I/O Connections - Yamaha RCX142 User Manual

7. I/O connections

The various input/output (I/O) signals from peripheral equipment can be connected to the robot con-
troller. 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.
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).
DO output (sink type)
NPN
DI input (source type)
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)
PNP
DI input (sink type)
Current
N.COM
P.COM
Current
P.COM
Current
Current
N.COM
3
11
3-