YASKAWA Motoman UP6 Instructions Manual page 339

Controller and manipulator
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YASNAC-XRC
JZNC-XIU01
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
JANCD-XTU01
Internal
CN26
Power Suppl y
-9
+24 V
0
V
-10
24
(24V,1A)
-7
+24 VE
-8
0
VE
24
* Remove Jumper-pin between CN26-9 and -7, CN26-10 and -8
when a external power supply is used.
JANCD-XIO02 (CN13 Connector) I/O Allocation and Connection Diagram
+24VU
CN13 Connector
Logical
Connector
Number
Number
-
B1
2024
-
2025
A1
Shock Sensor (NC)
B2
2026
- Hold
Low Air Pressure
2027
A2
General Input
IN01
2030
B3
IN02
2031
A3
IN03
2032
B4
IN04
2033
A4
IN05
2034
B5
IN06
2035
A5
IN07
2036
B6
IN08
A6
2037
B7
0
VU
24
A7
0
VU
24
-
3024
B8
-
3025
A8
-
3026
B9
-
A9
3027
General Output
3030
B10
OUT01
OUT02
3031
A10
OUT03
3032
B11
A11
OUT04
3033
3034
OUT05
B12
A12
OUT06
3035
OUT07
3036
B13
3037
OUT08
A13
B14
A14
B15
A15
0
VU
B16
24
0
VU
A16
24
024VU
B17
024VU
A17
+24VU
B18
+24VU
A18
+24VU
+24VU
B19
0
VU
24
+24VU
A19
FG
B20
A20
7-31
7.5 General I/O Signal Assignment
Connector Terminal Converter
(Optional)
Model:PX7D-40V6-R
Terminal
Signal
Number
IN
B1
2
A1
1
IN
IN
B2
4
IN
A2
3
B3
6
IN
IN
A3
5
B4
IN
8
IN
A4
7
B5
IN
10
IN
A5
9
IN
B6
12
IN
A6
11
B7
14
A7
13
OUT
B8
16
OUT
A8
15
B9
18
OUT
A9
17
OUT
20
OUT
B10
A10
19
OUT
B11
22
OUT
21
OUT
A11
B12
OUT
24
A12
OUT
23
OUT
B13
26
A13
25
OUT
B14
28
A14
27
B15
30
A15
29
B16
32
A16
31
B17
34
A17
33
B18
36
A18
35
B19
38
A19
37
B20
40
A20
39

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