I'm trying to test the I/O on an R-30iA Mate controller. I've got the UOP auto assignment set for "Simple(CRMA16)" and I'm using a multimeter to check the I/O signals. Multimeter COM probe is connected to pin 18 on the 50-pin Honda connector CRMA58, which I think should be 0V, and the V+ probe is connected to pin 33, which I think is out 1, mapped to DO[101]. When I toggle the status of DO[101] though, the multimeter doesn't show any voltage. Anybody know what I'm doing wrong? Thanks!
How to force digital I/O on R-30iA Mate controller?
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SirCumference -
August 12, 2014 at 8:52 PM -
Thread is marked as Resolved.
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The R-30iA outputs are sinking. Measure between +24 and the output.
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Thanks for the tip! It looks like the controller uses current I/O, not voltage I/O. Measuring current between the 24V+ and the output, my multimeter reads 3.8mA when the output is on and 1.6mA when it's off.
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By applying a current meter as the only load, you are creating a short circuit on the output.
It looks you were lucky and the output is overload-protected. Don't do it again!
Connect a real load, e.g. solenoid, and don't forget about a spark-killer diode. -
Does anybody know how much current the I/O pins are able to sink/source? I have the controller manual and it talks a lot about the software, but it says almost nothing about the hardware inside the cabinet.
Also, I'm not familiar with what a spark-killer diode is, and a quick Google search isn't bringing up any explanations. Could you explain to me what that is? Sorry for the noob questions.
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There is a R-30iA Mate controller documentation CD for sale here:
https://www.robot-forum.com/robotforum/use…n-cds-for-sale/ -
Okay, thanks for all the help. I called Fanuc and they told me I'll need to get a copy of the controller maintenance manual. Thanks for the jpg image showing the spark killer diode as well. I know that circuit as a flyback diode.