Start Guide:

Hardware Interfaces

Components of robotic arm

Realman's collaborative robot system is mainly composed of the robot body, controller (integrated in the robot base), and teach pendant touch pad (optional).

Controller

16-Pin Aviation Connector Cable

There is a 16-core connector on the robot controller panel, from which all I/Os of the robot are led out. Currently, the cables are divided into the first-generation cable and the second-generation cable, as shown below.

WARNING

Hot plugging of an aerial plug is not allowed during wiring. When inserting the aerial plug, make sure that the pin is aligned with the hole position and check whether the pin is normal.

First-generation cable	Second-generation cable

The structural diagram of the 16-core connector is as follows:

The wire definitions of the first-generation and second-generation cables are shown in the table below:

No.	First-generation cable wiring sequence	Second-generation cable wiring sequence	Definition	Description	Wire number (for second-generation cables only)	Remarks
1	Pink and brown	Black stripe brown/brown	VOUT	External output +	NO.1	12 V/24 V
2	Gray and purple	Gray/purple	GND	Power ground for VOUT	NO.2
3	Yellow	Yellow	485A	RS485_A (D+)	NO.3
4	Yellow and green	Black stripe yellow	485B	RS485_B (D-)	NO.4
5	Purple and white	Black stripe white	IO1	Multiplexible IO	NO.5
6	Red and white	White stripe red	IO2	Multiplexible IO	NO.6
7	Green and white	Black stripe green	IO3	Multiplexible IO	NO.7
8	Yellow and white	White stripe black	IO4	Multiplexible IO	NO.8
9	Blue and white	Black stripe orange	IO_P_IN	Digital power supply for IO input	NO.9	0−24 V
10	Light blue	Black stripe blue	IO_P_OUT	Digital power supply for IO output	NO.10	0−24 V
11	Deep blue	Blue	IO_GND	Digital ground for IO	NO.11
12	Green	Green	CANFD_H	CANFD_H (CAN high)	NO.12
13	Red	Red	CANFD_L	CANFD_L (CAN low)	NO.13
14	White	White	E_STOP	Circuit-style IO emergency stop	NO.14
15	Black	Black	Blank	Reserved	NO.15
16	Orange	Orange	Blank	Reserved	NO.16

The pin definitions of the dual-row 16-core wiring terminal are as follows:

Pin No.	Definition	Description	Remarks
1	IO_P_IN	Digital power supply for IO input	0−24 V
2	E_STOP	Circuit-style IO emergency stop
3	IO_P_OUT	Digital power supply for IO output	0−24 V
4	IO_GND	Digital ground for IO
5	RS485_B	RS485_B (D-)
6	RS485_A	RS485_A (D+)
7	CANFD_H	CANFD_H (CAN high)
8	CANFD_L	CANFD_L (CAN low)
9	IO1	Multiplexible IO
10	IO2	Multiplexible IO
11	IO3	Multiplexible IO
12	IO4	Multiplexible IO
13	NC	Reserved, not connected
14	GND	Power ground for VOUT
15	VOUT	External output +	12 V/24 V
16	PE	PE protective earth for chassis

WARNING

The voltage of digital I/O is determined based on the reference voltage connected, and the 16-core extension interface cable of robotic arm provides only 12 V and 24 V power supply voltages. If other output voltages are required for the digital I/O, then reference voltages need to be led in from the pins IO_P_IN, IO_P_OUT, and IO_GND.

Power output

The 16-core cable of robot outputs 12 V/24 V power (in the case of 24 V output voltage, the actual output voltage is the same as the power voltage of the robot, and if the power voltage is unstable, the output voltage will be affected). The power output type is configured and controlled through the teach pendant or JSON protocol. The electrical characteristics are listed in the following table.

Parameter	Minimum	Typical	Maximum	Unit
Power voltage	0	——	24	V
Power current	——	1,000	1,500	mA

WARNING

When the controller power supply is used as the power supply to external devices, the current parameter limits specified in the above table must be followed to prevent overload and burning of the controller.

Digital input

The controller interface has four channels of digital inputs, and users need to connect the digital power supply channel for IO input (IO_P_IN) and the IO digital ground channel (IO_GND) to provide level reference for the digital inputs. The electrical characteristics are listed in the following table.

Digital input	Minimum	Typical	Maximum	Unit
Input power Vin	0	—	24	V
Input voltage	-0.5		24	V
Low logic level			1	V
High logic level	Vin-0.5			V

Digital output

The controller interface has four channels of digital outputs, and users need to connect the digital power supply channel for IO output (IO_P_OUT) and the IO digital ground channel (IO_GND) to provide level reference for the digital outputs. The electrical characteristics are listed in the following table.

Digital output	Minimum	Typical	Maximum	Unit
Input power Vin	0	—	24	V
Output current	—	—	2	mA

When the digital output signal of robotic arm is connected with an external device, the power supply to the external device can be used as the reference level of the output end of robotic arm, which shall be no higher than 24 V.

