Expansion I/O Boards
Expansion I/O Boards
Expansion I/O boards can enable an additional 24 inputs and 16 outputs per board.
Up to three I/O boards can be installed.
I/O numbers are assigned as shown in the following table. (Bit numbers are assigned from CN1.)
| Input Bit Number | Output Bit Number | Corresponding Hardware |
|---|---|---|
| 0 to 23 | 0 to 15 | Standard I/O |
| 64 to 87 | 64 to 79 | Expansion I/O, 1st board |
| 96 to 119 | 96 to 111 | Expansion I/O, 2nd board |
| 128 to 151 | 128 to 143 | Expansion I/O, 3rd board |
Board Settings (Expansion I/O Board)
Board appearance
Switch and jumper settings
Set DSW1 and DSW2. CN3 is all open.
| 1st Board | 2nd Board | 3rd Board |
|---|---|---|
 |  |  |
Checking with Epson RC+ (Expansion I/O Board)
When an expansion I/O board is installed in an option unit, the Controller software automatically recognizes the expansion I/O board. Therefore, no software configuration is required.
You can confirm on the Epson RC+ screen that the board was correctly recognized.
In the Epson RC+ menu, select [Setup] - [System Configuration] to display the [System Configuration] dialog box.
Select [Controller] - [Inputs / Outputs].
Make sure that the installation is set to "Yes."
The expansion I/O board is recognized by the Controller software. The corresponding inputs and outputs can be used.
Input Circuit (Expansion I/O Board)
- Input voltage range: +12 to 24 V ±10%
- ON voltage: +10.8 V (Min.)
- OFF voltage: +5 V (Max.)
- Input current: 10 mA Typ. at +24 V input
The input circuit uses a bidirectional photocoupler, which allows the following two types of wiring.
Input circuit diagram and wiring example 1: Source type
Input circuit diagram and wiring example 2: Sink type
Output Circuit (Expansion I/O Board)
- Rated output voltage: +12 V to 24 V ±10%
- Maximum output current: Typ. 100 mA per output
- Output driver: Photocoupler
CAUTION
There are two types of output circuits: sink type and source type. These types are set at factory shipping. Before wiring, check that the I/O output type matches that of the external connected device.
If wiring is performed to the wrong output type, components on the board will be damaged and the robot system will not function properly.
To comply with the EU Machinery Directive, use the wiring in Wiring Example 2: Source Type. If wiring is performed incorrectly, the Manipulator may not function properly and safety issues may occur.
The output circuit has no built-in short-circuit or reverse-connection protection circuits. Be careful that wiring mistakes do not occur. If the wiring is performed incorrectly, components on the board may be damaged and the robot system may not function properly.
Output Circuit Diagram and Wiring Example 1: Sink Type (NPN)
Output Circuit Diagram and Wiring Example 2: Source Type (PNP)
Signal Arrangement (Expansion I/O Board)
This is the signal arrangement table for the first expansion I/O board.
Connector 1 signal arrangement
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 1 | Input common No. 64 to 71 | 26 | Input No. 79 |
| 2 | Input No. 64 | 27 | Output No. 70 |
| 3 | Input No. 65 | 28 | Output No. 71 |
| 4 | Input No. 66 | 29 | Output No. 72 |
| 5 | Input No. 67 | 30 | Output No. 73 |
| 6 | Input No. 68 | 31 | Output No. 74 |
| 7 | Input No. 69 | 32 | Not used |
| 8 | Input No. 70 | 33 | Output common No. 72 to 79 |
| 9 | Input No. 71 | 34 | Input common No. 80 to 87 |
| 10 | Output No. 64 | 35 | Input No. 80 |
| 11 | Output No. 65 | 36 | Input No. 81 |
| 12 | Output No. 66 | 37 | Input No. 82 |
| 13 | Output No. 67 | 38 | Input No. 83 |
| 14 | Output No. 68 | 39 | Input No. 84 |
| 15 | Output No. 69 | 40 | Input No. 85 |
| 16 | Not used | 41 | Input No. 86 |
| 17 | Output common No. 64 to 71 | 42 | Input No. 87 |
| 18 | Input common No. 72 to 79 | 43 | Output No. 75 |
| 19 | Input No. 72 | 44 | Output No. 76 |
| 20 | Input No. 73 | 45 | Output No. 77 |
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 21 | Input No. 74 | 46 | Output No. 78 |
| 22 | Input No. 75 | 47 | Output No. 79 |
| 23 | Input No. 76 | 48 | Not used |
| 24 | Input No. 77 | 49 | Not used |
| 25 | Input No. 78 | 50 | Not used |
| Connector Name | Standard |
|---|---|
I/O connector (Controller side) | D-sub 50-pin male Mating screw lock part #4 - 40 |
* I/O connectors, I/O connector cables, terminal blocks, and I/O connector kits are available as options.
