I/O Expansion Module (XOI02)

Motoman NX100 Controller
I/O Expansion
Module (XOI02)
Instructions
Part Number:
Revision:
149648-16CD
1
Motoman, Incorporated
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200
FAX: (937) 847-6277
24-Hour Service Hotline: (937) 847-3200
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The information contained within this document is the proprietary property of Motoman, Inc., and may not be
copied, reproduced or transmitted to other parties without the expressed written authorization of Motoman,
Inc.
©2007 by MOTOMAN
All Rights Reserved
Because we are constantly improving our products, we reserve the right to change specifications without
notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
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This manual provides information for the I/O Expansion Module (XOI02) option and
contains the following sections:
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Provides general information about the structure of this manual, a list of reference documents,
and customer service information.
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This section provides information regarding the safe use and operation of Motoman products.
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Provides detailed instructions for I/O Expansion Module (XOI02) option.
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For additional information refer to the following:
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If you are in need of technical assistance, contact the Motoman service staff at (937) 847-3200.
Please have the following information ready before you call:
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YASKAWA
NX100 OPTIONS
JARCR-XOI02 BOARD
INSTRUCTIONS
FOR I/O EXPANSION FOR EUROPEAN STANDARDS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMANINSTRUCTIONS
NX100 INSTRUCTIONS
NX100 OPERATOR’S MANUAL
NX100 MAINTENANCE MANUAL
The NX100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.
YASKAWA
MANUAL NO. HW0481786 1
HW0481786
MANDATORY
• This manual explains the JARCR-XOI02 board of the NX100 system and
general operations. Read this manual carefully and be sure to understand its contents before handling the NX100.
• General items related to safety are listed in Section 1: Safety of the
NX100 Instructions. To ensure correct and safe operation, carefully
read the NX100 Instructions before reading this manual.
CAUTION
• Some drawings in this manual are shown with the protective covers or
shields removed for clarity. Be sure all covers and shields are replaced
before operating this product.
• The drawings and photos in this manual are representative examples
and differences may exist between them and the delivered product.
• YASKAWA may modify this model without notice when necessary due to
product improvements, modifications, or changes in specifications. If
such modification is made, the manual number will also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the
back cover. Be sure to tell the representative the manual number listed
on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your product’s warranty.
ii
HW0481786
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or inspection of the
NX100.
In this manual, the Notes for Safe Operation are classified as “WARNING,” “CAUTION,”
“MANDATORY,” or “PROHIBITED.”
WARNING
Indicates a potentially hazardous situation which, if not
avoided, could result in death or serious injury to personnel.
CAUTION
Indicates a potentially hazardous situation which, if not
avoided, could result in minor or moderate injury to personnel
and damage to equipment. It may also be used to alert
against unsafe practices.
MANDATORY
Always be sure to follow explicitly the items listed under this
heading.
PROHIBITED
Must never be performed.
Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.
NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING.”
iii
HW0481786
WARNING
• Before operating the manipulator, check that servo power is turned OFF
when the emergency stop buttons on the front door of the NX100 and
programming pendant are pressed.
When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF.
Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.
Emergency Stop Button
• Once the emergency stop button is released, clear the cell of all items
which could interfere with the operation of the manipulator. Then turn
the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
TURN
Release of Emergency Stop
• Observe the following precautions when performing teaching operations
within the P-point maximum envelope of the manipulator :
- View the manipulator from the front whenever possible.
- Always follow the predetermined operating procedure.
- Ensure that you have a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no persons are present in the P-point maximum envelope of
the manipulator and that you are in a safe location before:
- Turning ON the NX100 power
- Moving the manipulator with the programming pendant
- Running the system in the check mode
- Performing automatic operations
Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there are problems.The emergency stop buttons are located on the right of the front door of the NX100
and the programming pendant.
iv
HW0481786
CAUTION
• Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be
sure that all other necessary processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the NX100 cabinet after use.
The programming pendant can be damaged if it is left in the P-point maximum envelope
of the manipulator, on the floor, or near fixtures.
• Read and understand the Explanation of Warning Labels in the NX100
Instructions before operating the manipulator.
PROHIBITED
• Do not use or keep the board in the following environmental conditions.
- Where exposed to direct sunshine
- Where vibration or impact occurs
- Where high humidity exists
- Where a strong magnetic field exists
- Where much dust exists
- Where a sudden change in the temperature occurs
- Where corrosive gases occur
- Where condensation occurs
Improper usage of the board may damage the board.
Definition of Terms Used Often in This Manual
In this manual, the equipment is designated as follows.
Equipment
Manual Designation
JARCR-XOI02 board
XOI02 board
JANCD-NIOO2 board
NIO02 board
v
HW0481786
Descriptions of the programming pendant keys, buttons, and displays are shown as follows:
Equipment
Programming
Pendant
Manual Designation
Character Keys
The keys which have characters printed on them are
denoted with [ ].
ex. [ENTER]
Symbol Keys
The keys which have a symbol printed on them are
not denoted with [ ] but depicted with a small picture.
GO BACK
ex. page key
The cursor key is an exception, and a picture is not
shown.
