XOI01 Board Instruction Manual: XRC Controller

XRC Controller
XOI01 Board
Instruction Manual
Part Number 145594-1
January 31, 2001
MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200 FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200
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.
©2001 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.
TABLE OF CONTENTS
Section Page
1 INTRODUCTION
1.1 About this Document .....................................................................................1-1
1.2 Reference to Other Documentation................................................................1-1
1.3 Customer Service Information .......................................................................1-1
2 SAFETY
2.1 Introduction ...................................................................................................2-1
2.2 Standard Conventions....................................................................................2-2
2.3 General Safeguarding Tips.............................................................................2-4
2.4 Mechanical Safety Devices.............................................................................2-4
2.5 Installation Safety ..........................................................................................2-5
2.6 Programming Safety......................................................................................2-5
2.7 Operation Safety ............................................................................................2-6
2.8 Maintenance Safety........................................................................................2-7
3 XIO01 BOARD INSTRUCTIONS
1 Outline ..........................................................................................................1-1
2 Hardware Specifications ................................................................................2-1
3 Setting the Functions .....................................................................................3-1
4 Mounting the XOI01 Board ............................................................................4-1
5 I/O Signal Allocation ......................................................................................5-1
6 I/O Circuits.....................................................................................................6-1
MOTOMAN i XOI01 Board Instructions

NOTES
XOI01 Board Instructions ii MOTOMAN

SECTION 1
INTRODUCTION
1.1 About this Document
This manual provides instructions for XOI01 Board and contains the following
sections:
SECTION 1 — INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 — SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 — XOI01 BOARD INSTRUCTIONS
Provides detailed instructions to utilize the XOI01 Board.
1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC Manipulator Manual (P/N 142104-1)
1.3 Customer Service Information

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:
• Robot Type (UP6, UP20, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)
MOTOMAN 1-1 XOI01 Board Instructions

INTRODUCTION
NOTES
XOI01 Board Instructions 1-2 MOTOMAN

SECTION 2
SAFETY
2.1 Introduction
.
It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.
We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

SAFETY
2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).
DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.
WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.
CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is
helpful in understanding the item being explained.

SAFETY
2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General safeguarding
tips are as follows:
• Improper operation can result in personal injury and/or damage to the
equipment. Only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use
lockout/tagout procedures during equipment maintenance. Refer also to
Section 1910.147 (29CFR, Part 1910), Occupational Safety and Health
Standards for General Industry (OSHA).
2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's responsibility. The conditions under which the equipment
will be operated safely should be reviewed by the user. The user must be aware of
the various national codes, ANSI/RIA R15.06 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

SAFETY
2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.
2.6 Programming Safety

equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever program changes
are made. To avoid loss of information, programs, or jobs, a backup must
always be made before any service procedures are done and before any
changes are made to options, accessories, or equipment.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
equipment. Only trained personnel familiar with the operation, manuals,
electrical design, and equipment interconnections of this robot should be
permitted to operate the system.

SAFETY
• Inspect the robot and work envelope to be sure no potentially hazardous

conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place.
• Check the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.
2.7 Operation Safety

equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
must have the teach pendant when they enter the cell.
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

SAFETY
2.8 Maintenance Safety

equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
must have the teach pendant when they enter the cell.
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

YASKAWA
YASNAC XRC OPTIONS

INSTRUCTIONS
FOR JARCR-XOI01 BOARD
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain
for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-!!! INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.
YASKAWA MANUAL NO. HW9482777 1

MANDATORY
• This manual explains the JARCR-XOI01 board of the YASNAC XRC sys-
tem and general operations. Read this manual carefully and be sure to
understand its contents before handling the YASNAC XRC.
• General items related to safety are listed in Section 1: Safety of the

Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual 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 rep-

resentative 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 prod-
uct’s warranty.
ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.
Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.
Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.
Always be sure to follow explicitly the items listed under this

M A N D A T O R Y 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.
N OT E To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.
iii
WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
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 Sto
• Always set the Teach Lock before entering the robot work envelope to
teach a job.
Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.
• Observe the following precautions when performing teaching operations

within the working 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 manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations
Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.
iv
CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator 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 XRC cabinet
after use.
The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.
• Read and understand the Explanation of the Alarm Display in the setup
manual 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

