Connecting Controller I/O

In addition to the manipulator and teach pendant, various external equipment can be connected to the controller through the controller I/O terminal. Various peripherals such as safety devices, including emergency stop switch, light curtain and safety mats, and devices required during robot work cell setup including pneumatic solenoid valves, relays, PLCs and conveyor belt encoders can be connected.

The controller I/O consists of the following six units:

Terminal Block for Safety Contact Input (TBSFT): Used to connect devices required for emergency stopping and protective stopping
Terminal Block for Digital I/O Power (TBPWR)
Configurable Digital IO Block (TBCI1- 4, TBCO1– 4): Used to connect peripherals required for robot operation
Terminal Block for Analog I/O (TBAIO)
Terminal Block for Encoder Input (TBEN1, TBEN2)

The figure below depicts the electric interface layout of the controller interior.

For the E series, the I/O terminal location can be confirmed by opening the controller cover as shown in the internal controller photo below.

Caution

Turn off the power when connecting terminals to the controller I/O to prevent product damage and breakdown.
Doosan Robotics will not compensate any product damage caused by inappropriate terminal connection or user negligence.
Make sure to turn off the external power source when turning off the controller power.
When loosening or tightening the bolt, to prevent any loss, be sure to use magnetic tool.