4.3.3 External Expansion Interface

Figure 4.4 shows the DB62 external expansion board and Table 4.9 lists the description.

Figure 4.4 DB 62 external expansion board

Table 4.9 The external expansion interface description

PIN	Name	Function	Voltage/Current
1	EX_IN9（DIN9）	Digital input	0V,24V/<100mA
2	PGND	Negative of the logic power	GND/5A
3	EX_IN10（DIN10）	Reset signal	0V,24V/<100mA
4	PGND	Negative of the logic power	GND/5A
5	EX_IN11（DIN11）	External I/O control signal. Namely, Dobot M1 activates external I/O control function	0V,24V/<100mA
6	PGND	Negative of the logic power	GND/5A
7	EX_IN12（DIN12）	Continue signal	0V,24V/<100mA
8	PGND	Negative of the logic power	GND/5A
9	EX_IN13（DIN13）	Pause signal	0V,24V/<100mA
10	PGND	Negative of the logic power	GND/5A
11	EX_IN14（DIN14）	Stop signal After this signal is triggered, Dobot M1 will stop offline running while the external I/O control will remain in force. At this point, you can use M1Studio to control Dobot M1 in Dobot mode or trigger DIN 15 to make Dobot M1 run in offline mode again	0V,24V/<100mA
12	PGND	Negative of the logic power	GND/5A
13	EX_IN15（DIN15）	Start signal, for running in offline mode Before triggering this signal, please trigger DIN 11 first	0V,24V/<100mA
14	PGND	Negative of the logic power	GND/5A
15	EX_IN16（DIN16）	Digital input	0V,24V/<100mA
16	PGND	Negative of the logic power	GND/5A
17	ON_OFF+	Positive of the power signal	0V~24V/<100mA
18	GND	Negative of the analog power	GND/1A
19	GND	Negative of the analog power	GND/1A
20	GND	Negative of the analog power	GND/1A
21	GND	Negative of the analog power	GND/1A
22	NC2	Relay K2 Normally Closed	AC: 250V/5A DC:30V/5A
23	NO2	Relay K2 Normally Open	AC: 250V/5A DC: 30V/5A
24	COM2	Common terminal	AC: 250V/5A DC: 30V/5A
25	GND_EMC	Earth ground	GND/5A
26	FPGA_OUT1（DOUT11）	Digital output	0V,24V/2mA
27	VCC_24V	Positive of the logic power	24V/3A
28	FPGA_OUT2（DOUT12）	Digital output	0V,24V/2mA
29	VCC_24V	Positive of the logic power	24V/3A
30	FPGA_OUT3（DOUT13）	Digital output	0V,24V/2mA
31	VCC_24V	Positive of the logic power	0V,24V/2mA
32	FPGA_OUT4（DOUT14）	Digital output	0V,24V/2mA
33	VCC_24V	Positive of the logic power	24V/3A
34	FPGA_OUT5（DOUT15）	Digital output	0V,24V/2mA
35	VCC_24V	Positive of the logic power	24V/3A
36	FPGA_DOUT6（DOUT16）	Digital output	0V,24V/2mA
37	VCC_24V	Positive of the logic power	24V/3A
38	DAC_OUT1	Analog output, reserved	-
39	GND	Negative of the analog power	GND/1A
40	DAC_OUT2	Analog output, reserved	-
41	GND	Negative of the analog power	GND/1A
42	ON_OFF-	Negative of the power signal	0V~24V/<100mA
43	IN_A/D1（AIN1）	Analog input	0V~10V/<100mA
44	IN_A/D2（AIN2）	Analog input	0V~10V/<100mA
45	IN_A/D3（AIN3）	Analog input	0V~10V/<100mA
46	IN_A/D4（AIN4）	Analog input	0V~10V/<100mA
47	EX_A1+	Signal input for A phase of external encoder1, reserved	-
48	EX_A1-	Inversion signal input for A phase of external encoder1, reserved	-
49	EX_B1+	Signal input for B phase of external encoder1, reserved	-
50	EX_B1-	Inversion signal input for B phase of external encoder1, reserved	-
