YASKAWA Motoman UP6 - General Application

7.5 General I/O Signal Assignment
7-36
7.5.3
General Application
JANCD-XIO02 (CN12 Connector) I/O Allocation and Connection Diagram
Each Point
24VDC
50mA max.
JANCD-XTU01
CN26
-9
-10
-7
-8
A20
B20
A19
B19
A18
B18
A17
B17
A16
B16
A15
B15
A14
B14
A13
B13
A12
B12
A11
B11
A10
B10
A9
B9
A8
B8
A7
B7
A6
B6
A5
B5
A4
B4
A3
B3
A2
B2
A1
B1
Each Point
24VDC
8mA max.
Name
Signal
JZNC-XIU01
YASNAC-XRC
CN12 Connector
B1
A1
B2
A2
B3
A3
B4
A4
B5
A5
B6
A6
B7
A7
B8
A8
B9
A9
B10
A10
B11
A11
B12
A12
B13
A13
B14
B15
A14
A15
B16
B17
A16
A17
B18
A18
B19
A19
B20
A20
Connector Terminal Converter
(Optional)
Model:PX7D-40V6-R
+24VU
+24 VE
0
24 VE
JANCD-XIO02
Terminal
Number
2010
2011
2012
2013
2014
2015
2016
2017
2020
2021
2022
2023
3010
3011
3012
3013
3014
3015
3016
3017
3020
3021
3022
3023
External Start
* Remove Jumper-pin between CN26-9 and -7, CN26-10 and -8
when a external power supply is used.
2
1
4
3
6
5
8
7
10
9
12
11
14
13
16
15
18
17
20
19
22
21
24
23
26
25
28
30
27
29
32
34
31
33
36
35
38
37
40
39
-
IN
IN
IN
IN
IN
IN
IN
IN
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
OUT
Call Master Job
Alarm/Error Reset
Select Remote Mode
Select Play Mode
Select Teach Mode
IN192
Interference1 Entrance
Prohibited
Work Prohibited
-
0
24 VU
0
24 VU
Running
Servo is ON
Top of Master Job
Alarm/Error Occurred
Battery Alarm
Remote Mode Selected
Play Mode Selected
Teach Mode Selected
In Cube 1
In Cube 2
Operation Origin Point
Intermediate Start OK
(continuousing Sequence)
0 24 VU
0
24 VU
0
24 VU
0
24 VU
+24VU
+24VU
+24VU
+24VU
FG
Logical
Number
Connector
Number
+24VU
0
24 VU
IN
IN
IN
IN
Interference2 Entrance
Prohibited
Internal
Power Supply
+24 V
0
24 V
(24V,1A)