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4.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN
type)
The following pages show examples of the configuration and connection of the robot
controller's user-output, system-output and hand-output circuits.
(1) The User-Output, System-Output and Hand-Output Circuits are open
collector output circuits.
(2) The maximum allowable source current is 70 mA.
Keep the current consumption of a device to be connected to the Robot
Controller, such as a PLC and a relay coil, below the allowable current.
(3) Select an induction load, such as a relay coil, which has a built-in diode (for
absorbing inverse electromotive force).
To use an induction load without a built-in diode, add a diode equivalent to
the 1S1888 (Toshiba) in close vicinity to the coil.
Caution: When externally attaching a diode, connect it with correct
polarity. Incorrect polarity may damage the Output circuit.
(4) Connecting a lamp requires a circuit through which dark current flows and
use a lamp whose rating is 0.5W or less.
Caution: Since the initial resistance of a lamp is small, the output
circuit may be damaged by rush current that flows when the
lamp lights. To reduce rush current, select and connect a
resistor R that allows dark current 1/3 or less of the rated
current to flow when the lamp goes OFF.
Refer to next page.
(5) Use a multi-core shielding cable for the purpose of protecting the devices
from external noise. Ground it to the robot controller.
(6) +24V internal power source of the robot controller must not be grounded.
Caution: If the output terminal +24V of internal power source is
grounded, there may be a case where the controller is
damaged.
(7) For three seconds after the controller power is turned on, the I/O board will
be in a transient state, so do not use its output as valid signals.
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