Guide to use digital IO
There are 2 difference IOs of controller and end effector.
- Controller: 8/16 digital input, 8/16 digital output, 2 analog input, 2 analog output.
- End effector: 2/5 digital input, 2/5 digital output, 2 analog input
1. Controller IO(xArm1300/850/Lite6)
1.1 Digital Input
- CI0~CI7
- DI0~DI7
It's high level by default, 0-5V is low level, 18-30V is high level.
1.2 Digital Output
- CO0~CO7
- DO0~DO7
It's an OC output, NPN output, the current is 100mA. 
2. End Effector IO
2.1 Digital Input
- TI0
- TI1
- TI2, TI3, TI4(UF850)
It's low level by default, the voltage is 0-30V, 1.6-30V is high level.
2.2 Digital Output
- TO0
- TO1
- TO2, TO3, TO4(UF850)
It's an OC output, NPN output, the current is 100mA.
3. Case
Purpose: Amplify the output current by adding PMOS Module.(Also applicable to COx/DOx)
Application: Drive Relay
- Input Voltage: 3-24V; Current: 5mA.
- Output Voltage: 5-36V; Current: 5A, if it exceeds 5A, need to add a heat sink, and can't exceed 20A.
Connection:
- Signal V+ to 24V
- Signal V- to TOX
- DC to 24V
- DC to GND
- load V+ to OUT+
- load V- to OUT-
