YASKAWA MOTOMAN FS100 User manual

MANUAL NO.
0
164104-1CD
Part Number: 164104-1CD
Revision: 0
FS100
OPTION ADDENDUM
FOR EXPANDED I/O MAPPING
Upon receipt of the product and prior to initial operation, read these instructions thoroughly and retain
for future reference.
MOTOMAN INSTRUCTIONS
FS100 I/O MAPPING MANUAL
FS100 INSTRUCTIONS
FS100 OPERATOR’S MANUAL
FS100 MAINTENANCE MANUAL
The FS100 operator’s manual above corresponds to specific usage.
Be sure to use the appropriate manual.

2
164104-1CD
164104-1CD
FS100
Introduction
This addendum supplies the instructions for the expanded Input/Output 
(I/O) mapping of the FS100.
MANDATORY
General items related to safety are listed in Section 2 of the FS100
Controller Manual. To ensure correct and safe operation, carefully read
the FS100 Controller Manual before reading this manual.
CAUTION
• Yaskawa Motoman may modify this model without notice when
necessary due to product improvements, or changes in
specifications.
• If such a modification is made, the manual number will also be
revised.
• If the addendum is damaged or lost, contact a Yaskawa Motoman
Customer Service Representative to order a new copy. The
representatives are listed on the back cover of this addendum. Be
sure to tell the representative the manual number listed on the front
cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
products warranty.

3
164104-1CD
164104-1CD
FS100
List of Tables
FS100 Standard I/O LIO-08R Circuit Board - Connector CN2 ...............................................5
FS100 Standard I/O LIO-08R Circuit Board - Connector CN1 ...............................................6
FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A ......................................8
FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A ......................................9
FS100 Expanded I/O LIO-08R-B Circuit Board - Connector CN-2B ....................................11
FS100 Expanded I/O LIO-08R-B Circuit Board - Connector CN-1B ....................................12
FS100 Expanded I/O LIO-08R-C Circuit Board - Connector CN2-C ....................................14
FS100 Expanded I/O LIO-08R-C Circuit Board - Connector CN1-C ....................................15
FS100 Expanded I/O LIO-08R-D Circuit Board - Connector CN2-D ....................................17
FS100 Expanded I/O LIO-08R-D Circuit Board - Connector CN1-D ....................................18

4

FS100 Standard I/O LIO-08R Circuit Board - Connector CN2
5
164104-1CD
164104-1CD
FS100
FS100 Standard I/O LIO-08R Circuit Board - Connector CN2
CN2 Pin # CI/O Description Signal Type Inform Name
159804-2
Breakout Card
Pin #
1n/a Input common 1
5n/a Input common 2 5
220010 External Start Input n/a 2
20 20011 External Hold Input n/a 21
320012 Call master job Input n/a 3
21 20013 Alarm/Error reset Input n/a 22
420014 External Servo ON Input n/a 4
22 20015 Select Play mode Input n/a 23
620016 Select Teach mode Input n/a 6
24 20017 Digital Input 7 Input n/a 25
720020 Digital Input 8 Input n/a 7
25 20021 Digital Input 9 Input n/a 26
820022 Work prohibited Input n/a 8
26 20023 Digital Input 11 Input n/a 27
20024 n/a n/a n/a
20025 n/a n/a n/a
20026 n/a n/a n/a
20027 n/a n/a n/a
9n/a Input Common 1_24V 9
27 n/a Input Common 2_24V 28
19 n/a Input Common 1_0V 20
23 n/a Input Common 2_0V 24
13 n/a 24V for output load 13
16 n/a 24V for output load 16
31 n/a 24V for output load 32
10 30010 Running Output n/a 10
28 30011 Servo ON Output n/a 29
11 30012 Top of master job Output n/a 11
29 30013 Alarm/error occurred Output n/a 30
14 30014 Battery alarm Output n/a 14
32 30015 Remote mode selected Output n/a 33
15 30016 Play mode selected Output n/a 15
33 30017 Teach mode selected Output n/a 34
17 30020 In cube 1 Output n/a 17
35 30021 Digital Output 9 Output n/a 36
18 30022 Work home position Output n/a 18
36 30023 Intermediate start OK Output n/a 37
30024 n/a n/a n/a
30025 n/a n/a n/a
30026 n/a n/a n/a
30027 n/a n/a n/a

FS100 Standard I/O LIO-08R Circuit Board - Connector CN1
6
164104-1CD
164104-1CD
FS100
FS100 Standard I/O LIO-08R Circuit Board - Connector CN1
CN1 Pin # CI/O Description Signal
Type Inform Name 159804-3 Break-
out Card Pin #
1Input common 3 1
6Input common 4 6
220030 User Input Input IN#(1) 2
27 20031 User Input Input IN#(2) 19
320032 User Input Input IN#(3) 3
28 20033 User Input Input IN#(4) 20
420034 User Input Input IN#(5) 4
29 20035 User Input Input IN#(6) 21
520036 User Input Input IN#(7) 5
30 20037 User Input Input IN#(8) 22
720040 User Input Input IN#(9) 7
32 20041 User Input Input IN#(10) 24
820042 User Input Input IN#(11) 8
33 20043 User Input Input IN#(12) 25
920044 User Input Input IN#(13) 9
34 20045 User Input Input IN#(14) 26
10 20046 User Input Input IN#(15) 10
35 20047 User Input Input IN#(16) 27
20050-7 LIO-08R Status bits Status IN#(17-24)
20060-7 LIO-08R Status bits Status IN#(25-32)
11 Input common 3_24V 11
36 Input common 4_24V 28
26 Input common 3_0V 18
31 Input common 4_0V 23
15 +24V for output load 15
22 +24V for output load 42
25 +24V for output load 48
40 +24V for output load 32
47 +24V for output load 43
12 30030 User Output Output OT#(1) 12
37 30031 User Output Output OT#(2) 29
13 30032 User Output Output OT#(3) 13
38 30033 User Output Output OT#(4) 30
16 30034 User Output Output OT#(5) 16
41 30035 User Output Output OT#(6) 33
17 30036 User Output Output OT#(7) 17
42 30037 User Output Output OT#(8) 50
19 30040 User Output Output OT#(9) 36
44 30041 User Output Output OT#(10) 37
20 30042 User Output Output OT#(11) 38
45 30043 User Output Output OT#(12) 39
23 30044 User Output Output OT#(13) 44
48 30045 User Output Output OT#(14) 45

