YASKAWA Motoman UP6 Instructions Manual page 347

Controller and manipulator
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YASNAC-XRC
JZNC-XIU01
Each Point
24VDC
8mA max.
Each Point
24VDC
500mA 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 (CN11 Connector) I/O Allocation and Connection Diagram
+24VU
CN11 Connector
Connector
Logical
Number
Number
IN09
B1
2050
IN10
2051
A1
IN11
B2
2052
IN12
2053
A2
IN13
2054
B3
IN14
2055
A3
IN15
2056
B4
IN16
2057
A4
B5
A5
B6
A6
B7
0
VU
24
A7
0
VU
24
OUT09-
3050
B8
OUT09+
A8
OUT10-
3051
B9
OUT10+
A9
3052
OUT11-
B10
OUT11+
A10
OUT12-
3053
B11
OUT12+
A11
OUT13-
3054
B12
OUT13+
A12
OUT14-
3055
B13
OUT14+
A13
3056
OUT15-
B14
OUT15+
A14
3057
OUT16-
B15
A15
OUT16+
0
VU
B16
24
0
VU
24
A16
0
VU
B17
24
A17
0
VU
24
+24VU
B18
A18
+24VU
+24VU
B19
+24VU
0
VU
24
A19
+24VU
B20
FG
A20
7-39
7.5 General I/O Signal Assignment
Connector Terminal Converter
(Optional)
Model:PX7D-40V6-R
Terminal
Signal
Number
IN
B1
2
1
IN
A1
4
IN
B2
3
IN
A2
6
B3
IN
5
IN
A3
IN
B4
8
7
IN
A4
10
B5
A5
9
12
B6
11
A6
B7
14
13
A7
16
OUT
B8
OUT
A8
15
18
B9
OUT
A9
17
OUT
20
OUT
B10
19
A10
OUT
B11
22
OUT
21
OUT
A11
24
B12
OUT
A12
23
OUT
OUT
26
B13
25
A13
OUT
OUT
28
B14
A14
27
OUT
30
B15
OUT
29
A15
OUT
32
B16
31
A16
B17
34
A17
33
B18
36
35
A18
B19
38
A19
37
B20
40
A20
39
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
*
means internal relay
means
RLY

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