YASKAWA Smart Series Application Note page 27

External Inputs have the format shown below:
To change the location of the Input mapping, only the middle three numbers (defining the I/O Group
Number) should be changed. This will define the Input Group Number where the associated Inputs will
map. The table below shows a few example mappings and where they will land on YRC1000 vs.
YRC1000micro (input values are offset by 2 on the YRC1000).
External
Input #
20070
20310
21500
For Robotiq, 24 bytes of EtherNet/IP Input data should be mapped to 20070. See differences above.
To complete the default setup for Robotiq 2F gripper on a SMART Series Robot, edit the 5 digit entries
on the "External IO Allocation (INPUT)" screen to match the content and order of the values highlighted
in red below before proceeding. Press {Select} → {MODIFY} to edit the Input entries.
NOTE: Depending on the controller type and its EIP configuration, the "NAME" and "BYTE" entries
may vary slightly. However, the "Robotiq 2F" entry should be an EXACT match.
YRC1000 YRC1000
Group # Individual #'s
5 33 to 40
29 225 to 232
148 1177 to 1184
YRC1000micro YRC1000micro
Group # Individual #'s
7 49 to 56
31 241 to 248
150 1193 to 1200
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