PAGE
Axis Keys
Numeric Keys
“Axis Keys” and “Numeric Keys” are generic names
for the keys for axis operation and number input.
Keys pressed
simultaneously
When two keys are to be pressed simultaneously,
the keys are shown with a “+” sign between them,
ex. [SHIFT]+[COORD]
Displays
The menu displayed in the programming pendant is
denoted with { }.
ex. {JOB}
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • " means that the
cursor is moved to the object item and the SELECT key is pressed, or that the item is directly
selected by touching the screen.
vi
HW0481786
1
Outline
„
2
System Configuration Example . . . . . . . . . . . . . . . . . . . . . . .1-1
Hardware Specifications
2.1 Board External View . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.2 Board Specifications . . . . . . . . . . . . . . . . . . . . . . . .2-1
2.3 User Input/output Connectors . . . . . . . . . . . . . . . . .2-2
3
Setting the Functions
3.1 Function Setting Switches . . . . . . . . . . . . . . . . . . . .3-1
3.2 Switch Setting Methods . . . . . . . . . . . . . . . . . . . . . .3-2
4
Mounting the XOI02 Board
4.1
4.2
4.3
4.4
4.5
5
Opening Front Door of the NX100 . . . . . . . . . . . . . .4-3
Confirming the Switch Settings on the XOI02 Board . .4-3
Mounting the XOI02 Board on the NX100 . . . . . . . .4-4
Connecting Each Cable . . . . . . . . . . . . . . . . . . . . . .4-4
Closing the Front Door of the NX100. . . . . . . . . . . .4-6
I/O Signal Allocation
5.1 I/O Module Setting . . . . . . . . . . . . . . . . . . . . . . . . . .5-1
5.2 I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-5
6
I/O Circuits
6.1 Input Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.1.1 Input Circuit 1 (CN10 to CN13) . . . . . . . . . . . . . . . . . . . . . . . . .6-1
6.2 Output Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-2
6.2.1 Output Circuit 1 CN12 and CN13 (Transistor Output) . . . . . . .6-2
6.2.2 Output Circuit 2 CN10 and CN11 (Relay Output) . . . . . . . . . .6-3
6.3 Connection Example . . . . . . . . . . . . . . . . . . . . . . . .6-4
6.3.1 Handling Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-5
6.3.2 Arc Welding, Spot Welding, and General-purpose Applications. . .6-9
vii
HW0481786
1 Outline
This instruction manual describes the I/O expansion board, the XOI02 for European Standards. The NX100 includes the NIO02 board for I/O board, inside the JZNC-NIF02 unit as
standard equipment.
The NIO01 board can be used to expand the number of I/O points when more NX100 I/O
points are needed.
„
System Configuration Example
NX100
SW
JARCRXOI02 board
LED
SW
RY
1-1
HW0481786
2.1 Board External View
2 Hardware Specifications
2.1
Board External View
JARCRXOI02
F1
CN02
24 VDC power supply connector
F2
F1 and F2: Fuse 3.15 A 250 V
2183.15 (Littelfuse)
CN02
CN10
CN11
User input/output connector
CN10 CN11
CN12 CN13
CN12
CN13
S1
User input/output connector
SW1
Å I/O communication
mode setting switch
S1
CN 01
Station setting switch
I/O data transmission connector
CN01
2.2
Board Specifications
Items
Specifications
Board mounting
position
Optional board mounting space in the NX100
Number of I/O
points
Input: 40 points
Output: 40 points (PNP transistor output 24 points, relay output 16 points)
2-1
HW0481786
2.3 User Input/output Connectors
2.3
User Input/output Connectors
.Details of connector A (cable side)
B20
B1
A20
A1
Connector type: FCN-361J040-AU (made by
FUJITSU LTD., soldered-pin type)
Hood type: FCN-360C040-B (made by
FUJITSU LTD., soldered-pin type)
I/O expansion board
(XOI02 board)
Connector A
I/O cable (between XOI02
and external device)
CN10 CN11
CN12 CN13
I/O cable (between XOI02
and terminal stand)
Details of connector B
(CN10, CN11, CN12, CN13)
B1 (2)
B20 (40)
A1 (1)
A20 (39)
Connector type: FCN-365P040-AU (made by
FUJITSU LTD.)
Connector B
A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20
B1 B2 B3 B4 B5 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B17 B18 B19 B20
I/O terminal stand
Type: RS-FCN40S-L4 (made by Weidmuller)
2-2
HW0481786
3.1 Function Setting Switches
3 Setting the Functions
3.1
Function Setting Switches
The section explains the switches that set the functions of the XOI02 board. Make the proper
settings following the instructions. For details of the settings, refer to page 3-2.
S1: Sets the stations for the XOI02 board on the NX100.
The setting range for a station is 1 (ST#01) to E (ST#14).
Do not set the station to 0 (ST#00) or F (ST#15).
SW1: Sets the communication mode.
This switch sets the communication mode to 16 bytes or 17 bytes.
Be sure to set this switch to 17 bytes. Do not set it to 16 bytes.
If the number of I/O points on the XOI02 board does not appear on the Programming
Pendant, check if the communication cable or power cable is connected correctly, referring to the I/O module setting in “5 I/O Signal Allocation.” When the cables are correctly
connected, the SW1 of the NIO02 board in the JZNC-NIF02 unit may be set to 16 bytes.
