YASKAWA Motoman UP6 Instructions Manual page 264

4.2 Addition of Base and Station Axis
*2
The items which can be set are shown.
When the item is selected the display returns to the connection display.
It is possible to change freely the connection between each axis of each control group
and each connector (CN) of a SERVOPACK. The number in [ ] means axis number,
and it indicates the connector number to which each axis connects.
The example above meaning is as follows,
R1(Robot)
1st axis ) 1CN (SERVOPACK #1, 1st contactor is used)
2nd axis ) 2CN (SERVOPACK #1, 1st contactor is used)
3rd axis ) 3CN (SERVOPACK #1, 1st contactor is used)
4th axis ) 4CN (SERVOPACK #1, 1st contactor is used)
5th axis ) 5CN (SERVOPACK #1, 1st contactor is used)
6th axis ) 6CN (SERVOPACK #1, 1st contactor is used)
B1(Base)
1st axis ) 7CN (SERVOPACK #1, 2nd contactor is used)
2nd axis ) 8CN (SERVOPACK #1, 2nd contactor is used)
3rd axis ) 9CN (SERVOPACK #1, 2nd contactor is used)
*3
The setting in the connection display is completed and the display moves to the axes
form display.
C O N N E C T I O N
SV CONTACT CN< 1 2 3 4 5 6 7 8 9 >
R1 :#1 1
B1 :#1 2
#1
#1
#2
#3
#4
#5
#6
!Maintenance Mode
4-8
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