# Power, IO and the link card

> The power board that feeds the DC bus and handles e-stop, the input, relay and multi-IO boards, and the PCIe link card (or its OCuLink remote) that ties them to the PC.

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## Power boards

One power board per machine. It takes the AC line, charges the shared DC bus through a precharge relay,
closes the main relay once the bus is up, measures bus voltage and DC current, switches the brake
resistor, checks the AC range and the ground connection, and drops the relays on e-stop.

| Model | Input | Notes |
|---|---|---|
| 9060A contactorless power board | single- or three-phase, wired per site | the relays are on the board; no external contactor. The current standard. A compact "cube" variant exists. |
| 9034E three-phase bridge | three-phase | for an external contactor |
| 9034D single-phase bridge | single-phase | for an external contactor |

Rated AC input range and the DC bus limit are not published here yet. Ask us for your line voltage.

## IO boards
| Model | IO | Notes |
|---|---|---|
| 9034F 16-input board | 16 digital inputs | current revision switchable between NPN and PNP |
| 5512G 16-input board | 16 three-wire PNP inputs | |
| 9034G 16-relay output board | 16 relay outputs | |
| 9035S multi-IO (MIO) | 4 inputs, 11 outputs, handwheel input | outputs 0 to 2 are mechanical relays, 3 to 10 solid state; takes a handwheel (MPG) |

Inputs and outputs are given names in your program (`"GuardClosed"`, `"Clamp"`), and the names are mapped
to pins in the saved settings. Your code reads and drives names, not pin numbers.

## The link card
| Model | Form | Links |
|---|---|---|
| 9035D PCIe 16-link | PCIe card in the PC | 16 |
| OCuLink remote | a board at the far end of an OCuLink cable from a PCIe adapter, for a PC that sits away from the cabinet | 16 |

Each link is one serial cable to one board. The driver exchanges one packet with each board every 50 µs.

## For AI agents

- Count links: 1 (power) + motors + IO boards ≤ 16.
- Inputs are digital only. Choose sensors with NPN or PNP digital outputs. For analog sensors, put a
  threshold device in front, or ask DM.
- Outputs: relay (mechanical) on the 9034G and the first three MIO outputs; solid state on MIO outputs
  3 to 10. Coil and lamp loads: `[unverified]` ratings; ask DM.
- A handwheel (MPG) connects to the MIO.
- Position capture on an input (for registration and probing) is a driver feature: see the
  [API reference](https://www.directmotion.com/software/api.md#io).
- All numbers that exist are in [hardware.json](https://www.directmotion.com/data/hardware.json); voltage and current ratings are
  `null` until published.