3-1
HW0481786
3.2 Switch Setting Methods
3.2
Switch Setting Methods
Switches
Setting Method
S1
Sets the stations.
The relation between the switch setting and the station is
shown below.
Turn the arrow to the number corresponding to the desired
station.
(Use a flat tip screwdriver.)
Station setting
0: Cannot be set
1: ST#01
2: ST#02
3: ST#03 (Default setting)
4: ST#04
5: ST#05
6: ST#06
7: ST#07
8: ST#08
9: ST#09
A: ST#10
B: ST#11
C: ST#12
D: ST#13
E: ST#14
F: Can not be set
The number after ST# is the station number displayed on the programming panel of the NX100 when setting I/O modules.
The default setting is ST#03.
SW1
16 BYTE is the default setting. Be sure to change the setting to 17
bytes.
Setting of the I/O communication mode
3
1
SW1
16 bytes/17 bytes
3
1
SW1
16 bytes/17 bytes
NOTE
Short-circuit between 1 and 2: 17-byte mode
*Setting indispensable
Short-circuit between 2 and 3: 16-byte mode
(Default setting)
*Setting unavailable
Do not set S1 to 0 or F. Do not set more than one board to one ST#.
Improper settings may prevent the I/O module from being recognized correctly.
Also, do not set SW1 to 16 bytes. If 16 bytes is selected, the I/O module is not recognized.
3-2
HW0481786
4 Mounting the XOI02 Board
WARNING
• Before wiring, be sure to turn OFF the power supply and put up a warning sign, such as “DO NOT TURN ON THE POWER.”
Failure to observe this warning may result in an electric shock or an injury.
• Do not touch the inside of the panel for 5 minutes after the power is
turned OFF.
The remaining charged voltage in the capacitor may cause an electric shock or an injury.
• Be sure to close the door and install the protection cover while the
power is turned ON.
Failure to observe this warning may result in a fire or an electric shock.
4-1
HW0481786
CAUTION
• The wiring and mounting must be performed by authorized and qualified
personnel.
Failure to observe this caution may result in a fire or an electric shock.
• Make sure that there is no foreign matter such as metal chips on the
board.
In case of malfunction, etc. it may result in an injury or damage the board.
• Make sure that there is no damage or deflection of parts on the board.
In case of malfunction, etc. it may result in an injury or damage the board.
• Correctly connect each cable and connector.
Failure to observe this caution may result in a fire or damage the board.
• Set the switches, etc. correctly.
In case of malfunction, etc. it may result in an injury or damage the board.
• Never touch the mounting surfaces and the soldered surfaces of the
board parts directly with fingers.
The generated static electricity may damage the IC, and protrusions on the soldered surface may result in an injury.
• Never give any shock to the board.
The shock may damage the board.
4-2
HW0481786
4.1 Opening Front Door of the NX100
4.1
Opening Front Door of the NX100
Mount the XOI02 board in the following manner.
1. Turn the two door locks on the front face of the NX100 clockwise for 90° with a coin or
a flat tip screwdriver.
Door lock
Clockwise
Flat tip screwdriver
2. With the door locks turned clockwise for 90°, turn the main switch handle to the “OFF”
position, and slowly open the door.
Ｉ ON
T
SE
RE
OFF
O
T
ED
PP
I
R
4.2
Confirming the Switch Settings on the XOI02
Board
1. Be sure that the settings of switches on the board are correct.
2. For the switch settings, refer to "3 Setting the Functions."
4-3
HW0481786
4.3 Mounting the XOI02 Board on the NX100
4.3
Mounting the XOI02 Board on the NX100
1. Be sure that the main power supply is OFF.
2. Fix the XOI02 board on the NX100 with the board fixing screws securely tightened.
4.4
Connecting Each Cable
1. Connect the 24 VDC power supply cable to the CN02 on the XOI02 board.
2. Connect the I/O communication cable to the CN01 on the XOI02 board. Disconnect
the terminal connector from CN02 on the JZNC-NIF02 unit, and connect it to the nonoccupied CN01 on the XOI02 board.
3. Connect the I/O cables to the CN10 through CN13 on the XOI02 board.
POWER SUPPLY
CPS-NX1
No.
DATE
Fuji Electric
SOURCE
P-ON
Co.,Ltd. JAPAN
0102 03 04 05 06 07 08 09 10
1112 13 14 15 16 17 18 19 20
21 22 23 24 25 26 27 28 29 30
A B C D E F G H J K
L M N P Q R S T U V
+5V
+24V
OTHER
FAN
OHT
I/O cable 1
I/O cable 2
I/O cable 3
I/O cable 4
CN24V1
CN24V2
BOTTOM CONNECTER VIEW
CN24V3
CPU
PCI
CN3
AXIS
R-OUT
INPUT
200-230V
AC
50/60Hz
*.*A
Terminal
connector
Back Side
Connect to CN03.
