QuoteWich outputs are witches
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:
CIO for Beginners
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…
and this site for the manual:
Motoman Robot & Controller Manuals
You need the CIO manual and the YRC instructions manual.