YASKAWA NX100 Instructions Manual page 252

13.3 CPU Unit
Major Axes Control Circuit Board (SGDR-AXA01A)
The major axes control circuit board (SGDR-AXB01A) controls the servomotors of the
manipulator's six axes. It also controls the converter, the PWM amplifiers, and the power
supply contactor sequence circuit board of the power supply contactor unit. Mounting an
external axes control circuit board of an option (SGDR-AXF01A) control the servomotor of
nine axes, including the robot axes.
Robot I/F Unit (JZNC-NIF01 )
The robot I/F unit (JZNC-NIF01 ) consists of the robot I/F circuit board (JANCD-NIF01) and I/
O circuit board (JANCD-NIO01 ).
• Robot I/F Circuit Board (JANCD-NIF01)
The robot I/F circuit board controls the entire robotic system. It is connected to the control
circuit board (JANCD-NCP01) with a PCI bus interface on the backboard, and to the major
axes control circuit board (SGDR-AXA01A) with a NIO01 board interface for high-speed serial
transmissions.
And, dual circuits are built in for use with the signals for safety-related functions.
• I/O Circuit Board (JANCD-NIO01 )
Four digital I/O connectors for the robot user I/O are provided: 40 inputs and 40 outputs. The I/
Os are divided into two types: user I/O and system I/O. The I/O assignment differs depending
on the application. System I/O is a signal in which the part is decided in advance. System I/O
is used when the external operation equipment such as positioner controller and centralized
controller control the manipulator and related equipment as a system. User I/O are mainly
used as timing signals for the manipulator and peripheral devices in jobs that require robot
motion.
Refer to "13.6 User I/O Signal Assignment" for more details on signal allocation.
For the connection of the robot's user I/O signal connectors, and the I/O signal related to start
and stop, refer to "Connection wire with User I/O (CN07, 08, 09, 10)" and "System I/O Signal
Related to Start and Stop."
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