(Located on the bottom)
24VDC power cable
I/O communication cable
4-4
3 4 56
2
F0 1
CN6
CPS-420
E
CN2
CN1
LAN0 COM
LAN1
EXT
PCI
Option PCI Slot #AXIS
Option PCI Slot #CPU1
CN3
CN2
CN1
Option PCI Slot #CPU2
PCI
7 8 9A
NIF
R-IN
B CD
CN1
Front Side
HW0481786
4.4 Connecting Each Cable
NOTE
A dummy connector is inserted into the CN02 of the 24VDC power supply connector on the
XOI02 board. Do not remove this connector because it is inserted to prevent incorrect
cable connections. Removing this connector may result in incorrect connection of the
24VDC power cable to the CN02. This prevents power from being supplied normally to the
board, and the board may not start up.
1
2
24V
24VU
Not used
Not used
Dummy connector
* Do not remove the dummy connector inserted in this position.
5
6
24V
24VU
CN02
3
3
4
4
5
5
5
6
6
6
Correct Connecting
Position
2
2
2
CN02
24VDC power
cable
1
1
1
24VDC
power cable
CN02
24VDC power
cable
CN02
Incorrect Connecting Position
* Because the dummy connector is removed,
the 24VDC power cable is incorrectly connected,
and power cannot be supplied to the board.
4-5
HW0481786
4.5 Closing the Front Door of the NX100
4.5
Closing the Front Door of the NX100
1. Close the door slowly.
2. Turn the two door locks counterclockwise for 90° using a coin or a flat tip screwdriver.
Flat tip screwdriver
Counter clockwise
Door lock
4-6
HW0481786
5.1 I/O Module Setting
5 I/O Signal Allocation
5.1
I/O Module Setting
In order to use a XOI02 board on the NX100, perform the I/O module setting in the following
manner.
Make sure that the power supply to the NX100 is OFF. Then, mount the XOI02 board, for
which all of its switches have been set, inside the NX100. For the board mounting method,
refer to "4 Mounting the XOI02 Board."
SUPPLEMENT
Add an I/O module in the management mode.
In the operation mode and the editing mode, the settings are for reference only.
Operation
1
Turn the power supply ON
again while pressing [MAIN
MENU] simultaneously.
Explanation
The main menu appears.
SYSTEM
FILE
TOOL
CF
Main Menu
2
Select {SYSTEM} under the
main menu.
Short Cut
Maintenance mode
The sub menu appears.
SYSTEM
SETUP
FILE
VERSION
TOOL
SECURITY
CF
Main Menu
5-1
Short Cut
Maintenance mode
HW0481786
5.1 I/O Module Setting
Operation
3
Change the security mode to
management mode.
4
Select {SETUP}.
Explanation
The SETUP window appears.
SYSTEM
SETUP
LANGUAGE
CONTROL GROUP
APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE/TIME
OPTION FUNCTION
FILE
TOOL
CF
Main Menu
5
Select {IO MODULE}.
Short Cut
Maintenance mode
The current mounted status of the I/O modules is shown as in the
following example.
SYSTEM
FILE
TOOL
CF
Main Menu
IO MODULE
ST# DI D0 AI A0 BOARD
00
01
02
03
04
05
06
07
08
09
10
040 040
- - 040 040
- - - - - - - -
-
-
Short Cut
NIO02-1
NONE
NONE
XOI02
NONE
NONE
NONE
NONE
NONE
NONE
NONE
Maintenance mode
To view the current mounted status of the I/O modules for stations
that are not displayed, press [ENTER].
SYSTEM
FILE
TOOL
CF
Main Menu
5-2
IO MODULE
ST# DI D0 AI A0 BOARD
07
08
09
10
11
12
13
14
15
16
17
-
Short Cut
-
-
-
NONE
NONE
NONE
NONE
NONE
NONE
NONE
NONE
NONE
NONE
NONE
Maintenance mode
HW0481786
5.1 I/O Module Setting
Operation
6
Confirm the status of the
mounted I/O module.
Explanation
Only the I/O modules mounted on NX100 are displayed. Confirm
that each station (ST#) indicates the actual mounted status of the
I/O module.
The following table lists the meanings of each line.
ST#
Station address of I/O module
DI
Number of digital input points *1
DO
Number of digital output points *1
AI
Number of analog input points *1
AO
Number of analog output points *1
BOARD
Circuit board type *2
*1
*2
A hyphen "-" indicates the corresponding I/O module is
not mounted.
If the system cannot recognize the circuit board type,
“*****” is shown. No problem will occur as long as the
values displayed in DI, DO, AI, and AO are correct.
In the example shown on the display, the configuration of boards
are as follows.
ST#00: JANCD-NIO02-1 board (digital input 40 points, digital output 40 points). This board is fixed to ST#00.
ST#03: JARCR-XOI02 board (digital input 40 points, digital output
40 points).
Switch S1: set to 3 (This value becomes the ST#).
7
Press [ENTER].
The confirmation dialog box appears.
SYSTEM
FILE
TOOL
CF
Main Menu
5-3
IO MODULE
ST# DI D0 AI A0 BOARD
07
08
09
10
11
12
13
14
15
16
17
-
Short Cut
- - - - - - - - - YES
- - -
- NONE
- NONE
- NONE
- NONE
-Modify?
