Specifications

APPLICATION
Compact
single-axis robots
TRANSERVO
Single-axis robots
FLIP-X
Linear motor
single-axis robots
PHASER
Cartesian
robots
XY-X
SCARA
robots
YK-XG
Pick & place
robots
YP-X CLEAN
CONTROLLER
INFORMATION
402
Robot
positioner
Pulse string
driver
Robot
controller iVY
Option
Electric
gripper
I/O signals (NPN / PNP)
No. Signal Name Description No. Signal Name Description
A1
+COM
I/O power input, positive common
(24VDC +/-10%)
B1 POUT0
Outputs
Point No. outputs
A2 B2 POUT1
A3 NC
No connection
B3 POUT2
A4 NC B4 POUT3
A5 PIN0
Inputs
Point No. select
B5 POUT4
A6 PIN1 B6 POUT5
A7 PIN2 B7 POUT6
A8 PIN3 B8 POUT7
A9 PIN4 B9 OUT0
OUT0 to OUT3 assignments include:
• Zone output
• Personal zone output
• MANUAL mode status
• Return-to-origin end status
• NEAR output
• Movement-in-progress
• Push status
• Warning output
A10 PIN5 B10 OUT1
A11 PIN6 B11 OUT2
A12 PIN7 B12 OUT3
A13 JOG+ JOG movement (+ direction) B13 BUSY Operation-in-progress
A14 JOG- JOG movement (- direction) B14 END Operation-end
A15 MANUAL MANUAL mode B15 /ALM Alarm
A16 ORG Return-to-origin B16 SRV-S Servo status
A17 /LOCK Interlock B17 NC
No connection
A18 START Start B18 NC
A19 RESET Reset B19
-COM I/O power input, negative common (0V)
A20 SERVO Servo ON B20
TS-S/TS-X/TS-P
NPN type I/O circuit details
Input circuit
DC24V
Logic
circuit
Internal
circuit
4.7kΩ
+COM
Input
-COM
Type :
Load :
DC input (plus common type)
Photo-coupler isolation format
24VDC +/- 10%, 5.1mA
OFF voltage : 19.6Vmin (1.0mA)
ON voltage : 4.9Vmax (4.0mA)
Output circuit
DC24V
Logic
circuit
Internal
circuit
Output
Load
+COM
-COM
Type :
Load :
NPN open collector output
(Minus common type)
Photo-coupler isolation format
24VDC, 50mA/point
PNP type I/O circuit details
Input circuit
DC24V
Logic
circuit
Internal
circuit
4.7kΩ
Input
+COM
-COM
Type :
Load :
DC input (minus common type)
Photo-coupler isolation format
24VDC +/- 10%, 5.5mA
ON voltage : 19.6Vmin (4.5mA)
OFF voltage : 4.9Vmax (1.1mA)
Output circuit
DC24V
Logic
circuit
Internal
circuit
Load
Output
+COM
-COM
Type :
Load :
PNP open collector output
(Plus common type)
Photo-coupler isolation format
24VDC, 50mA/point