General Application - YASKAWA Motoman UP6 Instructions Manual

7.5 General I/O Signal Assignment
7.5.3

General Application

YASNAC-XRC
JZNC-XIU01
Each Point
24VDC
8mA max.
Each Point
24VDC
50mA max.
JANCD-XTU01
CN26
Internal
Power Supply
-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 (CN12 Connector) I/O Allocation and Connection Diagram
+24VU
CN12 Connector
Connector
Logical
Name
Number
Number
2010 B1 External Start
2011 A1 -
Call Master Job
2012 B2
2013 Alarm/Error Reset
A2
2014 Select Remote Mode
B3
Select Play Mode
2015 A3
Select Teach Mode
2016
B4
2017 A4 IN192
Interference1 Entrance
2020
B5
Prohibited
Interference2 Entrance
2021
A5
Prohibited
2022 Work Prohibited
B6
A6
2023 -
0 VU
B7
24
A7
0 VU
24
Running
3010 B8
Servo is ON
3011
A8
3012 Top of Master Job
B9
A9
Alarm/Error Occurred
3013
3014 Battery Alarm
B10
Remote Mode Selected
3015 A10
Play Mode Selected
3016 B11
A11 Teach Mode Selected
3017
3020 B12 In Cube 1
3021 A12 In Cube 2
3022 Operation Origin Point
B13
Intermediate Start OK
3023
A13
(continuousing Sequence)
B14
A14
B15
A15
0 VU
B16
24
0 VU
24
A16
0 VU
B17
24
0 VU
A17 24
+24VU
B18
+24VU
A18
+24VU
+24VU
B19
0 VU
24
A19 +24VU
FG
B20
A20
7-36
Connector Terminal Converter
(Optional)
Model:PX7D-40V6-R
Terminal
Signal
Number
2
IN
B1
1
IN A1
4
IN B2
IN 3
A2
6
B3
IN
5
IN A3
8
IN
B4
7
IN
A4
10
IN B5
9
IN A5
12
IN
B6
11
IN A6
14
B7
13
A7
16
OUT
B8
OUT 15
A8
18
OUT B9
17
A9
OUT
20
OUT
B10
19
A10
OUT
22
OUT B11
21
OUT
A11
24
OUT B12
A12 23
OUT
OUT
26
B13
25
A13
OUT
28
B14
27
A14
30
B15
29
A15
32
B16
31
A16
34
B17
33
A17
36
B18
35
A18
38
B19
A19
37
B20 40
39
A20