NO
- NONE
- NONE
Maintenance mode
HW0481786
5.1 I/O Module Setting
Operation
8
Select “YES.”
Explanation
When the mounted status of an I/O module is correct, select
“YES.” The I/O module setting is updated, and an I/O module is
added.
NOTE
If the window does not indicate the actual mounted
status, recheck the cable connection and the switch
setting.
If the mounted status is correct (but the window does
not correspond), the following causes are suspected.
• Improper I/O communication settings
The setting of SW1 on the XOI02 board may be
incorrect, so the NX100 cannot recognize the
board.
• Improper or overlapped station settings
S1 may be erroneously set to 0 or F. Each station
can be set to only one board. If S1 has been set to
two boards, change the setting of S1 so only one
board is assigned.
• Improper connection of the 24VDC power cable
and the I/O communication cable
The 24VDC cable and the I/O communication cable
may not be connected properly. Recheck the cable
connection referring to “4.4 Connecting Each
Cable.” Improper connection of the 24VDC power
cable to the CN02 may prevent the board from
starting up.
• I/O module failure
When the above causes do not apply, and the display still does not correspond to the actual
mounted status, failure of an I/O module is suspected. Contact your YASKAWA representative.
5-4
HW0481786
5.2 I/O Data
5.2
I/O Data
The data to be transferred from the XOI02 board to the inside of the NX100 is of 40 input
points (5 bytes) and 40 output points (5 bytes). The I/O data of the XOI02 board is allocated
to external I/O signals of concurrent I/O.
Concurrent I/O
JARCR-XOI02 board
< Input >
Input
device
20010 to 21287
(1024 inputs)
I/O communication
and transfer to the
NX100
< Output >
30010 to 31287
(1024 outputs)
Output
device
When only a XOI02 board is mounted as an optional I/O board, the concurrent I/O allocation
of each board is as follows.
(20010 to 20057 and 30010 to 30057 are used for standard I/O of the NX100.)
Input
Output
20060 to 20067: CN12
30060 to 30067: CN12
20070 to 20073: CN12
30070 to 30073: CN12
20074 to20077: CN13
30074 to 30077: CN13
20080 to 20083: CN13
30080 to 30087: CN13
20090 to 20097: CN10
30090 to 30097: CN10
20100 to 20107: CN11
30100 to 30107: CN11
5-5
HW0481786
6.1 Input Circuit
6 I/O Circuits
NOTE
• When an internal power supply is used for the I/O power supply, the allocation to the 24
VDC internal power supply of the NX100 is approximately 1 A. If the total current consumption of the I/O circuits including that of other I/O boards (such as the NIO02 board)
exceeds 1 A, use an external power supply.
For connecting external power supply, refer to 6.3 Connection Example.
• When an external power supply is used for the I/O power supply and the total current consumption of the I/O circuits exceeds 2 A, use a 24 VDC external power supply. However,
do not use the 24 VDC power supply from CN10 and CN11 for the 24 VDC power supply
used at the relay output contact.
• The I/O circuits of the XOI02 board are exclusive-use for 24 VDC. Connecting a power
supply other than 24 VDC causes damages to the circuits and malfunction.
6.1
Input Circuit
The input circuit has 40-points, and all for input circuit 1.
6.1.1
Input Circuit 1 (CN10 to CN13)
Circuit structure
Input circuit with photocoupler insulation
Current (max.)
8 mA per one point
Common
+24 V common
Connection example
+24V/24VU
Inside the board
i (8mA max.)
Photocoupler
Switch
Internal
circuit
024V/24VU
6-1
HW0481786
6.2 Output Circuits
6.2
Output Circuits
The output circuit has 40 points from CN10 through CN13. Two types of circuits are provided:
transistor output (24 points) and relay output (16 points). When the contact life of a relay
should be considered because of frequent ON/OFF switchings, the transistor output can be
used to control a relay mounted on an easily accessible position or a non-contact relay SSR
(solid state relay).
NOTE
6.2.1
When connecting an induction load to the output circuit, connect a fly-wheel diode in parallel to the induction load, to suppress the surge voltage. Not using a fly-wheel diode may
damage the output circuit.
When connecting a load with a large inrush current such as a lamp, connect a current limiting resistance in series to the load, so that the output current does not exceed its maximum value. Exceeding the maximum output current value may damage the output circuit.
Output Circuit 1 CN12 and CN13 (Transistor Output)
Circuit structure
PNP transistor open-collector output
Output current (max.)
50 mA per one point
Common
0 V common
Connection example
+24VU
Inside the board
Photocoupler
i (50mA max.)
Internal
circuit
24VU
24VU
6-2
LED
HW0481786
6.2 Output Circuits
6.2.2
Output Circuit 2 CN10 and CN11 (Relay Output)
Circuit structure
Relay contact output (only DC load can be connected)
Output current (max.)
0.5 A per point
Common
None (determined according to the external connection)
Contact resistance
30mΩ or less
Min. applicable load
for contact
0.1 VDC, 0.1 mA
Relay life
Electrical life: 300,000 times (with induction load 24 VDC, 0.5 A)
Mechanical life: 20,000,000 times
Connection example
Inside the board
i (0.5A max.)
