Connector I/O Signals - Yamaha RCX240 User Manual

1. Standard I/O interface over view
1.2

Connector I/O signals

1
PIN
1
2
3
4
5
2
6
7
8
9
10
11
12
3
13
14
15
16
17
18
4
19
20
21
22
23
24
25
5
26
27
28
29
30
31
6
32
33
34
35
36
37
38
7
39
40
41
42
43
44
8
45
46
47
48
49
50
9 c
CAUTION
• See "7. I/O connections" in Chapter 3 for a definition of NPN and PNP
• Do not make user connections to spare I/O signal wires and I/O signal wires that
10
n
NOTE
The area check output can be assigned to DO20 to DO27.
6-2
Chapter 6 PARALLEL I/O INTERFACE
I/O No.
DI05 I/O command execution trigger
DI01 Servo ON input
DI10 Sequence control
DI11 Interlock
DI12 Program start
DI13 AUTO mode input
DI14 Return-to-origin
DI15 Program reset input
DI16 MANUAL mode input
DI17 Absolute reset/Return-to-origin
DI20 General-purpose input 20
DI21 General-purpose input 21
DI22 General-purpose input 22
DI23 General-purpose input 23
DI24 General-purpose input 24
DI25 General-purpose input 25
DI26 General-purpose input 26
DI27 General-purpose input 27
DI30 General-purpose input 30
DI31 General-purpose input 31
DI32 General-purpose input 32
DI33 General-purpose input 33
DI34 General-purpose input 34
DI35 General-purpose input 35
DI36 General-purpose input 36
DI37 General-purpose input 37
COMMON Relay common
DO01b CPU_OK : contact B (normally closed)
DO01a CPU_OK : contact A (normally open)
DO02b Servo ON output : contact B (normally closed)
DO02a Servo ON output : contact A (normally open)
DO03b Alarm : contact B (normally closed)
DO03a Alarm : contact A (normally open)
DO10 AUTO mode output
DO11 Return-to-origin complete
DO12 Sequence program-in-progress
DO13 Robot program-in-progress
DO14 Program reset status output
DO20 General-purpose output 20
DO21 General-purpose output 21
DO22 General-purpose output 22
DO23 General-purpose output 23
DO24 General-purpose output 24
DO25 General-purpose output 25
DO26 General-purpose output 26
DO27 General-purpose output 27
DC24V DC+24V (P.COMDI)
GND GND
specifications.
are not to be used.
Signal name
(N.COMDI)
Remarks
Common terminals
P. COM DI
N. COM DI
Photocoupler input
NPN specifications : source type
PNP specifications : sink type
Relay output
Maximum capacity of each terminal
(resistance load) : DC 24V, 0.5A
Common terminal : COMMON
Transistor output
NPN or PNP specifications
Maximum capacity of each terminal
(resistance load): 0.1A
+ common terminal : DC +24V
- common terminal : GND
External power supply input