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
The MOTOMAN manipulator is the YASKAWA industrial robot product.
In this manual, the equipment is designated as follows.
Equipment Manual Designation
YASNAC XRC Controller XRC
YASNAC XRC Playback Panel Playback Panel
YASNAC XRC Programming Pendant Programming Pendant
v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters printed on them are
Pendant 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.
ex. page ke
The cursor key is an exception, and a picture is not
shown.
Axis Keys “Axis Keys” and “Number Keys” are generic names
Number Keys for the keys for axis operation and number input.
Keys pressed When two keys are to be pressed simultaneously,

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}
Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel
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.
vi
1 Outline
" System Configuration Example. . . . . . . . . . . . . . . . . . . . . . . . . . .1-1
2 Hardware Specifications
2.1 Board External View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.2 Board Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.3 General-purpose I/O Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . .2-2
3 Setting the Functions

3.1 Function Setting Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
3.2 Switch Setting Methods. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
4 Mounting the XOI01 Board

4.1 Opening Front Door of the XRC . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-3
4.2 Confirming the Switch Settings on the XOI01 Board . . . . . . . .4-3
4.3 Mounting the XOI01 Board on the XR . . . . . . . . . . . . . . . . . . . . .4-3
4.4 Connecting Each Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4.5 Closing the Front Door of the XRC . . . . . . . . . . . . . . . . . . . . . . . . . .4-6
5 I/O Signal Allocation

5.1 I/O Module Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
5.2 I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
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 Arc Welding, Handling, and General-Purpose Applications . . . . . . . .6-4
6.3.2 Spot Welding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9
vii
viii
1 Outline
This instruction manual describes the I/O expansion board, the JARCR-XOI01 (hereinafter
called the XOI01 board). The XRC includes the JANCD-XIO01 board (hereinafter called the
XIO01 board) and the JANCD-XIO02 board (hereinafter called the XIO02 board) for I/O board,
inside the JZNC-XIU01 unit as standard equipment. The XOI01 board is designed so that the
circuit configuration and the pin arrangement of its I/O are the same as those for the XIO02
board. The XOI01 board can be used to expand the number of I/O points when more XRC I/O
points are needed.
" System Configuration Example
XRC
SW
XOI01 board LED
SW
RY
1-1
1-2
2.1 Board External View
2 Hardware Specifications
2.1 Board External View
JARCR-
XOI01
F1
CN02 F2 24 VDC power supply connector
F1 and F2: Fuse 3 A 250 V CN02

312003 (Littelfuse)
CN10
General-purpose I/O connector
CN11
CN10 CN11
CN12 CN13
CN12 General-purpose I/O connector

CN13
SW1
S1 # I/O communication S1 Station setting switch
mode setting switch
CN 01
I/O data transmission connector
CN01
2.2 Board Specifications
Items Specifications
Board mounting Optional board mounting space in the XRC

position
Number of I/O Input: 40 points

points Output: 40 points (transistor output 24 points, relay output 16 points)
2-1
2.3 General-purpose I/O Connectors
2.3 General-purpose I/O Connectors
The general-purpose I/O connectors are same as those used for the XIO02 board. The circuit
configuration and the pin arrangement are designed so that each of the connectors CN10 to
CN13 of the XOI01 board corresponds to those of the XIO02 board.
. 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)
XIO02 board in the I/O expansion board
JZNC-XIU01 unit (XOI01 board)
CN12 CN13 CN10 CN11

Connector A
I/O cable (between XOI01
and external device)
CN11 CN10 CN12 CN13
I/O cable (between XOI01

and terminal stand)
Details of connector B
Connector B
(CN10, CN11, CN12, CN13)
B1 B20
A1 A20
Connector type: FCN-365P040-AU (made by
FUJITSU LTD.)
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: PX7D-40V6-R (made by YOSHIDA ELECTRIC
INDUSTRY CO., LTD.)
*The arrangement of CN10, CN11, CN12 and CN13 is different for
the XOI01 board and the XIO02 board in the JZNC-XIU01 unit.
2-2
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 XOI01 board. Make the proper
settings following the instructions. For details of the settings, refer to page 3-2.
S1: Sets the stations for the XOI01 board on the XRC.
The setting range for a station is from 1 (ST#01) to E (ST#14).
Do not set S1 to 0 because no station is allocated to 0. Also, do not set S1 to F (ST#15)
since F is reserved for the XIO01 (or XIO02) board.
SW1: Sets the communication mode.

