A.5. Electrical characteristics
A.5.3 Digital Inputs
The digital inputs are implemented as pnp and are galvanically connected to
the controller box. The inputs are compliant with all three types of digital inputs
defined in IEC 61131-2 and EN 61131-2, which means that they will work together
with all types of digital outputs defined in the same standards.
Parameter Min Typ Max Unit
Input voltage -30 24 30 V
Input guaranteed OFF if -30 - 7 V
Input guaranteed ON if 10 - 30 V
Guaranteed OFF if 0 - 5 mA
ON Current (10-30V) 6 - 10 mA
A.5.4 Digital Outputs
The digital outputs are implemented as pnp and are galvanically connected to
the IMM. The galvanic isolation between the IMM and robot potentials conforms
to IEC 60664-1 and EN 60664-1, pollution degree 2, overvoltage category II. The
outputs are constructed in compliance with all three types of digital inputs de-
fined in IEC 61131-2 and EN 61131-2, and with all requirements for digital outputs
of the same standards.
The digital outputs use some mA from the 24V of the IMM to control and bias
the transistors forming solid-state relays.
Parameter Min Typ Max Unit
Source current per output 0 - 120 mA
Voltage drop when ON 0 0.1 1 V
Leakage current when OFF 0 0 0.1 mA
Current used from IMM 24V - 12 25 mA
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