Yamaha RCX240, Руководство пользователя

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Chapter 6 PARALLEL I/O INTERFACE Chapter 6 PARALLEL I/O INTERFACE
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2.7 General-purpose I/O signals
2.7.1 General-purpose input signals
The general-purpose inputs on the option I/O interface are all available to the user. These are
connectable to pushbutton switches or sensors and can be specified for use as needed in the robot
program or sequence program.
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CAUTION
If the "8. DI noise filter" parameter is set to "VALID" (refer to "12.1.5 Other parameters"
in Chapter 4), the on and off periods of input signals must be longer than 25ms.
2.7.2 General-purpose output signals
All signals are Darlington transistor open-collector outputs. The general-purpose outputs on the
option I/O interface are all available to the user. These are connectable to pushbutton switches or
sensors and can be specified for use as needed in the robot program or sequence program.
All inputs are initialized (cleared) when the controller power is turned on.
On the controllers from Ver.10.10 onwards, the area check output can be assigned to the following
ports:
DO20 to DO27, DO30 to DO37, DO40 to DO47, DO50 to DO57, DO60 to DO67, DO70
to DO77, DO100 to DO107, DO110 to DO117, DO120 to DO127, DO130 to DO137,
DO140 to DO147, DO150 to DO157
(DO20 to DO27 are general-purpose output ports for the standard I/O interface. On the
controllers prior to Ver.10.10, the area check output can only be assigned to DO20 to
DO27.)
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NOTE
If the port used for area check output is the same as that used by the user program,
the output data might change. Do not use the same port.
2. Option I/O interface overview