Chapter 5 - System Operation
62
Adept Cobra s800 Inverted Robot User’s Guide, Rev C
XIO Output Signals
The eight digital outputs share a common, high side (sourcing) Driver IC. The Driver is
designed to supply any kind of load with one side connected to ground. It is designed for
a range of user-provided voltages, from 10 to 24 VDC, and each channel is capable of up
to 0.7 A of current. This Driver has overtemperature protection, current limiting, and
shorted-load protection. In the event of an output short or other overcurrent situation, the
affected output of the Driver IC turns off and back on automatically to reduce the
temperature of the IC. The Driver draws power from the primary 24 VDC input to the
robot through a self-resetting polyfuse.
The outputs are accessed through direct connection to the XIO connector (see
), or through the optional XIO Termination Block. See the documentation
supplied with the Termination Block for details.
XIO Output Specifications
Table 5-8. XIO Output Circuit Specifications
Parameter
Value
Power supply voltage range
See
Operational current range, per
channel
I
out
≤
700 mA
Total Current Limitation, all channels
on
I
total
≤
1.0 A @ 50° C ambient
I
total
≤
1.5 A @ 25° C ambient
On state resistance (I
out
= 0.5 A)
Ron
≤
0.32
Ω
@
85
°
C
Output leakage current
I
out
≤
25 µA
Turn-on response time
125 µsec max., 80 µsec typical
(hardware only)
Turn-off response time
60 µsec. max., 28 µsec typical
(hardware only)
Output voltage at inductive load
turnoff (I
out
= 0.5 A, Load = 1 mH)
(+V - 65)
≤
V
demag
≤
(+V - 45)
DC short circuit current limit
0.7 A
≤
I
LIM
≤
2.5 A
Peak short circuit current
I
ovpk
≤
4 A
