Owner manual
64
7. Speciļ¬ cations
Notes
(1) The actual layout of board connectors varies from this drawing.
(2) Since the brake power circuit is provided on the primary side (high-voltage side), a dedicated 24 V power supply is required for
this circuit. The 24 V power supply for I/O circuits used on the secondary side (low-voltage side) cannot be shared.
(3) To operate the alarm LED, the user must provide a circuit that uses the controller I/O output signal.
(4) With the dust-proof/splash-proof specification, the user connector is waterproof.
(5) FG of the dust-proof/splash-proof specification is connected to pin 16 of the connector.
7.4 Wiring Diagram
Wiring/Piping Diagram (Arm Length: 250/350)
Controller
Cable fix cap
(Capcon)
M cable (outside robot)
PG cable (outside robot)
BK power cable (outside robot)
U cable (outside robot)
Brake power
terminals
User wiring
terminals
Inside base
Servo motor for
axis 1 (arm 1)
Board
FG (To base)
A
ir joint, red (I4)
A
ir joint, black (I4)
A
ir joint, white (I4)
Flexible
cable
Inside arm 2
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
Servo motor for
axis 2 (arm 2)
Servo motor with brake
for axis 3 (Z-axis)
Servo motor for
axis 4 (R-axis)
FG (to D-sub housing)
D-sub connector for user wiring (15-pin, socket)
A
larm LED
Brake-release switch for axes 3/4 (Z/R-axes)
A
ir joint, black (I4)
A
ir joint, red (I4)
A
ir joint, white (I4)
Electromagnetic
brake for axis 4
(R-axis)
Dedicated batteries for IX:
Purge air inlet
(tube diameter I6)