YASKAWA MOTOMAN FS100 Manual de usuario

MANUAL NO.

164104-1CD

Part Number: 164104-1CD

Revision: 0

FS100

OPTION ADDENDUM

FOR EXPANDED I/O MAPPING

Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain

for future reference.

MOTOMAN INSTRUCTIONS

FS100 I/O MAPPING MANUAL

FS100 INSTRUCTIONS

FS100 OPERATOR’S MANUAL

FS100 MAINTENANCE MANUAL

The FS100 operator’s manual above corresponds to specific usage.

Be sure to use the appropriate manual.

164104-1CD

FS100

Introduction

This addendum supplies the instructions for the expanded Input/Output 

(I/O) mapping of the FS100.

MANDATORY

General items related to safety are listed in Section 2 of the FS100

Controller Manual. To ensure correct and safe operation, carefully read

the FS100 Controller Manual before reading this manual.

CAUTION

• Yaskawa Motoman may modify this model without notice when

necessary due to product improvements, or changes in

specifications.

• If such a modification is made, the manual number will also be

revised.

• If the addendum is damaged or lost, contact a Yaskawa Motoman

Customer Service Representative to order a new copy. The

representatives are listed on the back cover of this addendum. 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 the

products warranty.

164104-1CD

FS100

List of Tables

FS100 Standard I/O LIO-08R Circuit Board - Connector CN2 ...............................................5

FS100 Standard I/O LIO-08R Circuit Board - Connector CN1 ...............................................6

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A ......................................8

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A ......................................9

FS100 Expanded I/O LIO-08R-B Circuit Board - Connector CN-2B ....................................11

FS100 Expanded I/O LIO-08R-B Circuit Board - Connector CN-1B ....................................12

FS100 Expanded I/O LIO-08R-C Circuit Board - Connector CN2-C ....................................14

FS100 Expanded I/O LIO-08R-C Circuit Board - Connector CN1-C ....................................15

FS100 Expanded I/O LIO-08R-D Circuit Board - Connector CN2-D ....................................17

FS100 Expanded I/O LIO-08R-D Circuit Board - Connector CN1-D ....................................18

FS100 Standard I/O LIO-08R Circuit Board - Connector CN2

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FS100

FS100 Standard I/O LIO-08R Circuit Board - Connector CN2

CN2 Pin # CI/O Description Signal Type Inform Name

159804-2

Breakout Card

Pin #

1n/a Input common 1

5n/a Input common 2 5

220010 External Start Input n/a 2

20 20011 External Hold Input n/a 21

320012 Call master job Input n/a 3

21 20013 Alarm/Error reset Input n/a 22

420014 External Servo ON Input n/a 4

22 20015 Select Play mode Input n/a 23

620016 Select Teach mode Input n/a 6

24 20017 Digital Input 7 Input n/a 25

720020 Digital Input 8 Input n/a 7

25 20021 Digital Input 9 Input n/a 26

820022 Work prohibited Input n/a 8

26 20023 Digital Input 11 Input n/a 27

20024 n/a n/a n/a

20025 n/a n/a n/a

20026 n/a n/a n/a

20027 n/a n/a n/a

9n/a Input Common 1_24V 9

27 n/a Input Common 2_24V 28

19 n/a Input Common 1_0V 20

23 n/a Input Common 2_0V 24

13 n/a 24V for output load 13

16 n/a 24V for output load 16

31 n/a 24V for output load 32

10 30010 Running Output n/a 10

28 30011 Servo ON Output n/a 29

11 30012 Top of master job Output n/a 11

29 30013 Alarm/error occurred Output n/a 30

14 30014 Battery alarm Output n/a 14

32 30015 Remote mode selected Output n/a 33

15 30016 Play mode selected Output n/a 15

33 30017 Teach mode selected Output n/a 34

17 30020 In cube 1 Output n/a 17

35 30021 Digital Output 9 Output n/a 36

18 30022 Work home position Output n/a 18

36 30023 Intermediate start OK Output n/a 37

30024 n/a n/a n/a

30025 n/a n/a n/a

30026 n/a n/a n/a

30027 n/a n/a n/a

FS100 Standard I/O LIO-08R Circuit Board - Connector CN1

164104-1CD

FS100

FS100 Standard I/O LIO-08R Circuit Board - Connector CN1

CN1 Pin # CI/O Description Signal

Type Inform Name 159804-3 Break-

out Card Pin #

1Input common 3 1

6Input common 4 6

220030 User Input Input IN#(1) 2

27 20031 User Input Input IN#(2) 19

320032 User Input Input IN#(3) 3

28 20033 User Input Input IN#(4) 20

420034 User Input Input IN#(5) 4

29 20035 User Input Input IN#(6) 21

520036 User Input Input IN#(7) 5

30 20037 User Input Input IN#(8) 22

720040 User Input Input IN#(9) 7

32 20041 User Input Input IN#(10) 24

820042 User Input Input IN#(11) 8

33 20043 User Input Input IN#(12) 25

920044 User Input Input IN#(13) 9

34 20045 User Input Input IN#(14) 26

10 20046 User Input Input IN#(15) 10

35 20047 User Input Input IN#(16) 27

20050-7 LIO-08R Status bits Status IN#(17-24)

20060-7 LIO-08R Status bits Status IN#(25-32)

