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 de-
fined 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 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 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-26 Version 3.4.5
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