Thanks for your answers.
i managed to make communication between siemens controller and dx100 controller. I made a connector according to the diagram and connected it. I connected the inputs and outputs according to the scheme. I paid attention to the robot inputs for servo on, program start, etc. When I connected all the inputs that I send from siemens, also specific ones such as servo on etc. I see them among the universal inputs. So when I turn on the output from siemens servo on, the servo on yaskawa does not turn on. What else needs to be done?
thanks.