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Chapter 5 Connector Pin Assignment and I/O Circuits (NPN type)
5.1 Connector Pin Assignment (NPN type) ......................................................................................110
5.1.1 Connector Pin Assignment Common to Both Modes (NPN type).......................................110
5.1.2 Connector Pin Assignment in Standard Mode....................................................................112
5.1.3 Connector Pin Assignment in Compatible Mode ................................................................114
5.2 Robot Controller I/O Circuits (NPN type) ..................................................................................116
5.2.1 User-Input, System-Input and Hand-Input Circuits (NPN type)......................................116
5.2.2 Robot Stop and Enable Auto Input Circuits........................................................................119
5.2.3 User-Output, System-Output, and Hand-Output Circuits (NPN type)............................ 120
5.2.4 Emergency Stop Circuit...................................................................................................... 124
5.2.5 I/O Power Connector (NPN type) ....................................................................................... 126
5.3 Wiring Notes for Robot Controller I/O Connectors (NPN type)................................................ 128
Chapter 6 Connector Pin Assignment and I/O Circuits (PNP type)
6.1 Connector Pin Assignment (PNP type)...................................................................................... 130
6.1.1 Connector Pin Assignment Common to Both Modes (PNP type) ...................................... 130
6.1.2 Connector Pin Assignment in Standard Mode................................................................... 132
6.1.3 Connector Pin Assignment in Compatible Mode ............................................................... 134
6.2 Robot Controller I/O Circuits (PNP type).................................................................................. 136
6.2.1 User-Input, System-Input and Hand-Input Circuits (PNP type)...................................... 136
6.2.2 Robot Stop and Enable Auto Input Circuits....................................................................... 139
6.2.3 User-Output, System-Output, and Hand-Output Circuits (PNP type)............................. 140
6.2.4 Emergency Stop Circuit...................................................................................................... 144
6.2.5 I/O Power Connector (PNP type)........................................................................................ 146
6.3 Wiring Notes for Robot Controller I/O Connectors (PNP type)................................................. 148
Chapter 7 I/O Wiring
7.1 Multi-core Cables with Connectors............................................................................................ 150
7.2 Wiring of Primary Power Source ............................................................................................... 152
Index