7
164104-1CD
164104-1CD
FS100
FS100 Standard I/O LIO-08R Circuit Board - Connector CN1
24 30046 User Output Output OT#(15) 46
49 30047 User Output Output OT#(16) 47
30050-7 System Reservation n/a n/a
30060-7 System Reservation n/a n/a
CN1 Pin # CI/O Description Signal Type Inform Name 159804-3 Break- out Card Pin #

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A
8
164104-1CD
164104-1CD
FS100
FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-2A
CN2 Pin # CI/O Description Signal
Type Inform Name 159804-2
Breakout Card
Pin #
1n/a Input common 1 1
5n/a Input common 2 5
220070 User Input Input IN#(33) 2
20 20071 User Input Input IN#(34) 21
320072 User Input Input IN#(35) 3
21 20073 User Input Input IN#(36) 22
420074 User Input Input IN#(37) 4
22 20075 User Input Input IN#(38) 23
620076 User Input Input IN#(39) 6
24 20077 User Input Input IN#(40) 25
720080 User Input Input IN#(41) 7
25 20081 User Input Input IN#(42) 26
820082 User Input Input IN#(43) 8
26 20083 User Input Input IN#(44) 27
20084 n/a n/a n/a
20085 n/a n/a n/a
20086 n/a n/a n/a
20087 n/a n/a n/a
9n/a Input Common 1_24V 9
27 n/a Input Common 2_24V 28
19 n/a Input Common 1_0V 20
23 n/a Input Common 2_0V 24
13 n/a 24V for output load 13
16 n/a 24V for output load 16
31 n/a 24V for output load 32
10 30070 User Output Output OT#(33) 10
28 30071 User Output Output OT#(34) 29
11 30072 User Output Output OT#(35) 11
29 30073 User Output Output OT#(36) 30
14 30074 User Output Output OT#(37) 14
32 30075 User Output Output OT#(38) 33
15 30076 User Output Output OT#(39) 15
33 30077 User Output Output OT#(40) 34
17 30080 User Output Output OT#(41) 17
35 30081 User Output Output OT#(42) 36
18 30082 User Output Output OT#(43) 18
36 30083 User Output Output OT#(44) 37
30084 n/a n/a n/a
30085 n/a n/a n/a
30086 n/a n/a n/a
30087 n/a n/a n/a

9
164104-1CD
164104-1CD
FS100
FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A
FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A
CN1 Pin # CI/O Description Signal
Type Inform Name 159804-3 Break-
out Card Pin #
1Input common 3 1
6Input common 4 6
220090 User Input Input IN#(49) 2
27 20091 User Input Input IN#(50) 19
320092 User Input Input IN#(51) 3
28 20093 User Input Input IN#(52) 20
420094 User Input Input IN#(53) 4
29 20095 User Input Input IN#(54) 21
520096 User Input Input IN#(55) 5
30 20097 User Input Input IN#(56) 22
720100 User Input Input IN#(57) 7
32 20101 User Input Input IN#(58) 24
820102 User Input Input IN#(59) 8
33 20103 User Input Input IN#(60) 25
920104 User Input Input IN#(61) 9
34 20105 User Input Input IN#(62) 26
10 20106 User Input Input IN#(63) 10
35 20107 User Input Input IN#(64) 27
20110-7 LIO-08R Status bits Status IN#(65-72)
20120-7 LIO-08R Status bits Status IN#(73-80)
11 Input common 3_24V 11
36 Input common 4_24V 28
26 Input common 3_0V 18
31 Input common 4_0V 23
15 +24V for output load 15
22 +24V for output load 42
25 +24V for output load 48
40 +24V for output load 32
47 +24V for output load 43
12 30090 User Output Output OT#(49) 12
37 30091 User Output Output OT#(50) 29
13 30092 User Output Output OT#(51) 13
38 30093 User Output Output OT#(52) 30
16 30094 User Output Output OT#(53) 16
41 30095 User Output Output OT#(54) 33
17 30096 User Output Output OT#(55) 17
42 30097 User Output Output OT#(56) 50
19 30100 User Output Output OT#(57) 36
44 30101 User Output Output OT#(58) 37
20 30102 User Output Output OT#(59) 38
45 30103 User Output Output OT#(60) 39
23 30104 User Output Output OT#(61) 44

FS100 Expanded I/O LIO-08R-A Circuit Board - Connector CN-1A
10
164104-1CD
164104-1CD
FS100
48 30105 User Output Output OT#(62) 45
24 30106 User Output Output OT#(63) 46
49 30107 User Output Output OT#(64) 47
30110-7 System Reservation n/a 65-72
30120-7 System Reservation n/a 73-80
CN1 Pin # CI/O Description Signal
Type Inform Name 159804-3 Break-
out Card Pin #