Yamaha RCX222, Руководство пользователя

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Chapter
3
INST
ALLA
TION
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 5, "Parallel I/O interface"
or see Chapter 6, "SAFETY I/O interface".
The following describes terms used in this manual.
a. 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
Current
Current
DO output (sink type)
DI input (source type)
N.COM
P.COM
NPN
b. PNP specifications
PNP specifications indicate that a DO (digital output) type NPN open emitter
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 (source type)
DI input (sink type)
Current
Current
N.COM
P.COM
PNP
7. I/O connections