Power-On Circuit Board (Jancd-Xtu01); Connection Of Shock Sensor - YASKAWA Motoman UP6 Instructions Manual

Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator.
Reset this signal with the interlock configuration that determines if operation can start and with
the playback (RUNNING) signal confirming that the robot has actually started moving.
Play mode
While
Servo ON
Run PB
(3011)
X3
Running
X6 (3010)
Note: Number in ( ) means output signal number assigned to XIU01.
7.3.3

Power-on Circuit Board (JANCD-XTU01)

The power-on circuit board is controlled by the servo control circuit board (JASP-WRCA01).
The main functions are as follows:
• Specific I/O circuit, for instance, servo power supply contactor I/O circuit and emergency
stop circuit
• Brake power supply circuit and its output
• Overrun (OT) shock sensor (SHOCK) and lamp light power supply output to robot
"

Connection of Shock Sensor

Remove SHOCK- and +24VU from XIU-CN25 (Dynamic Connector), and connect the shock
sensor signal SHOCK- to the robot.
Terminal
SHOCK-
+24VU
SHOCK-
Alarm/Error
select
Occuring Confirmation
(3016) (3013)
Shock Sensor Connection Terminal
Type
PC-2005W
PC-2005M
PC-2005M
Ruunig
Start
(Command)
X5
Ex. Start
Command
X4
Ruunig
Confirmation
X5
Running, etc.
PL
Factory Setting
7-15
7.3 I/O Contactor Unit
YASNAC XRC
I/O Contactor Unit
(JZNC-XIU01)
CN12
External Start
X4
-B1
Input
(2011)
-B7
OVU
+24VU
X6
Running Output
(3010), etc.
Use Shocksensor