This switch changes the communication mode between 16 bytes and 17 bytes.
The default setting is 16 bytes.
If the number of I/O points on the XOI01 board does not appear on the Programming
Pendant, check if the communication cable or power cable is connected correctly, refer-
ring to the I/O module setting in “5 I/O Signal Allocation.” When the cables are correctly
connected, the SW1 of the XIO01 board in the JZNC-XIU01 unit may be set to 17 bytes.
Reset the SW1 to 17 bytes.
XIO01 board
CN2
CN10
CN1 1 3
16BYTE (short-circuit between 2 and 3)
17BYTE (short-circuit between 1 and 2)
3-1
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
Station setting shown below.
Turn the arrow to the number corresponding to the desired
station.
(Use a flat-tipped screwdriver.)
0: Cannot be set 8: ST#08

1: ST#01 9: ST#09
2: ST#02 A: ST#10
3: ST#03 B: ST#11
4: ST#04 C: ST#12
5: ST#05 D: ST#13
6: ST#06 E: ST#14
7: ST#07 F: ST#15 (used by XIO01 (XIO02) board)
The number after ST# is the station number displayed on the pro-
gramming panel of the XRC when setting I/O modules.
The default setting is ST#03.
SW1
3 1
Short-circuit between 1 and 2: 17-byte mode
Setting of the I/O com- SW1
16 bytes/17 bytes
munication mode
3 1
Short-circuit between 3 and 2: 16-byte mode
SW1
(Default setting)
16 bytes/17 bytes
Sets the I/O communication mode. The position of the SW1 jumper
pin determines whether the mode is set to 16-bytes or 17-bytes.
N OT E Do not set S1 to 0 or F. Do not set more than one board to one ST#.
Improper setting may prevent the I/O module from being recognized correctly.
3-2
4 Mounting the XOI01 Board
WARNING
• Before wiring, be sure to turn OFF the power supply and put up a warn-
ing 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
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.
• 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.
• 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 sur-
face may result in an injury.
• Never give any shock to the board.
The shock may damage the board.
4-2
4.1 Opening Front Door of the XRC
4.1 Opening Front Door of the XRC
Mount the XOI01 board in the following manner.

1. Turn the two door locks on the front face of the XRC clockwise for 90° with a coin or a flat-
tipped screwdriver.
Door lock
Clockwise
Flat tipped screwdriver
2. With the door locks turned clockwise for 90°, turn the main switch handle to the “OPEN
RESET” position, and slowly open the door.
ON
IP
TR
SET
OFF
RE
T
SE
N
RE
E OP
EN
OP
4.2 Confirming the Switch Settings on the XOI01 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 Mounting the XOI01 Board on the XRC
1. Be sure that the main power supply is OFF.

2. Fix the XOI01 board on the XRC with the board fixing screws securely tightened.
4-3
4.4 Connecting Each Cable
1. Connect the 24 VDC power supply cable to the CN02 on the XOI01 board.
2. Connect the I/O communication cable to the CN01 on the XOI01 board. Disconnect the
terminal connector from CN02 on the JZNC-XIU01 unit, and connect it to the non-occu-
pied CN01 on the XOI01 board.
3. Connect the I/O cables to CN10 through CN13 on the XOI01 board.
24 VDC power cable
JZNC-XIU01-
CN28 CN29 CN30
CN07
JARCR-
XOI01
CN06
CN02
CN26
CN27
CN05
I/O cable 1 I/O cable 2