11 Input common 3_24V 11

36 Input common 4_24V 28

26 Input common 3_0V 18

31 Input common 4_0V 23

15 +24V for output load 15

22 +24V for output load 42

25 +24V for output load 48

40 +24V for output load 32

47 +24V for output load 43

12 30030 User Output Output OT#(1) 12

37 30031 User Output Output OT#(2) 29

13 30032 User Output Output OT#(3) 13

38 30033 User Output Output OT#(4) 30

16 30034 User Output Output OT#(5) 16

41 30035 User Output Output OT#(6) 33

17 30036 User Output Output OT#(7) 17

42 30037 User Output Output OT#(8) 50

19 30040 User Output Output OT#(9) 36

44 30041 User Output Output OT#(10) 37

20 30042 User Output Output OT#(11) 38

45 30043 User Output Output OT#(12) 39

23 30044 User Output Output OT#(13) 44

48 30045 User Output Output OT#(14) 45

164104-1CD

FS100

FS100 Standard I/O LIO-08R Circuit Board - Connector CN1

24 30046 User Output Output OT#(15) 46

49 30047 User Output Output OT#(16) 47

30050-7 System Reservation n/a n/a

30060-7 System Reservation n/a n/a

CN1 Pin # CI/O Description Signal

Type Inform Name 159804-3 Break-

out Card Pin #

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A

164104-1CD

FS100

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A

CN2 Pin # CI/O Description Signal

Type Inform Name 159804-2

Breakout Card

Pin #

1n/a Input common 1 1

5n/a Input common 2 5

220070 User Input Input IN#(33) 2

20 20071 User Input Input IN#(34) 21

320072 User Input Input IN#(35) 3

21 20073 User Input Input IN#(36) 22

420074 User Input Input IN#(37) 4

22 20075 User Input Input IN#(38) 23

620076 User Input Input IN#(39) 6

24 20077 User Input Input IN#(40) 25

720080 User Input Input IN#(41) 7

25 20081 User Input Input IN#(42) 26

820082 User Input Input IN#(43) 8

26 20083 User Input Input IN#(44) 27

20084 n/a n/a n/a

20085 n/a n/a n/a

20086 n/a n/a n/a

20087 n/a n/a n/a

9n/a Input Common 1_24V 9

27 n/a Input Common 2_24V 28

19 n/a Input Common 1_0V 20

23 n/a Input Common 2_0V 24

13 n/a 24V for output load 13

16 n/a 24V for output load 16

31 n/a 24V for output load 32

10 30070 User Output Output OT#(33) 10

28 30071 User Output Output OT#(34) 29

11 30072 User Output Output OT#(35) 11

29 30073 User Output Output OT#(36) 30

14 30074 User Output Output OT#(37) 14

32 30075 User Output Output OT#(38) 33

15 30076 User Output Output OT#(39) 15

33 30077 User Output Output OT#(40) 34

17 30080 User Output Output OT#(41) 17

35 30081 User Output Output OT#(42) 36

18 30082 User Output Output OT#(43) 18

36 30083 User Output Output OT#(44) 37

30084 n/a n/a n/a

30085 n/a n/a n/a

30086 n/a n/a n/a

30087 n/a n/a n/a

164104-1CD

FS100

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A

CN1 Pin # CI/O Description Signal

Type Inform Name 159804-3 Break-

out Card Pin #

1Input common 3 1

6Input common 4 6

220090 User Input Input IN#(49) 2

27 20091 User Input Input IN#(50) 19

320092 User Input Input IN#(51) 3

28 20093 User Input Input IN#(52) 20

420094 User Input Input IN#(53) 4

29 20095 User Input Input IN#(54) 21

520096 User Input Input IN#(55) 5

30 20097 User Input Input IN#(56) 22

720100 User Input Input IN#(57) 7

32 20101 User Input Input IN#(58) 24

820102 User Input Input IN#(59) 8

33 20103 User Input Input IN#(60) 25

920104 User Input Input IN#(61) 9

34 20105 User Input Input IN#(62) 26

10 20106 User Input Input IN#(63) 10

35 20107 User Input Input IN#(64) 27

20110-7 LIO-08R Status bits Status IN#(65-72)

20120-7 LIO-08R Status bits Status IN#(73-80)

11 Input common 3_24V 11

36 Input common 4_24V 28

26 Input common 3_0V 18

31 Input common 4_0V 23

15 +24V for output load 15

22 +24V for output load 42

25 +24V for output load 48

40 +24V for output load 32

47 +24V for output load 43

12 30090 User Output Output OT#(49) 12

37 30091 User Output Output OT#(50) 29

13 30092 User Output Output OT#(51) 13

38 30093 User Output Output OT#(52) 30

16 30094 User Output Output OT#(53) 16

41 30095 User Output Output OT#(54) 33

17 30096 User Output Output OT#(55) 17

42 30097 User Output Output OT#(56) 50

19 30100 User Output Output OT#(57) 36

44 30101 User Output Output OT#(58) 37

20 30102 User Output Output OT#(59) 38

45 30103 User Output Output OT#(60) 39

23 30104 User Output Output OT#(61) 44

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A

164104-1CD

FS100

48 30105 User Output Output OT#(62) 45

24 30106 User Output Output OT#(63) 46

49 30107 User Output Output OT#(64) 47

30110-7 System Reservation n/a 65-72

30120-7 System Reservation n/a 73-80

CN1 Pin # CI/O Description Signal

Type Inform Name 159804-3 Break-

out Card Pin #

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