Analog I/O Board

Analog I/O Board

Installing an analog I/O board in an option slot enables usage of analog input/output functions. Up to three analog I/O boards can be installed in the option slots.

  • Analog I/O board (1CH): "DAC: 1ch" is available per board
  • Analog I/O board (4CH): "DAC: 2ch, ADC: 2ch" is available per board

DAC: Analog signal output (voltage/current)
ADC: Analog signal input (voltage/current)

Connection example of analog I/O board (4CH)

* Voltage/current input

Schematic overview of analog I/O board

Rv: Voltage input terminating resistor (100 kΩ), Rc: Current input terminating resistor

Board Settings (Analog I/O Board)

Switch and jumper settings

  1. Address setting (SW1): Optional board addresses

    Settings S1 S2 S3 S4 S5 S6 S7 S8
    1st Board Off Off On Off Off Off Off Off
    2nd Board Off On Off Off Off Off Off Off
    3rd Board On Off Off Off Off Off Off Off


    S5 to S8: Not used. Leave these at OFF.

  2. Analog output: Settings
    Current-voltage selector switch (SWD1): Voltage/current output
    Range selector switch (SWD2): Output range

    Channel Output Mode Range Setting SWD1 (Current-Voltage Selector)
    S1 S2 S3 S4
    DAC 1ch Voltage output mode ±5 V On Not used Not used Not used
    ±10 V On
    0 to 5 V On
    0 to 10 V * On
    Current output mode 0 to 20 mA Off
    4 to 20 mA Off
    DAC 2ch Voltage output mode ±5 V Not used On Not used Not used
    ±10 V On
    0 to 5 V On
    0 to 10 V * On
    Voltage output mode 0 to 20 mA Off
    4 to 20 mA Off
    Channel Output Mode Range Setting SWD2 (Range Switching)
    S1 S2 S3 S4
    DAC 1ch Voltage output mode ±5 V On On Not used Not used
    ±10 V On Off
    0 to 5 V Off On
    0 to 10 V * Off Off
    Current output mode 0 to 20 mA On On
    4 to 20 mA Off Off
    DAC 2ch Voltage output mode ±5 V Not used Not used On On
    ±10 V On Off
    0 to 5 V Off On
    0 to 10 V * Off Off
    Current output mode 0 to 20 mA On On
    4 to 20 mA Off Off

    * Default: DAC default settings (voltage output: 0 to 10 V)

  3. Analog input: Settings
    Current-voltage selector jumper (CN8/CN9): Current input/voltage input

    • Short pins 1-2: Voltage input setting
    • Short pins 2-3: Current input setting

    Current-voltage selector switch (SWD1): Current input/voltage input
    Range selector switch (SWD3): Input range

    Channel Input Mode Range Setting SWD1 (Current-Voltage Selector)
    S1 S2 S3 S4
    ADC 1ch Voltage input mode ±5.12 V Not used Not used On Not used
    ±10.24 V On
    0 to 5.12 V On
    0 to 0.24 V * On
    Current input mode 0 to 24 mA Off
    ADC 2ch Voltage input mode ±5.12 V Not used Not used Not used On
    ±10.24 V On
    0 to 5.12 V On
    0 to 10.24 V * On
    Current input mode 0 to 24 mA Off
    Channel Input Mode Range Setting CN8 (Current-Voltage Selector) CN9 (Current-Voltage Selector)
    ADC 1ch Voltage input mode ±5.12 V Short 1-2 Not used
    ±10.24 V Short 1-2
    0 to 5.12 V Short 1-2
    0 to 10.24 V * Short 1-2
    Current input mode 0 to 24 mA Short 2-3
    ADC 2ch Voltage input mode ±5.12 V Not used Short 1-2
    ±10.24 V Short 1-2
    0 to 5.12 V Short 1-2
    0 to 10.24 V * Short 1-2
    Current input mode 0 to 24 mA Short 2-3
    Channel Input Mode Range Setting SWD3 (Range Switching) SWD4
    S1 S2 S3 S4
    ADC 1ch Voltage input mode ±5.12V On On Not Use Not Use Off
    ±10.24 V On Off
    0 to 5.12 V Off On
    0 to 10.24V * Off Off
    Current input mode 0 to 24mA Off On
    ADC 2ch Voltage input mode ±5.12V Not Use Not Use On On Off
    ±10.24V On Off
    0 to 5.12V Off On
    0 to 10.24V * Off Off
    Current input mode 0 to 24mA Off On

    SWD4: Not used. Leave this at OFF.
    * Default: ADC default setting (voltage input 0 to 10.24 V)

