Yamaha RCX40, Руководство пользователя

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Installation
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, “I/O interface", or Chapter 6,
“SAFETY interface".
The following describes terms used in the 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).
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 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).
DO output (source type)
DI input (sink type)
Current
Current
N.COM
P.COM
PNP