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Digital outputs

Digital outputs in Robopipe controllers function as open collector switches, using the negative pole of a connected power source to control external loads. Outputs are wired to DOx or DOy.x terminals, with a common DOGND terminal for connecting the negative pole of the DC power source. Each output is represented by an LED indicator that lights up when the output is active.

The FBD terminal can provide additional protection for specific load types, as detailed below.

Connection

  • Connect the DOGND terminal to the negative pole of the DC power source.

  • The external device or load connects between the power source’s positive pole and the appropriate DO terminal.

Flyback Diode (FBD)

For inductive loads (e.g., relays or contactors), use the integrated flyback diode available on the FBD terminal to suppress voltage spikes.

The flyback diode is intended for devices within the same output group. Using it across groups or for other purposes may cause permanent damage to the device.

Special functions

Pulse Width Modulation (PWM)

  • Generates a rectangular signal with a specified frequency and duty cycle

  • Common applications include controlling heating elements, LEDs, and motors via SSR relays

  • PWM is ideal for efficiently transmitting analog-like signals (e.g., 0-100% intensity or power)

DirectSwitch

  • Links digital inputs to outputs for time-sensitive applications without requiring control software

  • Modes:

    • Copy - Output mirrors input state

    • Inverse Copy - Output state is the negation of the input

    • Switch - Toggles output state on an input’s rising edge

    • Block - Disables DirectSwitch for the output

Important Notes:

  • Inputs and outputs must share corresponding labels (e.g., DIy.x with DOy.x)

  • Outputs controlled by DirectSwitch cannot be manually written to unless the ForceOutput register is set to TRUE for approximately one second

Default Configuration

Stored configurations allow outputs to resume a predefined state after a power cycle or reboot.

Parameter
Default Setting
Calculated Values

Output Value

FALSE

PWM Configuration

Off

Frequency: 10 kHz

Duty Cycle: 0

Resolution: 4800

Step: 0.02%

Master Watchdog

The Master Watchdog monitors software commands and ensures outputs revert to a safe default configuration if no commands are detected within a preset timeout. This prevents potential damage to devices or hazards to personnel in case of hardware or software failure.

Technical Specifications

Parameter
Value

Output Type

SINK (NPN - open collector)

Output Terminals

DO

Common Ground

DOGND

Switching Voltage

5–50 V DC

Switching Current (Continuous/Pulse)

750 mA / 1 A

Max Total Group Load

1 A

Inductive Load Handling

Integrated FBD Diode

Switching Period (Open/Close)

130 ns / 20 ns

Maximum PWM Resolution

16 bits

Maximum PWM Frequency

200 kHz

Galvanic Isolation

No

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