General-Purpose Output (Do0 To Do12); I/O Circuits; I/O Circuit Specifications - Yamaha ERCX Series User Manual
Single-axis robot controller
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Also See for ERCX Series:
- User manual (148 pages) ,
- Supporting supplement manual (34 pages)
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3-3-2 General-purpose output (DO0 to DO12)
These general-purpose outputs are available to users for freely controlling on/off operation in a pro-
gram.
These outputs are used in combination with an external 24V power supply, to drive loads such as
solenoid valves and LED lamps. These outputs of course, can be directly connected to a PLC input
circuit.
All general-purpose outputs are reset (turned off) when the ERCX controller is turned on or the
program is reset.
* When PRM33 ("Operation at return-to-origin complete" parameter) is set to 1 or 3, DO4 does
not turn off even if the program is reset. Similarly, when PRM46 ("Servo status output" param-
eter) is set to 1, DO7 does not turn off even if the program is reset.
3-4
I/O Circuits
This section provides the ERCX controller I/O circuit specifications and examples of how the I/O
circuits should be connected. Refer to these specifications and diagrams when connecting to external
equipment such as a PLC.
3-4-1 I/O circuit specifications
■ Input power
Input voltage:
■ Input Circuit
Excluding emergency stop input circuit
Insulation method:
Input terminal:
Input response:
Input current:
Input sensitivity:
Emergency stop input circuit
Input terminal:
Input response:
Input current:
■ Output Circuit
Insulation method:
Output terminal:
Output response:
Max. output current:
Residual ON voltage:
24V±10%
Photocoupler insulation
Relay contact or NPN open collector transistor connected between
input terminal and 0V terminal.
30ms max.
5mA/DC24V
Current on: 3mA min.
Current off: 1mA max.
Relay contact connected between emergency stop inputs 1 and 2
(between EMG1 and EMG2).
5ms max.
33.3mA/DC24V
Photocoupler insulation between internal circuit and output tran-
sistor
NPN open collector output of all collective output common termi-
nals (0V side)
1ms max.
0.1A/DC24V per output
1.5V max.
3-4 I/O Circuits
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