Techman Robot TM5 Series - Connecting Tool End Digital out; Connecting Tool End Digital in

I Hardware Installation Manual 5. Electrical Interface
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5.4.2 Connecting Tool End Digital Out
The following figure shows how to connect the tool end digital output:
5.4.3 Connecting Tool End Digital In
The following figure shows how to connect the tool end digital input:
A) If sensors are connected directly then they should be of the NPN type.