CN24 CN25
CN04
CN13
CN12
CN22
CN23
I/O cable 3 I/O cable 4

CN03
CN21
CN11
CN10
CN02
S1
CN20
CN01
Terminal connector CN01
I/O communication cable
4-4
A dummy connector is inserted into the CN02 of the 24VDC power supply connector on the
N OT E XOI01 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
24V
2
24VU
Not used Dummy connector
Not used
* Do not remove the dummy connector inserted in this position.
5
24V
6
24VU
CN02
24VDC power
cable 24VDC power
1
1
cable
2
2
3
3
4
4
5
5
24VDC power
cable
6
6
CN02 CN02 CN02
Correct Connecting Position 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
4.5 Closing the Front Door of the XRC
4.5 Closing the Front Door of the XRC
1. Turn the main switch handle, which is now in the OFF position, to the “OPEN RESET”
position, and then slowly close the door.
ON
IP
TR
OFF T
SE
RE
EN
OP
2. Turn the two door locks counterclockwise for 90°.
Flat tipped screwdriver
Counter clockwise
Door lock
4-6
5.1 I/O Module Setting
5 I/O Signal Allocation
In order to use a XOI01 board on the XRC, perform the I/O module setting in the following
manner.
Make sure that the power supply to the XRC is OFF. Then, mount the XOI01 board, for which
all of its switches have been set, inside the XRC. For the board mounting method, refer to “4.
Mounting the XOI01 board”.
SUPPLE-
Add an I/O module in the management mode.
MENT In the operation mode and the editing mode, the settings are for reference only.
Operation
Turn ON the power supply, pressing [TOP MENU] Set the mode to the “MANAGE-
*1
MENT MODE” Select {SYSTEM} from the top menu Select {SETUP}*2
Select {I/O MODULE}*3 Confirm the status of the mounted I/O module *4
Press
*5
[ENTER] Press [ENTER] Select “YES”
Explanation
*1 When the top menu appears, change the security mode to the “MAINTENANCE
MODE”. Then select {SYSTEM}.
SECURITY
YASKAWA MODE
SYSTEM FILE TOOL
!Maintenance Mode
5-1
*2 Move the cursor to {SETUP} in the system display and press [SELECT].
SETUP VERSION
!Maintenance Mode
*3 Select the {I/O MODULE} in the setup display.
SETUP
LANGUAGE The items marked with n cannot be used.

CONTROL GROUP
APPLICATION
IO MODULE
OPTION BOARD
CMOS MEMORY
DATE CLOCK
!Maintenance Mode
*4 The current mounted status of the I/O modules appears as in the following example.
IO MODULE
ST#01 DI-008 DO-008 AO-003 JANCD-XEW01 S1:(1)

ST#02 NONE
ST#03 NONE
ST#04 NONE
ST#05 NONE
ST#06 NONE
ST#07 NONE
ST#08 DI-040 DO-040 JARCR-XOI01 S1:(8)
!Maintenance Mode
Press [ENTER] to display the module mounted status for the rest of the stations.
IO MODULE
ST#09 NONE
ST#10 NONE
ST#11 NONE
ST#12 NONE
ST#13 NONE
ST#14 NONE
ST#15 DI-040 DO-040 JANCD-XIO01 (XIO02)
!Maintenance Mode
5-2
Confirm that each station (ST#) indicates the actual mounted status of the I/O module.
DI - 016
Number of points
Type DI: Digital input
DO: Digital output
AI: Analog input
AO: Analog output
In the example shown on the display, the configuration of boards are as follows. Both
“ST#08” and “ST#15” show “DI-040 DO-040”, because the numbers of I/O points on
the XOI01 board and the XIO01 (XIO02) are the same; DI-040 DO-040.
ST#01: JANCD-XEW01 board (digital input 8 points, digital output 8 points, analog out-
put 3 points)
Switch S1: Set to 1 (this value becomes the ST#.)
ST#08: XOI01 board (digital input 40 points, digital output 40 points)
Switch S1: Set to 8 (this value becomes the ST#.)
ST#15: XIO01 (XIO02) board (digital input 40 points, digital output 40 points)
This board is fixed to ST#15.
If the display does not indicate the actual mounted status, recheck the cable connection
N OT E and the switch setting.
If the mounted status is correct (but the display does not correspond), the following causes
are suspected.
• Improper I/O communication settings

The setting of SW1 on the XOI01 board and CN10 on the XIO01 board are not the same.
When these settings are different, the XRC cannot recognize the board.
The default setting of the XOI01 board is 16-byte mode.
When the XIO01 board is set to 17-bytes, reset the XOI01 board to 17-bytes.
• Improper or overlapped station settings

One optional board can be selected for each station. Check if SW1 is not used for a
board by changing the S1 setting. S1 cannot be set to 0, because no station is allocated
to 0.
(S1: F (ST#15) is only for the XIO01 (XIO02) board. Do not select it for other boards.)
• Non-applicable system software versions