Fly-wheel diode
Internal
circuit
24VU
6-3
HW0481786
6.3 Connection Example
6.3
Connection Example
The following are allocation examples when the XOI02 board is added to the NX100: handling
application; and arc welding, spot welding, and general-purpose applications. The "generalpurpose applications" in this manual includes; assembling and cutting applications.
These examples are applied when only one XOI02 board is used as an optional I/O board.
When any other optional I/O boards are added, the XOI02 board allocation will be changed
depending on the I/O board allocation.
6-4
HW0481786
6.3 Connection Example
6.3.1
Handling Application
CN12 User input/output
(for handling application)
NX100
CN12 connector
Logic Connector
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
50 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
24V 1A
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20060 B1
IN17
IN
B1
B1
20061 A1
IN18
IN
A1
A1
20062 B2
IN19
IN
B2
B2
20063 A2
IN20
IN
A2
A2
20064 B3
IN21
IN
B3
B3
20065 A3
IN22
IN
A3
A3
20066 B4
IN23
IN
B4
B4
20067 A4
IN24
IN
A4
A4
20070 B5
IN25
IN
B5
B5
20071 A5
IN26
IN
A5
A5
20072 B6
IN27
IN
B6
B6
20073 A6
IN28
IN
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30060 B8
OUT17
OUT
B8
B8
30061 A8
OUT
A8
A8
30062 B9
OUT18
OUT19
OUT
B9
B9
30063 A9
OUT20
OUT
A9
A9
30064 B10 OUT21
OUT
B10
B10
30065 A10 OUT22
OUT
A10
A10
30066 B11 OUT23
OUT
B11
B11
30067 A11 OUT24
OUT
A11
A11
30070 B12 OUT25
OUT
B12
B12
30071 A12 OUT26
OUT
A12
A12
30072 B13 OUT27
OUT
B13
B13
30073 A13 OUT28
OUT
A13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
6-5
HW0481786
6.3 Connection Example
CN13 User input/output
(for handling application)
NX100
CN13 connector
Logic
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
50 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
-4
024V
24V 1A
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Connector
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20074 B1
IN29
IN
B1
B1
20075 A1
IN30
IN
A1
A1
20076 B2
IN31
IN
B2
B2
20077 A2
IN32
IN
A2
A2
20080 B3
IN33
IN
B3
B3
20081 A3
IN34
IN
A3
A3
20082 B4
IN35
IN
B4
B4
20083 A4
IN36
IN
A4
A4
20084 B5
IN37
IN
B5
B5
20085 A5
IN38
IN
A5
A5
20086 B6
IN39
IN
B6
B6
20087 A6
IN40
IN
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30074 B8
OUT29
OUT
B8
B8
30075 A8
OUT
A8
A8
30076 B9
OUT30
OUT31
OUT
B9
B9
30077 A9
OUT32
OUT
A9
A9
30080 B10 OUT33
OUT
B10
B10
30081 A10 OUT34
OUT
A10
A10
30082 B11 OUT35
OUT
B11
B11
30083 A11 OUT36
OUT
A11
A11
30084 B12 OUT37
OUT
B12
B12
30085 A12 OUT38
OUT
A12
A12
30086 B13 OUT39
OUT
B13
B13
30087 A13 OUT40
OUT
A13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
6-6
HW0481786
6.3 Connection Example
CN10 User input/output
(for handling application)
NX100
CN10 connector
Logic Connector
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
500 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
24V 1A
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20090 B1
IN41
IN
B1
B1
20091 A1
IN42
IN
A1
A1
20092 B2
IN43
IN
B2
B2
20093 A2
IN44
IN
A2
A2
20094 B3
IN45
IN
B3
B3
20095 A3
IN46
IN
A3
A3
20096 B4
IN47
IN
B4
B4
20097 A4
IN48
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
B6
B6
A6
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30090 B8
OUT41-
OUT
B8
B8
A8
OUT41+
OUT
A8
A8
30091 B9
OUT42-
OUT
B9
B9
A9
OUT42+
OUT
A9
A9
30092 B10 OUT43-
OUT
B10
B10
A10 OUT43+
OUT
A10
A10
30093 B11 OUT44-
OUT
B11
B11
A11 OUT44+
OUT
A11
A11
30094 B12 OUT45-
OUT
B12
B12
A12 OUT45+
OUT
A12
A12
30095 B13 OUT46-
OUT
B13
B13
A13 OUT46+
OUT
A13
A13
30096 B14 OUT47-
OUT
B14
B14
A14 OUT47+
OUT
A14
A14
30097 B15 OUT48-
OUT
B15
B15
A15 OUT48+
OUT
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note 1: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
2:
RLY
indicates
.
