20.4 Digital Outputs
Parameter Min Typ Max Unit
[C1-C2][C3-C4] Voltage 10.2 12 12.5 V
[C1-C2][C3-C4] Current (Each output) - - 120 mA
[C1-C2][C3-C4] Current protection - 400 - mA
[A1-A2][A3-A4] Input voltage -30 - 30 V
[A1-A2][A3-A4] Guaranteed OFF if -30 - 7 V
[A1-A2][A3-A4] Guaranteed ON if 10 - 30 V
[A1-A2][A3-A4] Guaranteed OFF if 0 - 3 mA
[A1-A2][A3-A4] ON Current (10-30V) 7 - 14 mA
[A1-C1][A2-C2][A3-C3] Current AC/DC 0.01 - 6 A
[A1-C1][A2-C2][A3-C3] Voltage DC 5 - 50 V
[A1-C1][A2-C2][A3-C3] Voltage AC 5 - 250 V
20.3 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
20.4 Digital Outputs
The digital outputs are implemented as pnp and are galvanically connected to the IMM. The gal-
vanic 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 defined 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
CB3 III-28 Version 3.10
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