IAI America ERC - Manual (Page 71)

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4.2 I/O Signal Interface Circuit
4.2.1 External Input Specifications
Item Specification
Number of input points 6 points
Input voltage 24 VDC  10%
Input current 4 mA/point
Leak current 1 mA/point or less
Operating voltage
ON voltage: 18 V min. (3.5 mA)
OFF voltage: 6 V max. (1 mA)
[NPN specification]
[PNP specification]
ERC
FUSE
GND
5.6 K 
GND
GND
External
power supply
24 VDC
Each input
Each input
Internal
circuit
Power supply (VP24)
CN1
3A
4B, 5B
ERC
FUSE
5.6 K 
GND
GND External
power supply
24 VDC
Each input
Each input
Internal
circuit
Power supply (VP24)
CN1
3A
4B, 5B
GND