51	EX_OUT1（DOUT1）	Digital output	0V,24V/2mA
52	VCC_24V	Positive of the logic power	24V/3A
53	EX_OUT2（DOUT2）	Digital output	0V,24V/2mA
54	VCC_24V	Positive of the logic power	24V/3A
55	EX_OUT3（DOUT3）	Digital output	0V,24V/2mA
56	VCC_24V	Positive of the logic power	24V/3A
57	EX_OUT4（DOUT4）	Digital output	0V,24V/2mA
58	VCC_24V	Positive of the logic power	24V/3A
59	EX_OUT5（DOUT5）	Digital output	0V,24V/2mA
60	VCC_24V	Positive of the logic power	24V/3A
61	EX_OUT6（DOUT6）	Digital output	0V,24V/2mA
62	VCC_24V	Positive of the logic power	24V/3A
63	EX_OUT7（DOUT7）	Running status signal	0V,24V/2mA
64	VCC_24V	Positive of the logic power	24V/3A
65	EX_OUT8（DOUT8）	Alarm signal	0V,24V/2mA
66	VCC_24V	Positive of the logic power	24V/3A
67	VCC_24V	Positive of the logic power	24V/3A
68	PGND	Negative of the logic power	GND/5A
69	CAN2_H	CAN bus, reserved	-
70	CAN2_L	CAN bus, reserved	-
71	VCC_5V	Positive of the logic power	5V/2A
72	EX_A2+	Signal input for A phase of external encoder2, reserved	-
73	EX_A2-	Inversion signal input for A phase of external encoder2, reserved	-
74	EX_B2+	Signal input for B phase of external encoder2, reserved	-
75	EX_B2-	Inversion signal input for B phase of external encoder2, reserved	-
76	EX_IN1（DIN1）	Digital input	0V,24V/<100mA
77	PGND	Negative of the logic power	GND/5A
78	EX_IN2（DIN2）	Digital input	0V,24V/<100mA
79	PGND	Negative of the logic power	GND/5A
80	EX_IN3（DIN3）	Digital input	0V,24V/<100mA
81	PGND	Negative of the logic power	GND/5A
82	EX_IN4（DIN4）	Digital input	0V,24V/<100mA
83	PGND	Negative of the logic power	GND/5A
84	EX_IN5（DIN5）	Digital input	0V,24V/<100mA
85	PGND	Negative of the logic power	GND/5A
86	EX_IN6（DIN6）	Digital input	0V,24V/<100mA
87	PGND	Negative of the logic power	GND/5A
88	EX_IN7（DIN7）	Digital input	0V,24V/<100mA
89	PGND	Negative of the logic power	GND/5A
90	EX_IN8（DIN8）	Digital input	0V,24V/<100mA
91	PGND	Negative of the logic power	GND/5A
92	PGND	Negative of the logic power	GND/5A
93	VCC_24V	Positive of the logic power	24V/3A
94	RS-485_A	RS485A bus, reserved	-
95	RS-485_B	RS485B bus, reserved	-
96	GND	Negative of the analog power	GND/1A
97	NC1	Relay K1 Normally Closed	AC: 250V/5A DC: 30V/5A
98	NO1	Relay K1 Normally Open	AC: 250V/5A DC: 30V/5A
99	COM1	Common terminal	AC: 250V/5A DC: 30V/5A
100	GND_EMC	Earth ground	GND/5A

NOTICE

DOUT9 and DOUT10 are used to control relay K1 and K2 respectively, which are internal encapsulated interfaces. If you use relay for power supply or other applications, you can use the COM, NC, NO interfaces directly on the external expansion board after connecting it to Dobot M1. If you have to debug the relay K1 and K2, you can debug OUT09 and OUT10 on the M1Studio > I/O Assistant page. For details, please see 6.10.6 Example of Relay Connection.

All input and output interfaces of the Dobot M1 only can be used for signal control and cannot be regarded as power supply. You can use relays on the external expansion board for power supply. Take relay K1 as an example, the circuit diagram is shown in Figure 4.5.

Figure 4.5 Circuit diagram