Electrical Interface

1 Electrical Interface of Base

1.1 Base

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

Figure 2-3 Front view of the base

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

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:

Figure 2-5 Right side of the base

1.2 Base Interface

Number	Interface	Definition	Function	Remark
1	Screen	showing information	work with buttons
2	Button	button A	work with screen
3		button B
4		button C
5	Network Port	Ethenet	Ethernet Port Communication
6	Switch	switch	Control input power on and off	With lights (lights on)
7	Power DC Input Interface	DC24V input	DC24V input
8	DC/IO interface	GND	GND
		GND	GND
		IN1	Digital input signal 1~2	Input only in NPN mode
		IN2
		OUT1	Digital output signal 1~2	PNP mode only
		OUT2
		24V	DC24V
		24V	DC24V
9	Emergency Stop Interface	STOP	Emergency Stop Circuit Interface
10	Type C	Communication Interface	Communicate with PC	development use

Type C interface is used to connect and communicate with the PC, available for developers.
Screen is used to display the communication status of myCobot and calibrate the robot move to starting point with a 2-inch IPS screen.
Button A, Button B and Button C is used to work with the screen in a coordinated way.
Power switch is used to control the main power input. If it is switched off, the controller is also powered off.
24V output: Internal DC24V, available for users.
Digital Input/Digital Output includes 6 digital input signals and 6 digital output signals. They are mainly used to interact with and constitute an important part of the automation system with other devices. It should be noted that the output signal is in the form of PNP. The following picture is a schematic diagram of the external wiring:

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

Power DC input interface:

It uses KPPX-4P R7BFDC power socket. The 24V10A DC power adapter provided by the manufacturer can also be used to power myCobot320.
Emergency stop circuit terminal is connected to the emergency stop button box, which can be used to control the emergency stop of the robot.

Notice: The emergency stop switch must be connected when the robot is in use, and make sure that the emergency stop switch circuit is always connected.

2 Electrical Interface at the end of the Robot Arm

2.1 End of the Robot Arm

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

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

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

2.2 Terminal Interface

Number	Interface	Definition	Function	Remark
11	M8 aviation socket	End tool IO interface	Interact with external devices
12	Atom	Led + button	Status view/drag to teach
13	Type C	Communication Interface	Communicate with PC	Update Atom firmware using
14	Grove			developers use

IO interface. The tool I/O diagram is shown on the figure below. myCobot 320 robot has one-way input and two-way output.

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

Number	Signal	Explanation	Matchable Color of M8 Line
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

Atom is used for 5X5 RGB LED to display the state of the robot arm and key function (used when the robot performs the drag teaching)

2 Robotic Arm Electrical Interface