RealMan (Beijing) Intelligent Technology Co., Ltd.
23
input
power Vin
0
5
24
Volt or V
input
voltage
-0.5
24
Volt or V
logic low
level
1
Volt or V
logic high
level
Vin-0.5
Volt or V
5.2.2 Digital Output
The controller interface has 4 digital output ports. Users need to connect the external
output digital power supply to provide level reference for digital output. Electrical
characteristics are shown in the table below.
Digital
output
Min
Typical
Max
Unit
input
power Vin
0
5
24
V
5.2.3 Analog Input
The controller has 4 analog input channels or ports. Its voltage range is 0~10V. Its
electrical characteristics are shown in the table below.
Analog input
Min
Typical
Max
Unit
input voltage
-0.5
-
12.5
V
detection range
0
10
V
resolution
12
Bit
5.2.4 Analog Output
The controller has 4 analog output channels or ports. Its voltage range is 0~10V. Its
electrical characteristics are shown in the table below.
Analog output
Min
Typical
Max
Unit
output voltage
0
-
10
V
port output current
0
1
ma
resolution
12
Bit
5.3 The Tool End Interface Board
To facilitate the users to add tools to the end of the robot arm, i.e., wrist 3 (joint 6), a 9-