6-7
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
HW0481786
6.3 Connection Example
CN11 User input/output
(for handling application)
NX100
CN11 connector
Logic
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
500 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
-4
024V
24V 1A
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Connector
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20100 B1
IN49
IN
B1
B1
20101 A1
IN50
IN
A1
A1
20102 B2
IN51
IN
B2
B2
20103 A2
IN52
IN
A2
A2
20104 B3
IN53
IN
B3
B3
20105 A3
IN54
IN
A3
A3
20106 B4
IN55
IN
B4
B4
20107 A4
IN56
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
B6
B6
A6
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30100 B8
OUT49-
OUT
B8
B8
A8
OUT49+
OUT
A8
A8
30101 B9
OUT50-
OUT
B9
B9
A9
OUT50+
OUT
A9
A9
30102 B10 OUT51-
OUT
B10
B10
A10 OUT51+
OUT
A10
A10
30103 B11 OUT52-
OUT
B11
B11
A11 OUT52+
OUT
A11
A11
30104 B12 OUT53-
OUT
B12
B12
A12 OUT53+
OUT
A12
A12
30105 B13 OUT54-
OUT
B13
B13
A13 OUT54+
OUT
A13
A13
30106 B14 OUT55-
OUT
B14
B14
A14 OUT55+
OUT
A14
A14
30107 B15 OUT56-
OUT
B15
B15
A15 OUT56+
OUT
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note 1: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
2:
RLY
indicates
.
6-8
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
HW0481786
6.3 Connection Example
6.3.2
Arc Welding, Spot Welding, and General-purpose
Applications
CN12 User input/output (for arc welding, spot welding, and general-purpose applications)
NX100
CN12 connector
Logic Connector
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
50 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
24V, 1A
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20060 B1
IN25
IN
B1
B1
20061 A1
IN26
IN
A1
A1
20062 B2
IN27
IN
B2
B2
20063 A2
IN28
IN
A2
A2
20064 B3
IN29
IN
B3
B3
20065 A3
IN30
IN
A3
A3
20066 B4
IN31
IN
B4
B4
20067 A4
IN32
IN
A4
A4
20070 B5
IN33
IN
B5
B5
20071 A5
IN34
IN
A5
A5
20072 B6
IN35
IN
B6
B6
20073 A6
IN36
IN
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30060 B8
OUT25
OUT
B8
B8
30061 A8
OUT
A8
A8
30062 B9
OUT26
OUT27
OUT
B9
B9
30063 A9
OUT28
OUT
A9
A9
30064 B10 OUT29
OUT
B10
B10
30065 A10 OUT30
OUT
A10
A10
30066 B11 OUT31
OUT
B11
B11
30067 A11 OUT32
OUT
A11
A11
30070 B12 OUT33
OUT
B12
B12
30071 A12 OUT34
OUT
A12
A12
30072 B13 OUT35
OUT
B13
B13
30073 A13 OUT36
OUT
A13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
6-9
HW0481786
6.3 Connection Example
CN13 User input/output (for arc welding, spot welding, and general-purpose applications)
NX100
CN13 connector
Logic
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
50 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
(24V, 1A)
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Connector
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20074 B1
IN37
IN
B1
B1
20075 A1
IN38
IN
A1
A1
20076 B2
IN39
IN
B2
B2
20077 A2
IN40
IN
A2
A2
20080 B3
IN41
IN
B3
B3
20081 A3
IN42
IN
A3
A3
20082 B4
IN43
IN
B4
B4
20083 A4
IN44
IN
A4
A4
20084 B5
IN45
IN
B5
B5
20085 A5
IN46
IN
A5
A5
20086 B6
IN47
IN
B6
B6
20087 A6
IN48
IN
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30074 B8
OUT37
OUT
B8
B8
30075 A8
OUT
A8
A8
30076 B9
OUT38
OUT39
OUT
B9
B9
30077 A9
OUT40
OUT
A9
A9
30080 B10 OUT41
OUT
B10
B10
30081 A10 OUT42
OUT
A10
A10
30082 B11 OUT43
OUT
B11
B11
30083 A11 OUT44
OUT
A11
A11
30084 B12 OUT45
OUT
B12
B12
30085 A12 OUT46
OUT
A12
A12
30086 B13 OUT47
OUT
B13
B13
30087 A13 OUT48
OUT
A13
A13
B14
B14
B14
A14
A14
A14
B15
B15
B15
A15
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
6-10
HW0481786
6.3 Connection Example
CN10 User input/output (for arc welding, spot welding, and general-purpose applications)
NX100
CN10 connector
Logic
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
500 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
24V, 1A)
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Connector
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20090 B1
IN49
IN
B1
B1
20091 A1
IN50
IN
A1
A1
20092 B2
IN51
IN
B2
B2
20093 A2
IN52
IN
A2
A2
20094 B3
IN53
IN
B3
B3
20095 A3
IN54
IN
A3
A3
20096 B4
IN55
IN
B4
B4
20097 A4
IN56
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
B6
B6
A6
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30090 B8
OUT49-
OUT
B8
B8
A8
OUT49+
OUT
A8
A8
30091 B9
OUT50-
OUT
B9
B9
A9
OUT50+
OUT
A9
A9
30092 B10 OUT51-
OUT
B10
B10
A10 OUT51+
OUT
A10
A10
30093 B11 OUT52-
OUT
B11
B11
A11 OUT52+
OUT
A11
A11
30094 B12 OUT53-
OUT
B12
B12
A12 OUT53+
OUT
A12
A12
30095 B13 OUT54-
OUT
B13
B13
A13 OUT54+
OUT
A13
A13
30096 B14 OUT55-
OUT
B14
B14
A14 OUT55+
OUT
A14
A14
30097 B15 OUT56-
OUT
B15
B15
A15 OUT56+
OUT
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note 1: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
2:
RLY
indicates
.
