Yamaha RCX240, User Manual

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Chapter 6 PARALLEL I/O INTERFACE
6-1
1. Standard I/O interface overview
The robot controller has a standard I/O interface for compatibility with customer systems. A
description of each I/O terminal and its connection is given here. Connect these I/O terminals
correctly and efficiently.
This standard I/O interface contains 10 dedicated inputs and 11 outputs, and 16 general-purpose
inputs and 8 outputs. The type of standard I/O interface (NPN or PNP specifications) is set prior to
shipment.
Inputs are referred to here as DI (Digital Inputs) and outputs as DO (Digital Outputs).
If a serial IO (CC-Link, DeviceNet, etc.) is selected with the option board, the standard I/O
interface's dedicated inputs other than DI11 (Interlock) will all be invalid.
c
CAUTION
See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP specifications.
n
NOTE
On the robot controller with "SAFE" mode enabled, dedicated inputs may not be
used in "SERVICE" mode depending on the operating device setting in "SERVICE"
mode.
Specifications
Connector
name
Connector type
No.
Wire thickness
Standard
Input
Dedicated : 10
STD. DIO
MR-50LM
(Honda Tsushin
Kogyo)
0.3 sq mm or more
General-purpose : 16
Output
Dedicated : 11
General-purpose : 8
1.1 Power supply
The standard I/O interface uses an external 24V power supply. Connect the 24V and ground
terminals of the external power supply to pins 47 to 50 of the STD. DIO connector on the
controller.
c
CAUTION
Do not keep supplying the external 24V DC power to the standard I/O interface
while controller power is off. The controller might malfunction if the external 24V is
continuously supplied.
n
NOTE
• When supplying an external 24VDC power supply to the standard I/O interface,
invalidate the "Watch on STD. DIO DC24V" setting under "PARAM>OTHERS".
• When using the general-purpose input/output of the standard I/O interface,
connect DI11 (Interlock).
1. Standard I/O interface overview