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Essential details：A03B-0819-C185 FANUC ROBOTICS INPUT/OUTPUT MODULES
Here the 200ID series provides 28 inputs and 24 outputs. First of all, let’s take a look at how the pin of CRMA15 is defined. From this table, we can see that 12 of the 50 terminals are undefined, that is, no function, and terminals 1-16 and 22-25 are defined as input signals. There are a total of 20 input points. The corresponding terminals 33-40 are defined as output signals, there are 8 terminals, each of which has a maximum output current of 0.2A. Terminals 17, 18, 29 and 30 are respectively connected to the negative terminal of 24V, while terminals 49 and 50 are connected to the positive terminal of 24V.
A03B-0819-C185
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A03B-0819-C185 FANUC ROBOTICS INPUT/OUTPUT MODULES
In CRMA16, in addition to 0V, 24F and DO terminals with the same function as CRMA15, there are some more special terminals, such as 1-8 terminals, which are input terminals. In fact, we do not need to remember the function of each terminal here, because the CRMA15 and CRMA16 tables just shown are automatically allocated by the system as listed in the system specification, but in most cases, we will flexibly set according to the needs of the project. So we only need to know which terminals are input, which terminals are output, and their physical order, and then configure, as you can see from the table remarks, here XHOLD is actually equivalent to DI121, and then increase the serial number, and CMDENBL is DO121. In addition, the system signal UOP is usually configured first, and if there is no unused UOP signal, it can be allocated to the digital signal, thus expanding the number of digital IO
