Difference between revisions of "Additional DIO-Modules"
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====Digital Outputs==== | ====Digital Outputs==== | ||
Connect the supply pin to 24V power supply | Connect the supply pin to 24V power supply | ||
| − | * The supply is forwarded to one of the outputs pins via reed relays | + | *The supply is forwarded to one of the outputs pins via reed relays |
| − | * Connect a valve or another component to the output pin | + | *Connect a valve or another component to the output pin |
| − | * Connect the component to GND to close the electrical circuit | + | *Connect the component to GND to close the electrical circuit |
| − | * See the example with the lamp on output 5 on the left. | + | *See the example with the lamp on output 5 on the left. |
| − | * In CPRog: | + | *In CPRog: |
| − | ** Reset and Enable the robot | + | **Reset and Enable the robot |
| − | ** Set DOut 25 to true to switch on the lamp | + | **Set DOut 25 to true to switch on the lamp |
Revision as of 14:10, 18 June 2018
Scope
The Commonplace Robotics control for the igus robolink robots comes with one digital input / output module with seven digital inputs (24V via Optocoupler) and 7 digital outputs (24V max 300 mA via reed relay). If these DIOs are not enough it is possible to add two further digital input / output modules to the control.
Mechanical Integration
Do not hotplug! Disconnect the control from the power source before changing components of plugging / unplugging cables!
- Add the bus extenders to the control. They have to be pressed in the C-Rail and pressed to the existing control beneath the Digital IO module.
- Plug the additional digital IO module
- Set the CAN ID with the selector on the front face:
- First (already existing) IO module: 0 (this results in CAN ID 0x70 = 112)
- Second (additional) IO module: 2 (this results in CAN ID 0x80 = 128)
- Third (additional) IO module: 4 (this results in CAN ID 0x90 = 144)
Electrical Integration
Digital Inputs:
- Connect the ground pin (Output connector 1, to GND
- Supply 24V to one of the input pins
- Example on the left: 24V via switch to input pin 4
- Result in CPRog: digital input Din24 is triggered
Digital Outputs
Connect the supply pin to 24V power supply
- The supply is forwarded to one of the outputs pins via reed relays
- Connect a valve or another component to the output pin
- Connect the component to GND to close the electrical circuit
- See the example with the lamp on output 5 on the left.
- In CPRog:
- Reset and Enable the robot
- Set DOut 25 to true to switch on the lamp