Old system software versions are not applicable for the XOI01 board. With old system
software versions, even with the correct settings, the number of I/O points for the XOI01
board does not appear. Check the system software version number, and change to soft-
ware applicable for the board. Use system software version X1.80A (xx)-00 or later.
• 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 con-
nection 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.
5-3
5.2 I/O Data
*5 The confirmation dialog box appears. 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.
IO MODULE
ST#09
ST#10 Initialize?
ST#11
ST#12
ST#13 YES NO
ST#14
ST#15 DI-040 DO-040
!Maintenance Mode
5.2 I/O Data
The data to be transferred from the XOI01 board to the inside of the XRC is of 40 input points
(5 bytes) and 40 output points (5 bytes). The I/O data of the XOI01 board is allocated to exter-
nal I/O signals of concurrent I/O.
Concurrent I/O XOI01 board
< Input
Input
2010 to 2327
device
(256 inputs)
I/O communication
and transfer to the
< Output
XRC
3010 to 3327 Output
(256 outputs) device
When only a XOI01 board is mounted as an optional I/O board, the concurrent I/O allocation
of each board is as follows.
(2010 to 2057 and 3010 to 3057 are used for standard I/O of the XRC.)
Input Output
2060 to 2067: CN12 3060 to 3067: CN12
2070 to 2077: CN12, 13 3070 to 3077: CN12, 13
2080 to 2087: CN13 3080 to 3087: CN13
2090 to 2097: CN10 3090 to 3097: CN10
2100 to 2107: CN11 3100 to 3107: CN11
5-4
6.1 Input Circuit
6 I/O Circuits
• When an internal power supply is used for the I/O power supply, the allocation to the 24
N OT E VDC internal power supply of the XRC is approximately 1 A. If the total current consump-
tion of the I/O circuits including that of other I/O boards (such as the XIO02 board)
exceeds 1 A, use an external power supply.
• 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. How-
ever, 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 XOI01 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 + 24V common
Connection example
+24VU Inside the board
Photocoupler
Internal
circuit
Switch
i (8mA max.)
024VU
6-1
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 switching, 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).
When connecting an induction load to the output circuit, connect a fly-wheel diode in paral-
N OT E lel 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 lim-
iting resistance in series to the load, so that the output current does not exceed its maxi-
mum value. Exceeding the maximum output current value may damage the output circuit.
6.2.1 Output Circuit 1 CN12 and CN13 (Transistor Output)
Circuit structure Transistor open-collector output
Output current (max.) 50 mA per one point
Common +24 V common
Connection example
+24VU
i (50mA max.)
Inside the board
Photocoupler
Internal
LED R
circuit
024VU
6-2
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 0.1 VDC, 0.1 mA

for contact
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
Fly-wheel diode
Internal
24VU
circuit
6-3
6.3 Connection Example
The following are allocation examples when the XOI01 board is added to the XRC: arc-weld-
ing, handling, and general-purpose applications; and spot-welding applications.
These examples are applied when only one XOI01 board is used as an optional I/O board.
When any other optional I/O boards are added, the XOI01 board allocation will be changed
depending on the I/O board allocation.
6.3.1 Arc Welding, Handling, and General-Purpose

Applications
6-4
CN12 General-purpose I/O

(for arc welding, handling, and general-purpose applications)
YASNAC-XRC Connector terminal converter

(Optional)
+24VU Model: PX7D-40V6-R
CN12 connector
Each point Logic Con- Terminal
Name Signal
24 VDC No. nector No.
8 mA max. 2060 B1 IN17 IN B1 2
2061 A1 IN18 IN A1 1
2062 B2 IN19 IN B2 4
JARCR-XOI01
2063 A2 IN20 IN A2 3
2064 B3 IN21 IN B3 6
2065 A3 IN22 IN A3 5
2066 B4 IN23 IN B4 8
2067 A4 IN242 IN A4 7
2070 B5 IN25 IN B5 10
2071 A5 IN26 IN A5 9
2072 B6 IN27 IN B6 12
2073 A6 IN28 IN A6 11
B7 024VU B7 14
A7 024VU A7 13
3060 B8 OUT17 OUT B8 16
3061 A8 OUT18 OUT A8 15
3062 B9 OUT19 OUT B9 18
3063 A9 OUT20 OUT A9 17
3064 B10 OUT21 OUT B10 20
3065 A10 OUT22 OUT A10 19
3066 B11 OUT23 OUT B11 22
3067 A11 OUT24 OUT A11 21
3070 B12 OUT25 OUT B12 24
3071 A12 OUT26 OUT A12 23
3072 B13 OUT27 OUT B13 26
Each point
3073 A13 OUT28 OUT A13 25
24 VDC
50 mA max. B14 B14 28
A14 A14 27
B15 B15 30
A15 A15 29
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
power B17 024VU B17 34
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
(24V, 1A)
External A18 +24VU A18 35
power +24VU
supply -7
B19 +24VU B19 38
+24VE
-8 024VU A19 +24VU A19 37
024VE
B20 FG B20 40
A20 A20 39
* Remove the jumper pin between CN26-9 and -7 and between CN-10 and
-8 on the JZNC-XIU01 when an external power supply is used.
6-5


