For Universal Robots

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Description
IOFirebug Engine for Universal Robots is an official certified robot accesories for expanding I/O interface of UR3, UR, and
UR10 robots. The Engine connects to the robot via USB or RS-422 (converter needed) and contains following peripherals:

• 8x analog input

• 8x Binary input (galvanically isolated)

• 8x switching N-FET output (galvanically isolated, all channels has common ground)

• RS422 interface (galvanically isolated)

• USB to Serial interface (FTDI)

• SPI interface for expansion modules

• Power supply DC +5V for external devices (encoders, indicators etc.)

The main board Engine can be extended by Wagon modules connected to an SPI interface according to your application
needs. SPI interface accept up to eight wagon modules. Wagon modules expands the main board on inputs and outputs
defined by the type of Wagon.

IOFirebug Engine for UR is delivered with compatible URCap for seamless robot integration.

Technical data
Producer 4EACH, s. r. o. (www.4each.cz)
DI Specification 8x galvanically isolated binary input (by optocoupler)
Input voltage 5-30V
DO Specification 8x switching N-FET output
Max. 50V/3 A

AI Specification 8x analog input 12bit/1,4MHz (ADC frequency)

Input voltage 0 - 10V
Integrated DC 5V supply 5V / 1A
Communication USB (FTDI - COM port), RS-422/RS-485, SPI
Input voltage 10 – 30 V DC
Consumption 100mA to 500mA/12V
(depends on connected expansion modules)
Dimensions 152mm x 102mm x 40 mm (w x h x d)
Transport dimension 200mm x 145mm x 65 mm (w x h x d)
Weight 290 g
Operating temperature -20° C to 70° C
Protection Overvoltage, polarity
Additional functions Expandable by IOFireBug Wagon modules

Certifications and 2014/30/EU Electromagnetic Compatibility Directive

standards (EMC)
2011/65/EU Restriction of the use of certain
hazardous substances (ROHS)
 For Universal Robots
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GND
VCC

A
B
-

A
B
A
B

A
B
A
B

A
B
A
B
A
B
In+

In+

In+

In+

In+

In+

In+

In+

+
In-

In-

In-

In-

In-

In-

In-

In-
POWER AD8 AD7 AD6 AD5 AD4 AD3 AD2 AD1 +5V IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN8

SPI EXT
Analog inputs DC
OUT

D24

D25

D26

D27

D28

D29

D30

D31
D5
D4

Binary optocouplered inputs

D10
D9
D8

P4

DIP1
DIP2
DIP3
DIP4
DIP5
DIP6
D15
D14
D13

P8

I2C EXT
N-FET switch outputs
D6

D47

D45

D43

D41

D46

D44

D42

D40
RS422 D12
Rx Tx D11
P33
P34

RS485 OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7 OUT8

Rx/Tx
Out+

Out+

Out+

Out+

Out+

Out+

Out+

Out+

USB
Out-

Out-

Out-

Out-

Out-

Out-

Out-

Out-
P35
P36
A
B
A
B

Schematics and description Digital input circuit

OPTOCOUPLER
Interface
POWER – Input voltage connector IN 2k2
AD1 to AD8 – Analog inputs
+5V DC OUT – power supply DC 5V
IN1 to IN8 – Binary inputs
RS422/RS485 – Serial bus for PC or IOFirebug Engine interconnection
OUT1 to OUT8 – Binary outputs
USB – PC interface (FTDI – internal USB to serial converter)
SPI - Interface for IOFirebug Wagon modules
I2C EXT – Intentionally unused

Configuration Digital output circuit

P8 – Serial bus type switch (RS422/RS485)
P4 – system connector VCC 5V
DIP1 – až DIP6 – link address configuration DIP switch OUT
P33 to P36 – serial bus termination

States
D4 –Internal voltage 5V state
D5 – Internal volatege 3,3V state
D24 to D31 – state of each binary input
D15 – TxD - serial bus transmitter state
D14 – serial bus communication direction
GND 5V
D13 - RxD serial bus receiver state
D8 to D10 – processor and FW state
D6 – DC-DC +5V converter state
D47, D45, D43, D41, D46, D44, D42, D40 – state of each binary output
D12 – TxD - USB transmitter state
D11 – RxD – USB receiver state