TIP

The maximum output current of digital output signal is 2 mA, which can be amplified by installing field effect modules.

IO multiplexing

The I/O of 16-core cable supports the multiplexing function, which, through the program command or web-end teach pendant, can be switched to:

NO.	Input (NPN type)
1	Output (with a maximum current of 2 mA)
2	Input start function multiplexing mode
3	Input suspension function multiplexing mode
4	Input resumption function multiplexing mode
5	Input emergency stop function multiplexing mode
6	Input into current loop drag mode
7	Input into position-only drag mode (available for the six-axis force version)
8	Input into orientation-only drag mode (available for the six-axis force version)
9	Input into combined position and orientation drag multiplexing mode (available for the six-axis force version)
10	Input external axis maximum soft limit multiplexing mode (available in the external axis mode)
11	Input external axis minimum soft limit multiplexing mode (available in the external axis mode)

End extension

To make it easy for users to connect tools at the end of the robot, a mounting flange and a communication interface are reserved at the end. There are two buttons on the flange housing, which are used to control the drag teaching and trajectory reproduction, respectively. The following introduces the end dimensions and flange installation method:

The communication end interface is a 6-core connector, which provides power and control signals for the various grippers and sensors connected to the robot.

WARNING

When inserting and pulling out the aerial plug cable of end interface board, make sure that the power output at the end is turned off; otherwise, there is a risk of damage to the hardware. When inserting the aerial plug, make sure that the pin is aligned with the hole position and check whether the pin is normal.

The functional interfaces are listed in the table below.

No.	Interface type	Quantity	Function
1	Power output	One channel	12 V/24 V available, on/off controlled
2	Digital output	A maximum of two channels supported	Reference level same as the power output, only 12 V/24 V supported
3	Digital input	A maximum of two channels supported	Reference level same as the power output, only 12 V/24 V supported
4	RS485	One channel	Communicate with peripherals of RS485 interface
5	Drag teaching button (green)	One channel	Press and hold the button, and the robot will enter the drag teaching mode
6	Trajectory reproduction button (blue)	One channel	Press the button, and the robot will reproduce the drag teaching trajectory Press and hold to start the robotic arm moving to the initial position. Release to stop

6-Pin Aviation Connector Cable

The end tool interface connects external tools through a 6-core aerial plug. The pins and definitions of the aerial plug are as follows.

Note

The 6-core aerial plug at the end effector of the robotic arm comes in two versions. The two versions differ only in the anti-misinsertion groove structure, while the pin definitions and electrical performance are completely identical. Plugs of the same version must be used in pairs; mixing versions is strictly prohibited.

Version	Marking	Groove on the Socket
Version 1	Red dot	3
Version 2	Blue dot	1

Definitions of external pins of the tool end aerial plug:

Pin No.	Wire color	Function
1	Yellow	RS485_A
2	White	RS485_B
3	Red	Digital interface 1 (DI1/DO1)
4	Black	Digital interface 2 (DI2/DO2)
5	Green	Power GND
6	Blue	Power output: 0 V/12 V/24 V, controllable by program

WARNING

The multiplexing functions in the table above are switched by program commands. Pin 3 and pin 4 are digital input channels (DI1 and DI2) by default before delivery, and the power output of pin 6 is 0 V (programmed).

Digital I/O input

There are two digital input channels at the tool end, and the electrical characteristics are listed in the following table.

Digital input	Minimum	Typical	Maximum	Unit
Input power Vin	0	——	24	V
Input voltage	-0.5		24	V
Low logic level			1	V
High logic level	Vin-0.5			V

Digital I/O output

There are two digital output channels at the tool end, which is directly configured through the teach pendant or the controller based on the JSON protocol. The electrical characteristics are listed in the following table.

Digital output	Minimum	Typical	Maximum	Unit
Input power Vin	0	——	24	V

Power output

The robot end outputs 12 V/24 V power (in the case of 24 V output voltage, the actual output voltage is the same as the power voltage of the robot, and if the power voltage is unstable, the output voltage will be affected). The power output type is configured and controlled through the teach pendant or JSON protocol. The electrical characteristics are listed in the following table.

Parameter	Minimum	Typical	Maximum	Unit
Power voltage	0	——	24	V
Power current	——	1,000	1,500	mA

WARNING

When the robot end power supply is used as the power supply to end effector, the current parameter limits specified in the above table must be followed to prevent overload and burning of the end interface board.

Communication interface

There is an RS485 communication interface respectively at the 16-core aerial plug of the controller and the 6-core aerial plug of the end interface board (The RS485 communication interface of the 6-pin terminal connector on the end-effector interface board is only used for the robot to control external devices, but not for external devices to control the robot's motion). The two RS485 interfaces can be configured to standard Modbus RTU mode through the JSON protocol (to ensure the communication stability of RS485 interfaces, the devices shall be connected to the GND of the robotic arm as practical as possible). Then the peripherals connected to the interface can be read or written through the JSON protocol.