Chapter 4: Operation NOTE: The XMCP and XFP connectors on the controller can be interchanged without electrical damage. However, neither the Front Panel nor the pendant will work properly unless they are plugged into the correct connector. Remote Pendant Usage Customers can build an extension cable to place the pendant in a remote location. The exten- sion cable must conform to the following specifications: l Wire Size: must be larger than 26 AWG. l Connectors: must be 15-pin, standard D-sub male and female. l Maximum cable length is 10 meters. CAUTION: Do not modify the cable that is attached to the pendant. This could cause unpredictable behavior from the robot system.
4.6 Connecting User-Supplied Digital I/O Equipment The controller contains two options for connecting Inputs and Outputs (I/O). I/O can be hard- wired to the XDIO and/or Controller Area Network (CAN) connectors. DeviceNet Connector The DeviceNet connector on the controller is used to interface to a CAN using the DeviceNet protocol. See DeviceNet on page 81 for details. XDIO Connector The XDIO connector on the SmartController EX motion controller is a 50-pin, standard density D-Sub female connector (see SmartController EX Connectors and Indicators on page 25 for loc- ation). There are 12 inputs and 8 outputs, each optically isolated from the circuitry of the con- troller.
The signals are numbered 1001 through 1012 for the inputs and 1 through 8 for the outputs. All the signals have independent source and ground connections. These inputs con- tain the four high-speed inputs that are used by the system for interrupts and latching. The out- puts, although independent, have a lower current rating of 100 mA compared to 700 mA for the extended outputs on the sDIO module (described in sDIO Module on page 57). See the eV+ Language User's Guide for information on digital I/O programming. The connector also provides 24 V pins for powering customer equipment. There are four 24 V pins and four ground pins, which are limited to a total of 1 A of current.
The source of the 24 V is the XDC connector on the front of the controller. Input Signals The XDIO connector handles input signals 1001 to 1012. Each channel has an input and a cor- responding return line. See the following table for input specifications. The connector pin-outs are shown in the table XDIO Digital I/O Connector Pin Assignments on page 46. SmartController EX User’s Guide, 11069-000 Rev. F Page 41 of 92