Connecting the YASNAC MRC MOTOMAN

ROBOTICS
Page: 6 Board connections AB

3.3 MIO02-board
3.3.A CN1-terminal

+24V RLY
1-1 OUT 1 1
1-2 OUT 2 RLY
2
1-3 OUT 3 RLY
3
1-4 OUT 4 RLY
4
1-5 OUT 5 RLY
5
1-6 OUT 6 RLY
Each 6
OUTPUT Point 1-7 OUT 7 RLY
24VDC 7
max. 50 mA 1-8 OUT 8 8 RLY

1-9 OUT 9 9 RLY

CN1
1-10 OUT 10 10 RLY

1-11 OUT 11 11 RLY

YASNAC MRC
12 RLY
JANCD-MIO02 1-12 OUT 12
1-13 OUT 13 13 RLY

1-14 OUT 14 14 RLY

1-15 OUT 15 15 RLY

1-16 OUT 16 16 RLY

1-17 024VU 17
1-18 PE 18

JANCD-MBB02 1-19 +24VU 19

OUTPUT Terminal X8
1-20 +24VU 20
Internal CN 7/8 number
1-21 +24VU 21
power OT#
+24V 1-22 +24VU 22
024V
1-23 +24VU 23
(24V1A)
1-24 +24VU 24
1-25 +24VU 25
1-26 +24VU 26

External 1-27 27
power INPUT
1-28 28
+24V number
024V 1-29 024VU 29
IN#
CN 7/8 1-30 024VU 30
1-31 024VU 31
1-32 024VU 32
1-33 IN 1 33
1-34 IN 2 34
1-35 IN 3 35
1-36 IN 4 36
1-37 IN 5 37
024VU 1-38 IN 6 38
1-39 IN 7 39
1-40 IN 8 40
Each
INPUT Point 1-41 IN 9 41
24VDC
max. 5 mA 1-42 IN 10 42
1-43 IN 11 43
1-44 IN 12 44
1-45 IN 13 45
1-46 IN 14 46
1-47 IN 15 47
1-48 IN 16 48
1-49 024VU 49
1-50 024VU 50

Skapad: 98-10-05 Ändrad: 99-03-22 Filnamn: T:\M-ROBOT\ENGELSK\IO-MRC.fm

 MOTOMAN
ROBOTICS
Connecting the YASNAC MRC
AB Board connections Page: 7

3.3.B CN2-terminal

+24V RLY
2-1 OUT 17* 1
2-2 OUT 2 RLY
18*
2-3 OUT 3 RLY
19*
2-4 OUT 4 RLY
20*
2-5 OUT 5 RLY
21*
2-6 OUT 6 RLY
Each 22*
OUTPUT Point 2-7 OUT 7 RLY
24VDC 23*
max. 50 mA 2-8 OUT 24* 8 RLY

2-9 OUT 25* 9 RLY

CN2
2-10 OUT 26* 10 RLY

2-11 OUT 27* 11 RLY

YASNAC MRC
12 RLY
JANCD-MIO02 2-12 OUT 28*
2-13 OUT 29* 13 RLY

2-14 OUT 30* 14 RLY

2-15 OUT 31* 15 RLY

2-16 OUT 32* 16 RLY

2-17 024VU 17
2-18 PE 18

JANCD-MBB02 2-19 +24VU 19

OUTPUT
2-20 +24VU 20
Internal CN 7/8
number
2-21 +24VU 21
power OT#
+24V 2-22 +24VU 22
024V
2-23 +24VU 23
(24V1A)
2-24 +24VU 24
2-25 +24VU 25
2-26 +24VU 26

External 2-27 27
power
INPUT
2-28 28
+24V number
024V 2-29 024VU 29
IN#
CN 7/8 2-30 024VU 30
2-31 024VU 31
2-32 024VU 32
2-33 IN 17* 33
2-34 IN 18* 34
2-35 IN 19* 35
2-36 IN 20* 36
2-37 IN 21* 37
024VU 2-38 IN 22* 38
2-39 IN 23* 39
2-40 IN 24* 40
Each
INPUT Point 2-41 IN 25* 41
24VDC
max. 5 mA 2-42 IN 26* 42
2-43 IN 27* 43
2-44 IN 28* 44
2-45 IN 29* 45
2-46 IN 30* 46
2-47 IN 31* 47
2-48 IN 32* 48
2-49 024VU 49
2-50 024VU 50

Skapad: 98-10-05 Ändrad: 99-03-22 Filnamn: T:\M-ROBOT\ENGELSK\IO-MRC.fm

 Connecting the YASNAC MRC MOTOMAN
ROBOTICS
Page: 8 Board connections AB

3.3.C Reserved I/O

The following channels are reserved at standard setup of MIO02-board.

