning as normal input signals, signals 1001 to 1004 can have the
following special uses:
•Fast DIO V
+
Interrupt Events (INT.EVENT)
• Robot and Encoder Position Latch
• Vision Trigger
Fast DIO interrupt events (using INT.EVENT) require the optional V
+
Extensions License.
When the program task priorities are properly set, there is a 2 ms maximum latency for
fast inputs 1001 to 1004 when used with the V
+
INT.EVENT instruction.
See the V+ Language Reference Guide for a description of the INT.EVENT instruction.
Output Signals
The XDIO connector handles output signals 0001 to 0008. Refer to Table 3-12 for output
specifications. The locations of the signals on the connector are shown in Table 3-13 on
page 63. The XDIO connector provides separate positive and negative connections for
each channel (no internal common connections). This allows the choice of wiring for
current-sourcing or current-sinking modes.
Table 3-12. DIO Output Specifications (XDIO connector)
Operating voltage range 0 to 24 VDC
Operational current range, per channel I
out
≤ 100 mA, short-circuit
protected
V
drop across output in “on” condition V drop ≤ 2.7 V at 100 mA
V
drop ≤ 2.0 V at 10 mA
Output off leakage current I
out
≤ 600 µA
Turn-on response time (hardware)
Software scan rate/response time
3 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
Turn-off response time (hardware)
Software scan rate/response time
200 µsec maximum
16 ms scan cycle/ 32 ms max.
response time
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