This is the signal arrangement table for the second expansion I/O board.
Connector 1 signal arrangement
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 1 | Input common No. 96 to 103 | 26 | Input No. 111 |
| 2 | Input No. 96 | 27 | Output No. 102 |
| 3 | Input No. 97 | 28 | Output No. 103 |
| 4 | Input No. 98 | 29 | Output No. 104 |
| 5 | Input No. 99 | 30 | Output No. 105 |
| 6 | Input No. 100 | 31 | Output No. 106 |
| 7 | Input No. 101 | 32 | Not used |
| 8 | Input No. 102 | 33 | Output common No. 104 to 111 |
| 9 | Input No. 103 | 34 | Input common No. 112 to 119 |
| 10 | Output No. 96 | 35 | Input No. 112 |
| 11 | Output No. 97 | 36 | Input No. 113 |
| 12 | Output No. 98 | 37 | Input No. 114 |
| 13 | Output No. 99 | 38 | Input No. 115 |
| 14 | Output No. 100 | 39 | Input No. 116 |
| 15 | Output No. 101 | 40 | Input No. 117 |
| 16 | Not used | 41 | Input No. 118 |
| 17 | Output common No. 96 to 103 | 42 | Input No. 119 |
| 18 | Input common No. 104 to 111 | 43 | Output No. 107 |
| 19 | Input No. 104 | 44 | Output No. 108 |
| 20 | Input No. 105 | 45 | Output No. 109 |
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 21 | Input No. 106 | 46 | Output No. 110 |
| 22 | Input No. 107 | 47 | Output No. 111 |
| 23 | Input No. 108 | 48 | Not used |
| 24 | Input No. 109 | 49 | Not used |
| 25 | Input No. 110 | 50 | Not used |
| Connector Name | Standard |
|---|---|
I/O connector (Controller side) | D-sub 50-pin male Mating screw lock part #4 - 40 |
* I/O connectors, I/O connector cables, terminal blocks, and I/O connector kits are available as options.
This is the signal arrangement table for the third expansion I/O board.
Connector 1 signal arrangement
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 1 | Input common No. 128 to 135 | 26 | Input No. 143 |
| 2 | Input No. 128 | 27 | Output No. 134 |
| 3 | Input No. 129 | 28 | Output No. 135 |
| 4 | Input No. 130 | 29 | Output No. 136 |
| 5 | Input No. 131 | 30 | Output No. 137 |
| 6 | Input No. 132 | 31 | Output No. 138 |
| 7 | Input No. 133 | 32 | Not used |
| 8 | Input No. 134 | 33 | Output common No. 136 to 143 |
| 9 | Input No. 135 | 34 | Input common No. 144 to 151 |
| 10 | Output No. 128 | 35 | Input No. 144 |
| 11 | Output No. 129 | 36 | Input No. 145 |
| 12 | Output No. 130 | 37 | Input No. 146 |
| 13 | Output No. 131 | 38 | Input No. 147 |
| 14 | Output No. 132 | 39 | Input No. 148 |
| 15 | Output No. 133 | 40 | Input No. 149 |
| 16 | Not used | 41 | Input No. 150 |
| 17 | Output common No. 128 to 135 | 42 | Input No. 151 |
| 18 | Input common No. 136 to 143 | 43 | Output No. 139 |
| 19 | Input No. 136 | 44 | Output No. 140 |
| 20 | Input No. 137 | 45 | Output No. 141 |
| Pin Number | Signal Name | Pin Number | Signal Name |
|---|---|---|---|
| 21 | Input No. 138 | 46 | Output No. 142 |
| 22 | Input No. 139 | 47 | Output No. 143 |
| 23 | Input No. 140 | 48 | Not used |
| 24 | Input No. 141 | 49 | Not used |
| 25 | Input No. 142 | 50 | Not used |
| Connector Name | Standard |
|---|---|
I/O connector (Controller side) | D-sub 50-pin male Mating screw lock part #4 - 40 |
* I/O connectors, I/O connector cables, terminal blocks, and I/O connector kits are available as options.