YASKAWA Motoman UP6 - Specific I;O Signal Related to Start and Stop

7.3 I/O Contactor Unit
7-14
"
Specific I/O Signal Related to Start and Stop
The following signals are specific I/O signals related to start and stop.
• Servo On (depending on application: JANCD-XIO02)
• External Servo On (common to all application: JANCD-XIO01)
• External Start (depending on application: JANCD-XIO02)
• Operating (depending on application: JANCD-XIO02)
• External Hold (common to all application: JANCD-XIO01)
• External Emergency Stop (common to all application: JANCD-XIO01)
Example of Servo ON Sequence Circuit from External Device
Only the rising edge of the servo ON signal is valid. This signal turns ON the manipulator
servo power supply. The set and reset timings are shown in the following.
<Timing Chart>
RUN
STOP
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
Manipulator
While Servo ON
Servo ON
External Start
Operating
External Hold
Ext. E-Stop
T
T
T
Note: Set T=100msec or more
Servo ON PB
Servo ON
Confirmation
Servo ON
Command
X1
X2
PL
X2
Servo Power ON
X3
3011
Servo ON
Confirmation
PL: Pilot Lamp
Note: Number in ( ) means output signal number assigned to XIU01
X3
YASNAC XRC
Servo ON
Command
I/O Contactor Unit
JZNC-XIU01
+24VU
+24VU
Servo ON
Output
(3011)
External Servo
ON Input
(EXSVON)
CN05
CN12
-9
-10
-A8
-A18
Servo Power ON