I/O Connections - Yamaha RCX240 User Manual

7. I/O connections

The various input/output (I/O) signals from peripheral equipment can be connected to the robot
controller. Each I/O is set with a number, and the I/O connector to be used depends on that
number.
For more detailed information on inputs and outputs, see Chapter 6, "PARALLEL I/O INTERFACE" or
see Chapter 7, "SAFETY I/O INTERFACE".
The following describes terms used in the manual.
l NPN specifications
NPN specifications indicate that a DO (digital output) type NPN open-collector transistor is
used for the I/O port having a transistor and photocoupler, and a corresponding DI (digital
input) is also used. NPN specifications therefore make use of a sink output and a source input (see
drawing below).
Connection for NPN specifications
l PNP specifications
PNP specifications indicate that a DO (digital output) type PNP open-collector transistor is used
for the I/O port having a transistor and photocoupler, and a corresponding DI (digital input)
is also used. PNP specifications therefore make use of a source output and a sink input (see
drawing below).
Connection for PNP specifications
DO output (sink type)
NPN
DI input (source type)
DO output (source type)
PNP
DI input (sink type)
7. I/O connections
Current
N.COM
P.COM
Current
P.COM
Current
Current
N.COM
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