(Optional)
CN13 connector
Each point Logic Con- Name Signal Terminal
No. nector No.
24 VDC
8 mA max. 2074 B1 IN29 IN B1 2
2075 A1 IN30 IN A1 1
2076 B2 IN31 IN B2 4
JARCR-XOI01
2077 A2 IN32 IN A2 3
2080 B3 IN33 IN B3 6
2081 A3 IN34 IN A3 5
2082 B4 IN35 IN B4 8
2083 A4 IN362 IN A4 7
2084 B5 IN37 IN B5 10
2085 A5 IN38 IN A5 9
2086 B6 IN39 IN B6 12
2087 A6 IN40 IN A6 11
B7 024VU B7 14
A7 024VU A7 13
3074 B8 OUT29 OUT B8 16
3075 A8 OUT30 OUT A8 15
3076 B9 OUT31 OUT B9 18
3077 A9 OUT32 OUT A9 17
3080 B10 OUT33 OUT B10 20
3081 A10 OUT34 OUT A10 19
3082 B11 OUT35 OUT B11 22
3083 A11 OUT36 OUT A11 21
3084 B12 OUT37 OUT B12 24
3082 A12 OUT38 OUT A12 23
3086 B13 OUT39 OUT B13 26
Each point 3087 A13 OUT40 OUT A13 25
24 VDC B14 B14 28
50 mA max.
A14 A14 27
B15 B15 30
A15 A15 29
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
24V, 1A
power +24VU
supply -7
B19 +24VU B19 38
+24VE
-8 024VU A19 +24VU A19 37
024VE
B20 FG B20 40
A20 A20 39
6-6


(Optional)
CN10 connector
Name Signal
8 mA max. 2090 B1 IN41 IN B1 2
2091 A1 IN42 IN A1 1
2092 B2 IN43 IN B2 4
JARCR-XOI01
2093 A2 IN44 IN A2 3
2094 B3 IN45 IN B3 6
2095 A3 IN46 IN A3 5
2096 B4 IN47 IN B4 8
2097 A4 IN48 IN A4 7
B5 10
A5 9
B6 12
A6 11
B7 024VU B7 14
A7 024VU A7 13
3090 B8 OUT41- OUT B8 16
A8 OUT41+ OUT A8 15 RLY
3091 B9 OUT42- OUT B9 18
3092 B10 OUT43- OUT B10 20
3093 B11 OUT44- OUT B11 22
3094 B12 OUT45- OUT B12 24
3095 B13 OUT46- OUT B13 26
Each point
24 VDC 3096 B14 OUT47- OUT B14 28
50 mA max. A14 OUT47+ OUT A14 27 RLY
3097 B15 OUT48- OUT B15 30
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26
Internal B17 024VU B17 34
-9 power
supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
(24V, 1A) * indicates an internal relay.
power
supply -7 +24VU RLY indicates .
B19 +24VU B19 38
+24VE
-8 024VU A19 +24VU A19 37
024VE
B20 FG B20 40
A20 A20 39
6-7


(Optional)
CN11 connector
8 mA max. 2100 B1 IN49 IN B1 2
2101 A1 IN50 IN A1 1
2102 B2 IN51 IN B2 4
JARCR-XOI01
2103 A2 IN52 IN A2 3
2104 B3 IN53 IN B3 6
2105 A3 IN54 IN A3 5
2106 B4 IN55 IN B4 8
2107 A4 IN56 IN A4 7
B5 10
A5 9
B6 12
A6 11
B7 024VU B7 14
A7 024VU A7 13
3100 B8 OUT49- OUT B8 16
3101 B9 OUT50- OUT B9 18
3102 B10 OUT51- OUT B10 20
3103 B11 OUT52- OUT B11 22
3104 B12 OUT53- OUT B12 24
3105 B13 OUT54- OUT B13 26
Each point
24 VDC 3106 B14 OUT55- OUT B14 28
3107 B15 OUT56- OUT B15 30
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
External
A18 +24VU A18 35
power
B19 +24VU B19 38
+24VE
024VE -8 024VU A19 +24VU A19 37
B20 FG B20 40
A20 A20 39
6-8
6.3.2 Spot Welding

CN12 General-purpose I/O (for spot welding)

