Electrical interface of manipulator

1 The electrical interface of the manipulator base

1.1 Base Introduction

A. The interface, display and buttons on the top of the base are shown in Figure 2-3:

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Figure 2-3 Front view of the base

B. The interface on the left side of the base is shown in Figure 2-4:

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Figure 2-4 Left side view of the base

C. The interface on the right side of the base is shown in Figure 2-5:

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Figure 2-5 Right side of the base

1.2 Base interface description

serial number interface name definition Features Remark
1 Type C Communication Interface Communicate with PC development use
2 display show Use with buttons
3 button button A Use with the display
4 button B
5 button C
6 switch switch Control input power on and off With lights (lights on)
7 DC/IO interface GND GND
IN6 Digital input signal 1~6 Input only in NPN mode
IN5
IN4
IN3
IN2
IN1
24V DC24V
8 Type C Communication Interface Communicate with PC development use
9 Power DC input interface DC24V input DC24V input
10 DC/IO interface 24V DC24V
OUT1 Digital output signal 1~6 PNP mode only
OUT2
OUT3
OUT4
OUT5
OUT6
GND GND
11 Emergency stop interface STOP Emergency stop circuit interface
  1. Type C interface: can be used to connect and communicate with the PC, developers can use

  2. Display screen: Use a 2-inch IPS screen, which can be used to display the communication status of myCobot / coordinate the button to correct the robot origin and other functions.

  3. Button A, Button B and Button C: Use with the display screen for functional operation.

  4. Power switch: control the on-off of the main power input, when it is turned off, the controller is also powered off.

  5. 24V output: Internal DC24V, available for users.

  6. Digital Input/Digital Output:

Including 6 digital input signals and 6 digital output signals, used to interact with other devices, together with other devices constitute an important part of the automation system.

It should be noted that the output signal is in the form of PNP. The following is a schematic diagram of the external wiring:

NPN接线图

The input signal is in NPN form, the following is the schematic diagram of external wiring:

NPN接线图

  1. Power DC input interface: Use KPPX-4P R7BFDC power socket; the 24V10A DC power adapter provided by the manufacturer can be used to power myCobot320.

  2. Emergency stop circuit terminal: connected to the emergency stop button box, which can be used to control the emergency stop of the robot.

Note: The emergency stop switch must be connected when the robot is in use, and ensure that the emergency stop switch circuit is connected.

2 Electrical interface at the end of the robotic arm

2.1 Introduction of Robot Arm End

D. The schematic diagram of the end interface of the robot arm is shown in Figure 2-12 and Figure 2-13:

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Figure 2-12 Side view of the end of the robotic arm

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Figure 2-13 Side view of the end of the robotic arm

2.2 Terminal interface description

serial number interface name definition Features Remark
12 M8 aviation socket End tool IO interface Interact with external devices
13 Atom Led + button Status view/drag to teach
14 Type C Communication Interface Communicate with PC Update Atom firmware using
15 Grove developers use
  1. End tool IO interface:

As shown in the figure is the tool I/O diagram, the myCobot 320 robot provides one input and two outputs.

IO

The definition of each tool I/O port is shown in the table below. Note that both the input and output of the tool I/O are PNP type, and the wiring method is the same as the bottom output interface.

serial number Signal explain Matching M8 line color
1 GND DC24V negative pole White
2 OUT1 Tool output interface 1 brown
3 OUT2 Tool output interface 2 green
4 485A reserved, undeveloped yellow
5 24V DC24V positive Ash
6 IN1 Tool input interface 1 pink
7 IN2 unavailable blue
8 485B reserved, undeveloped purple
  1. Atom: used for 5X5 RGB LED to display the state of the robot arm and key function (used when the robot enters the drag teaching)

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