Tool Flange Digital Output

Warning

• Before connecting the Tool Flange I/O output port, the power should be cut off.
• The electrical drawing below is for Non-E type only.

1. Digital output internal circuit diagram

Device composition for Tool Flange Digital output [DOA, DOB].

(1) Non-E Version Robot

(2) E Version Robot

External connector wiring diagram. The wiring diagram will be divided as shown above according to the robot version.

2. Digital output characteristics

Terminals	Parameter	Min	Typ	Max	Unit
DOA, DOB	Voltage	0	12/24	24	V
DOA, DOB	Current Ver 1.	0	150	700*	mA
DOA, DOB	Current Ver 2.	0	2000	2000	mA

*Tsp = 25ºC; pulsed; tp <= 10µs

This specification applies only to Tool Flange Digital outputs A and B.
As of July 24, 2019, version of RB5 shipped out is Current Ver 1.

3. Test Environment

Digital output device test was conducted using 24V dc LED and the following configuration was tested.

Non-E Version

E Version

The following example is shown in this manual.

4. Precautions when using

Digital output device is NPN type but has internal 10K pullup resistor.

Most devices (LEDs, solenoid valves, relays) can be used in the test environment No. 3 or with the digital signal application function on commercial grippers.
However, they may not work in the environment using the same voltage distribution as Rainbow Robotics’ tool flange digital input devices.

When Rainbow Robotics’ digital output is connected to the digital input

Low Digital output

Digital input is output low with 0V input.

Digital output High

Digital input may not be recognized depending on the resistance value.
For the diagram above, if the voltage applied to MCU is EVCC 24Vdc, about 2V is applied to it and is detected as Low.

If users MUST operate as above diagram, digital input stage resistance ratio adjustment is necessary.