(Optional)
CN12 connector
Name Signal
8 mA max. 2060 B1 IN25 IN B1 2
2061 A1 IN26 IN A1 1
2062 B2 IN27 IN B2 4
JARCR-XOI01
2063 A2 IN28 IN A2 3
2064 B3 IN29 IN B3 6
2065 A3 IN30 IN A3 5
2066 B4 IN31 IN B4 8
2067 A4 IN322 IN A4 7
2070 B5 IN33 IN B5 10
2071 A5 IN34 IN A5 9
2072 B6 IN35 IN B6 12
2073 A6 IN36 IN A6 11
B7 024VU B7 14
A7 024VU A7 13
3060 B8 OUT25 OUT B8 16
3061 A8 OUT26 OUT A8 15
3062 B9 OUT27 OUT B9 18
3063 A9 OUT28 OUT A9 17
3064 B10 OUT29 OUT B10 20
3065 A10 OUT30 OUT A10 19
3066 B11 OUT31 OUT B11 22
3067 A11 OUT32 OUT A11 21
3070 B12 OUT33 OUT B12 24
3071 A12 OUT34 OUT A12 23
3072 B13 OUT35 OUT B13 26
Each point
3073 A13 OUT36 OUT A13 25
24 VDC
50 mA max. B14 B14 28
A14 A14 27
B15 B15 30
A15 A15 29
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26
Internal B17 024VU B17 34
-9 power
supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
(24V, 1A)
power +24VU
supply -7
B19 +24VU B19 38
+24VE
-8 024VU A19 +24VU A19 37
024VE
B20 FG B20 40
A20 A20 39
6-9

(Optional)
CN13 connector
Name Signal
8 mA max. 2074 B1 IN37 IN B1 2
2075 A1 IN38 IN A1 1
2076 B2 IN39 IN B2 4
JARCR-XOI01
2077 A2 IN40 IN A2 3
2080 B3 IN41 IN B3 6
2081 A3 IN42 IN A3 5
2082 B4 IN43 IN B4 8
2083 A4 IN442 IN A4 7
2084 B5 IN45 IN B5 10
2085 A5 IN46 IN A5 9
2086 B6 IN47 IN B6 12
2087 A6 IN48 IN A6 11
B7 024VU B7 14
A7 024VU A7 13
3074 B8 OUT37 OUT B8 16
3075 A8 OUT38 OUT A8 15
3076 B9 OUT39 OUT B9 18
3077 A9 OUT40 OUT A9 17
3080 B10 OUT41 OUT B10 20
3081 A10 OUT42 OUT A10 19
3082 B11 OUT43 OUT B11 22
3083 A11 OUT44 OUT A11 21
3084 B12 OUT45 OUT B12 24
3082 A12 OUT46 OUT A12 23
3086 B13 OUT47 OUT B13 26
Each point
3087 A13 OUT48 OUT A13 25
24 VDC
50 mA max. B14 B14 28
A14 A14 27
B15 B15 30
A15 A15 29
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
(24V, 1A)
power +24VU
supply -7
B19 +24VU B19 38
+24VE
-8 024VU A19 +24VU A19 37
024VE
B20 FG B20 40
A20 A20 39
6-10

(Optional)
CN10 connector
8 mA max. 2090 B1 IN49 IN B1 2
2091 A1 IN50 IN A1 1
2092 B2 IN51 IN B2 4
JARCR-XOI01
2093 A2 IN52 IN A2 3
2094 B3 IN53 IN B3 6
2095 A3 IN54 IN A3 5
2096 B4 IN55 IN B4 8
2097 A4 IN56 IN A4 7
B5 10
A5 9
B6 12
A6 11
B7 024VU B7 14
A7 024VU A7 13
3090 B8 OUT49- OUT B8 16
3091 B9 OUT50- OUT B9 18
3092 B10 OUT51- OUT B10 20
3093 B11 OUT52- OUT B11 22
3094 B12 OUT53- OUT B12 24
3095 B13 OUT54- OUT B13 26
Each point
24 VDC 3096 B14 OUT55- OUT B14 28
3097 B15 OUT56- OUT B15 30
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
External
24V, 1A) * indicates an internal relay.
A18 +24VU A18 35
power
B19 +24VU B19 38
+24VE
024VE -8 024VU A19 +24VU A19 37
B20 FG B20 40
A20 A20 39
6-11

