Denso RC5 - Manual (Page 156)

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6.2 Robot Controller I/O Circuits (PNP type)
6.2.1 User-Input, System-Input and Hand-Input Circuits (PNP type)
The following two pages show examples of the user-input, system-input and hand-
input circuit configurations and connections of the robot controller.
The maximum allowable capacity of the robot controller's internal power source is 1.3
A. Use the internal power source within this allowable range.
Caution
Q Q Q Q Either an external power supply type or built-in power type
Output card is available for the PLC. However, an external power
supply type requires an additional power source (24V) to be
installed. The power capacity is 15W or more.
R R R R When controlling two or more robots with a single PLC using the
internal power source of the robot controller, set a PLC Output
card for each robot.
S S S S Other than a PLC, a proximity switch, or a relay contact may be
connected directly to the input terminal of the Robot Controller.
In such a case, use the power input to pins 6 to 9 of the I/O power
connector. A two-wire photoelectric switch or proximity switch
can be connected if its leakage current is 1 mA or less.
T T T T Use a multi-core shielding cable for the purpose of protecting the
robot controller from noise. Ground it to the robot controller.