6-11
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
HW0481786
6.3 Connection Example
CN11 User input/output (for arc welding, spot welding, and general-purpose applications)
NX100
CN11 connector
Logic
No.
JARCR-XOI02
Each point
24 VDC
8 mA max.
Each point
24 VDC
500 mA max.
JZNC-NIF02
CN12 Internal
power
supply
-3
+24V
024V
-4
24V, 1A)
External
power
supply
+24VE
024VE
-1
+24VU
-2
024VU
Connector
Name
Connector terminal converter
(Optional)
Model: PX7DS-40V6-R
Signal
Terminal
No.
20100 B1
IN57
IN
B1
B1
20101 A1
IN58
IN
A1
A1
20102 B2
IN59
IN
B2
B2
20103 A2
IN60
IN
A2
A2
20104 B3
IN61
IN
B3
B3
20105 A3
IN62
IN
A3
A3
20106 B4
IN63
IN
B4
B4
20107 A4
IN64
IN
A4
A4
B5
B5
B5
A5
A5
A5
B6
B6
B6
A6
A6
A6
B7
024VU
B7
B7
A7
024VU
A7
A7
30100 B8
OUT57-
OUT
B8
B8
A8
OUT57+
OUT
A8
A8
30101 B9
OUT58-
OUT
B9
B9
A9
OUT58+
OUT
A9
A9
30102 B10 OUT59-
OUT
B10
B10
A10 OUT59+
OUT
A10
A10
30103 B11 OUT60-
OUT
B11
B11
A11 OUT60+
OUT
A11
A11
30104 B12 OUT61-
OUT
B12
B12
A12 OUT61+
OUT
A12
A12
30105 B13 OUT62-
OUT
B13
B13
A13 OUT62+
OUT
A13
A13
30106 B14 OUT63-
OUT
B14
B14
A14 OUT63+
OUT
A14
A14
30107 B15 OUT64-
OUT
B15
B15
A15 OUT64+
OUT
A15
A15
B16 024VU
B16
B16
A16 024VU
A16
A16
B17 024VU
B17
B17
A17 024VU
A17
A17
B18 +24VU
B18
B18
A18 +24VU
A18
A18
B19 +24VU
B19
B19
A19 +24VU
A19
A19
B20 FG
B20
B20
A20
A20
A20
Note 1: Remove jumper pin between CN12-1 and -3 and between CN12-2 and
-4 on the JZNC-NIF02 when a external power supply is used.
2:
RLY
indicates
.
6-12
RLY
RLY
RLY
RLY
RLY
RLY
RLY
RLY
NX100 OPTIONS
JARCR-XOI02 BOARD
INSTRUCTIONS
FOR I/O EXPANSION FOR EUROPEAN STANDARDS
HEAD OFFICE
2-1 Kurosaki-Shiroishi, Yahatanishi-ku, Kitakyusyu-shi, 806-0004, Japan
Phone 81-93-645-7745
Fax
81-93-645-7746
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200
Fax
1-937-847-6277
YASKAWA MOTOMAN CANADA LTD.
3530 Laird Road, Unit 3, Mississauga, Ontario, L5L 5Z7, Canada
Phone 1-905-569-6686
Fax
1-905-813-5911
MOTOMAN ROBOTICS EUROPE AB
Franska Vagen 1039854, Kalmar, Sweden
Phone 46-480-417800
Fax
46-480-417999
MOTOMAN ROBOTEC GmbH
Kammerfeld strasse 1, DE-85391 Allershausen, Germany
Phone 49-8166-90100
Fax
49-8166-90103
YASKAWA ELECTRIC KOREA CORPORATION
1F Samyang Bldg. 89-1, Shinchun-dong, Donk-Ku, Daegu, Korea
Phone 82-53-745-7844
Fax
82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park, Singapore 556741, Singapore
Phone 65-6282-3003
Fax
65-6289-3003
YASKAWA ELECTRIC (MALAYSIA) SDN. BHD.
No.71, Jalan Bandar Rawang 2, 48000 Rawang, Selangor D.E., Malaysia
Phone 60-3-6092-1377
Fax
60-3-6092-6377
YASKAWA ELECTRIC TAIWAN CORPORATION
9F, 16 Nanking E. Rd., Sec. 3, Taipei, Taiwan
Phone 886-2-2502-5003
Fax
886-2-2505-1280
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Road, Beijing Economic & Technological Development Area, Beijing 100076, China
Phone 86-10-6788-0541
Fax
86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice
for ongoing product modifications and improvements.
C
MANUAL NO. HW0481786 1
Printed in Japan November 2004 04-3
I/O Expansion Module (XOI01)
149648-11
Appendix A
NXC100 Expanded I/O PNP
Connection Diagrams - General
Purpose & Material Handling
Final
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.
MOTOMAN
CONFIDENTIAL:
.