  4. Shield settings
    Shield "frame ground" and "user ground": CN4, CN5, CN6, CN7

    • Short pins 1-2: Frame ground (FG) shield setting
      Used to discharge shield noise to the Robot Controller side
    • Short pins 2-3 : User ground (UG) shield setting
      Used to isolate the shield between the external connection device and the Robot Controller
      Also used to discharge shield noise to the external connection device side

    User ground (UG): Analog ground (AGND) on the external connection device side
    Frame ground (FG): Digital ground (DGND) inside the Robot Controller

    Channel Settings CN4 CN5 CN6 CN7
    DAC1ch FG shield * Short 1-2 Not Use Not Use Not Use
    UG shield Short 2-3
    DAC2ch FG shield * Not Use Short 1-2 Not Use Not Use
    UG shield Short 2-3
    ADC1ch FG shield * Not Use Not Use Short 1-2 Not Use
    UG shield Short 2-3
    ADC2ch FG shield * Not Use Not Use Not Use Short 1-2
    UG shield Short 2-3

    * Default

Checking with Epson RC+ (Analog I/O Board)

When an analog I/O board is installed in the Controller's option unit, the Controller software automatically recognizes the analog I/O board. Therefore, no software configuration is required.
You can confirm on the Epson RC+ screen that the board was correctly recognized.

  1. In the Epson RC+ menu, select [Setup] - [System Configuration] to display the [System Configuration] dialog box.

  2. Select [Controller] - [Inputs / Outputs] - [Analog I/O].

Input Circuit (Analog I/O Board)

  • Input resolution: 16 bits
  • Input range (voltage): 0 to 5.12 V, 0 to 10.24 V, ±5.12 V, ±10.24 V
  • Input range (current): 0 to 24 mA
  • Input impedance (voltage/current): approx. 100 kΩ/approx. 422 Ω
  • Input pin absolute rated voltage: ±11 V
  • Isolation specifications: Channel-to-channel isolation, bus isolation

Output Circuit (Analog I/O Board)

  • Output resolution: 16 bits
  • Output range (voltage): 0 to 5 V, 0 to 10 V, ±5 V, ±10 V
  • Output range (current): 0 to 20 mA, 4 to 20 mA
  • Output impedance (voltage/current): approx. 17 Ω/approx. 50 MΩ
  • Output pin absolute rated voltage: ±11 V
  • Load resistance/capacitance (@voltage output): 1 kΩ min./5 nF
  • Load resistance/inductance (@current output): 300 Ω or less/50 mH or less
  • Isolation specifications: Channel-to-channel isolation, bus isolation

CAUTION

  • If the wiring or settings are performed incorrectly, analog input/output will not function properly.
  • In environments with large amounts of external noise, the analog input/output may be affected. Check the noise environment, such as whether the cables are shielded.
  • Use shielded/twisted cables.
  • Never apply voltages or currents outside the input/output range to the analog input/output pins. Applying a voltage of ±11 V or more will damage the board.
  • Wiring errors or short circuits may cause components on the board to fail and malfunctions in the robot system.

Signal Arrangement (Analog I/O Board)

1CH specification

Pin Number Signal Name Pin Number Signal Name
1 VOUT (DAC 1ch) 20 Shield (DAC 1ch)
2 COM (DAC 1ch) 21 IOUT (DAC 1ch)
3 Shield (DAC 1ch) 22 COM (DAC 1ch)
4 Not used 23 Not used
5 Not used 24 Not used
6 Not used 25 Not used
7 Not used 26 Not used
8 Not used 27 Not used
9 Not used 28 Not used
10 Not used 29 Not used
11 Not used 30 Not used
12 Not used 31 Not used
13 Not used 32 Not used
14 Not used 33 Not used
15 Not used 34 Not used
16 Not used 35 Not used
17 Not used 36 Not used
18 Not used 37 Not used
19 Not used

4CH specification

Pin Number Signal Name Pin Number Signal Name
1 VOUT (DAC 1ch) 20 Shield (DAC 1ch)
2 COM (DAC 1ch) 21 IOUT (DAC 1ch)
3 Shield (DAC 1ch) 22 COM (DAC 1ch)
4 Not used 23 Not used
5 Not used 24 Not used
6 Not used 25 Not used
7 VIN (ADC 1ch) 26 Shield (ADC 1ch)
8 COM (ADC 1ch) 27 Not used
9 Not used 28 Not used
10 Not used 29 Not used
11 VOUT (DAC 2ch) 30 Shield (DAC 2ch)
12 COM (DAC 2ch) 31 IOUT (DAC 2ch)
13 Shield (DAC 2ch) 32 COM (DAC 2ch)
14 Not used 33 Not used
15 Not used 34 Not used
16 Not used 35 Not used
17 Not used 36 Not used
18 VIN (ADC 2ch) 37 Shield (ADC 2ch)
19 COM (ADC 2ch)

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