I/O module, wich outputs are which

    For my thesis, I am working on automating a manual laser welding machine using a Yaskawa HC10 robot. To achieve this, I need to bypass the trigger of the laser gun. I have installed an I/O module (8325020) in the YRC1000 controller cabinet for this purpose.

    The issue I am facing is correctly measuring the outputs. Using the Smart Teaching Pendant, I can easily set the outputs high and low, but I cannot figure out which outputs correspond to which "holes" (pins) on the I/O module. It’s also possible that I am measuring incorrectly.

    My question:
    Is there a clear overview or diagram available that shows which outputs correspond to which pins? Or does anyone have tips on how to measure the outputs correctly?

    Thanks in advance for your help!

    Quote

    Wich outputs are witches:spider_web:

    If nobody touches your ladder the signals are programmed in that way:

    EXTERNAL INPUT: 20010 - 20050

    EXTERNAL OUTPUT: 30010 - 30050

    The IO module(the green ones) are named CN306,CN307,CN308 and CN309(the flat cable connections). Depends on the settings some signal could be already setted to specific value.

    For example, if your controller is setted for General Application and nobody have touched your ladder, the signal settings are:

    CN308(don't touch): IN[2001-20023]; OUT[30010-30023], is used by yaskawa to specify play mode, home position, external start, etc..

    CN309(free): IN[20030-30037]; OUT[30030-30037]

    CN306(free): IN[20040-20047]; OUT[30040-30047]

    CN307(free): IN[20050-20057]; OUT[30050-30057]

    I recommend to you this part of the forum:

    Thread

    CIO for Beginners

    There are a few different types of Inputs and Outputs in a Motoman... the easiest way I can explain it is like this:

    Specific I/O - This is the bits you use for system related functions. ie. Specific inputs will turn on things such as servo power, set to play mode, etc... Specific outputs will give you the status of your robot. ie. In teach, in remote, etc...

    Universal I/O - This is the I/O that you access from your robot jobs. For instance, in a program you would turn on a solenoid by using the…
    smith_scott
    September 15, 2010 at 3:09 AM

    and this site for the manual:

    Motoman Robot & Controller Manuals

    You need the CIO manual and the YRC instructions manual.

    I tried connecting this to the I/O module, but when I attempt to connect it, I can no longer measure anything on the pins. When I disconnect it again, I suddenly can’t control this pin anymore, and it remains high. What could be the issue, and how can I resolve this?

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