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6.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type)
The following two pages show an example of the configuration and connection of the
Robot Controller's user-input output, system-output and hand-output circuit.
Since the initial resistance of a lamp is small, the output circuit may be damaged by
rush current that flows when the lamp lights.
When directly turning a lamp ON or OFF, use a lamp whose rating is 0.5W or less.
To reduce rush current, connect a resistor R that allows dark current 1/3 or less of the
rated current to flow when the lamp goes OFF.
An example of connecting a lamp is shown on page 140.
(1) The User-Output, System-Output and Hand-Output Circuit are open
collector output circuits.
(2) The maximum allowable sink 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.
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.
Refer to page 140.
(5) When using the internal power source, prepare a PLC input circuit unit
that does not contain a power source.
Caution: Keep the total current capacity of the internal power source
below 1.3A.
(6) Use a multi-core shielding cable for the purpose of protecting the devices
from external noise. Ground it to the robot controller.
(7) 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.