(Optional)
CN11 connector
8 mA max. 2100 B1 IN57 IN B1 2
2101 A1 IN58 IN A1 1
2102 B2 IN59 IN B2 4
JARCR-XOI01
2103 A2 IN60 IN A2 3
2104 B3 IN61 IN B3 6
2105 A3 IN62 IN A3 5
2106 B4 IN63 IN B4 8
2107 A4 IN64 IN A4 7
B5 10
A5 9
B6 12
A6 11
B7 024VU B7 14
A7 024VU A7 13
3100 B8 OUT57- OUT B8 16
3101 B9 OUT58- OUT B9 18
3102 B10 OUT59- OUT B10 20
3103 B11 OUT60- OUT B11 22
3104 B12 OUT61- OUT B12 24
3105 B13 OUT62- OUT B13 26
Each point
24 VDC 3106 B14 OUT63- OUT B14 28
3107 B15 OUT64- OUT B15 30
B16 024VU B16 32
JZNC-XIU01
A16 024VU A16 31
CN26 Internal
-9 supply
A17 024VU A17 33
-10 +24V
024V B18 +24VU B18 36
External
A18 +24VU A18 35
power
B19 +24VU B19 38
+24VE
024VE -8 024VU A19 +24VU A19 37
B20 FG B20 40
A20 A20 39
6-12
YASNAC XRC OPTIONS
INSTRUCTIONS
FOR JARCR-XOI01 BOARD
TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
YASKAWA MOTOMAN CANADA LTD.
2280 Argentia Road, Mississauga, Ontario, L5N 6H8, Canada
Phone 1-905-813-5901 Fax 1-905-813-5911
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics Europe AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFIC
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, Beijing 100083, China
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878
YASKAWA ELECTRIC CORPORATION
YASKAWA
Specifications are subject to change without notice MANUAL NO. HW9482777 1

for ongoing product modifications and improvements. C Printed in Japan December 1999 99-12

XOI01 Board Instruction Manual: XRC Controller

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XOI01 Board Instruction Manual: XRC Controller

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XRC Controller

January 31, 2001

MOTOMAN i XOI01 Board Instructions

XOI01 Board Instructions ii MOTOMAN

1.2 Reference to Other Documentation

1.3 Customer Service Information

MOTOMAN 1-1 XOI01 Board Instructions

XOI01 Board Instructions 1-2 MOTOMAN

It is the purchaser's responsibility to ensure that all local, county,

MOTOMAN 2-1 XOI01 Board Instructions

2.2 Standard Conventions

XOI01 Board Instructions 2-2 MOTOMAN

2.3 General Safeguarding Tips

2.4 Mechanical Safety Devices

MOTOMAN 2-3 XOI01 Board Instructions

2.5 Installation Safety

2.6 Programming Safety

XOI01 Board Instructions 2-4 MOTOMAN

• Inspect the robot and work envelope to be sure no potentially hazardous

2.7 Operation Safety

MOTOMAN 2-5 XOI01 Board Instructions

2.8 Maintenance Safety

XOI01 Board Instructions 2-6 MOTOMAN

YASNAC XRC OPTIONS

YASKAWA MANUAL NO. HW9482777 1

• General items related to safety are listed in Section 1: Safety of the

• The drawings and photos in this manual are representative examples

• If your copy of the manual is damaged or lost, contact a YASKAWA rep-

• YASKAWA is not responsible for incidents arising from unauthorized

Indicates a potentially hazardous situation which, if not avoided,

Indicates a potentially hazardous situation which, if not avoided,

Always be sure to follow explicitly the items listed under this

PROHIBITED Must never be performed.

Emergency Stop Button

Injury may result from unintentional or unexpected manipulator motion.

Release of Emergency Sto

• Observe the following precautions when performing teaching operations

Improper or unintended manipulator operation may result in injury.

• Confirm that no persons are present in the manipulator’s work envelope

Improper usage of the board may damage the board.

Definition of Terms Used Often in This Manual

Equipment Manual Designation

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

Equipment Manual Designation

Keys pressed When two keys are to be pressed simultaneously,

Displays The menu displayed in the programming pendant is

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

Description of the Operation Procedure

3 Setting the Functions

4 Mounting the XOI01 Board

5 I/O Signal Allocation

" System Configuration Example

XOI01 board LED

2.1 Board External View

CN02 F2 24 VDC power supply connector

F1 and F2: Fuse 3 A 250 V CN02

CN12 General-purpose I/O connector