YASKAWA Motoman UP6 Instructions Manual page 318

7.3 I/O Contactor Unit
Playback Panel Emergency Stop Switch : SA1
Terminal
EXESP External emergency stop
Use to connect the emergency stop switch of an external operation
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device. The servo power turns OFF and job execution stops when
-2
this signal is input. The servo power cannot be turned ON while this
signal is ON.
EXHOLD External hold
Use to connect the HOLD switch of an external operation device. Job
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execution stops when this signal is input. Starting and axis opera-
-4
tions are disabled while this signal is ON.
SAF-P Safety plug
This signal turns OFF the servo power when the door of the safe-
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guard is opened. Connect to the interlock signal from the safety plug
-6
attached to the door. The servo power turns OFF when the interlock
signal is input. The servo power cannot be turned ON while this sig-
nal is ON. However, in the teach mode, this function is disabled.
EXSVON Servo ON
Use to connect the servo On switch of an external operation device.
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The servo power turns ON when this signal is input.
-10
DIN1 Direct-in 1
Used for the search function.
CN06 -1
-2
DIN2 Direct-in 2
Used for the search function.
CN06 -3
-4
DIN3 Direct-in 3
Used for the search function.
CN06 -5
-6
Specific Input List (XIO01)
Input Name / Function
7-10
EXT.
PBESP1
PBESP2
Factory
Setting
Disabled by
jumper lead
Disabled by
jumper lead
Disabled by
jumper lead
Open
Open
Open
Open