IO No. Ladder (CIO)

MIO02 General application Arc Welding application
CN2-1 Running Running
CN2-2 SERVO ON SERVO ON
CN2-3 Master Job Head Master Job Head
CN2-4 Alarm/Error occurance Alarm/Error occurance
CN2-5 Battery Alarm Battery Alarm
CN2-6 REMOTE Mode Selected REMOTE Mode Selected
Output channel

CN2-7 PLAY Mode Selected PLAY Mode Selected

CN2-8 TEACH Mode Selected TEACH Mode Selected
CN2-9 Inside Cube 1 Inside Cube 1
CN2-10 Inside Cube 2 Inside Cube 2
CN2-11 Working Origin Working Origin
CN2-12 Driving possible on the way Driving possible on the way
CN2-13 Inside Cube 3 Gas Run-out
CN2-14 Inside Cube 4 Wire Disconnected
CN2-15 Working directive Wire Sticking
CN2-16 --- Wire Inching + Arc ON
CN2-33 External Start External Start
CN2-34 --- ---
CN2-35 Master Job Call Master Job Call
CN2-36 Alarm/Error reset Alarm/Error reset
CN2-37 REMOTE Mode Select REMOTE Mode Select
CN2-38 PLAY Mode Select PLAY Mode Select
Input channel

CN2-39 TEACH Mode Select TEACH Mode Select

CN2-40 --- ---
CN2-41 Interfer. 1 Inhibit Interfer. 1 Inhibit
CN2-42 Interfer. 2 Inhibit Interfer. 2 Inhibit
CN2-43 Working Inhibit Arc Start Inhibit
CN2-44 --- Arc ON Response
CN2-45 Interfer. 3 Inhibit Air Missing
CN2-46 Interfer. 4 Inhibit ---
CN2-47 --- Weaving Inhibit
CN2-48 --- Sensing Inhibit

Skapad: 98-10-05 Ändrad: 99-03-22 Filnamn: T:\M-ROBOT\ENGELSK\IO-MRC.fm

 MOTOMAN
ROBOTICS
Connecting the YASNAC MRC
AB Board connections Page: 9

3.4 MIO03-board
3.4.A CN1-terminal

INPUT number IN#

YASNAC MRC CN1 Terminal X3

JANCD-MIO03

1-A1 +IN A1
121
2-B1 -IN B1
1-A2 +IN A2
122
1-B2 -IN B2
1-A3 +IN A3
123
1-B3 -IN B3
1-A4 +IN A4
124
Each 1-B4 -IN B4
INPUT Point
24VDC 1-A5 +IN A5
max. 5 mA 125
1-B5 -IN B5
1-A6 +IN A6
126
1-B6 -IN B6
1-A7 +IN A7
127
1-B7 -IN B7
1-A8 +IN A8
128
1-B8 -IN B8
1-A9 OUT A A9 RLY
121
1-B9 OUT B B9
1-A10 OUT A A10 RLY
122
1-B10 OUT B B10
1-A11 OUT A A11 RLY
123
Each 1-B11 OUT B B11
OUTPUT Point
24VDC 1-A12 OUT A A12 RLY
max. 0.5 A 124
1-B12 OUT B B12
1-A13 OUT A A13 RLY
125
1-B13 OUT B B13
1-A14 OUT A A14 RLY
126
1-B14 OUT B B14
1-A15 OUT A A15 RLY
127
1-B15 OUT B B15
1-A16 OUT A A16 RLY
128
1-B16 OUT B B16
JANCD-MBB02 1-A17 024VU A17

Internal 1-B17 024VU B17

CN 7/8
power 1-A18 024VU A18
+24V
024V 1-B18 024VU B18

(24V1A) 1-A19 +24VU A19

1-B19 +24VU B19
1-A20 +24VU A20
1-B20 B20
External
power
+24V
024V

CN 7/8 OUTPUT number OT#

Skapad: 98-10-05 Ändrad: 99-03-22 Filnamn: T:\M-ROBOT\ENGELSK\IO-MRC.fm

 Connecting the YASNAC MRC MOTOMAN
ROBOTICS
Page: 10 Board connections AB

3.4.B CN2-terminal

INPUT number IN#

YASNAC MRC CN2 Terminal (Option)

JANCD-MIO03

2-A1 +IN A1
113 B1
2-B1 -IN
2-A2 +IN A2
114 B2
2-B2 -IN
2-A3 +IN A3
115 B3
2-B3 -IN
Each
INPUT Point 2-A4 +IN A4
24VDC 116
max. 5 mA 2-B4 -IN B4

2-A5 +IN A5
117 B5
2-B5 -IN
2-A6 +IN A6
118 B6
2-B6 -IN
2-A7 +IN A7
119 B7
2-B7 -IN
2-A8 +IN A8
120 B8
2-B8 -IN
2-A9 OUT A A9 RLY
113 B9
2-B9 OUT B
2-A10 OUT A A10 RLY
114 B10
2-B10 OUT B
2-A11 OUT A A11 RLY
115 B11
Each 2-B11 OUT B
OUTPUT Point
24VDC 2-A12 OUT A A12 RLY
max. 0.5 A 116 B12
2-B12 OUT B
2-A13 OUT A A13 RLY
117 B13
2-B13 OUT B
2-A14 OUT A A14 RLY
118 B14
2-B14 OUT B
2-A15 OUT A A15 RLY
119 B15
2-B15 OUT B
2-A16 OUT A A16 RLY
120 B16
2-B16 OUT B
JANCD-MBB02 2-A17 024VU A17

Internal 2-B17 024VU B17

CN 7/8
power 2-A18 024VU A18
+24V
024V 2-B18 024VU B18

(24V1A) 2-A19 +24VU A19

2-B19 +24VU B19
2-A20 +24VU A20
2-B20 B20
External
power
+24V
024V

CN 7/8 OUTPUT number OT#

Skapad: 98-10-05 Ändrad: 99-03-22 Filnamn: T:\M-ROBOT\ENGELSK\IO-MRC.fm