Instruction Manual
25
4. Wiring Diagram
24
4. Wiring Diagram
Wiring/Piping Diagram (Arm Length: 250/350)
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.
Controller Inside base
Flexible
cable
Inside arm 2
Brake power
terminals
User wiring
terminals
Cable fix cap (Capcon)
M cable (outside robot)
DWG No. 1068763*
Socket
172159-1
(
T
y
co Electronics AMP
)
Servo motor for
axis 1 (arm 1)
DWG No. 1069443*
PG cable (inside robot)
M cable (inside robot)
U cable (inside robot)
Socket
DF11-8DS-2C (Hirose)
Servo motor for
axis 2 (arm 2)
Socket
172159-1 (Tyco
Electronics AMP
)
Servo motor with
brake for axis 3
(Z-axis)
Socket
172157-1 (Tyco
Electronics AMP
)
Servo motor for
axis 4 (R-axis)
Electromagnetic
brake for axis 4
(R-axis)
(Optional)
D-sub connector
XM2D-1501
(Omron)
FG (to D-sub housing)
Socket DF3-2S-2C (Hirose)
D-sub connector for user wiring (15-pin, socket)
Alarm LED
Brake-release switch for axes 3/4 (Z/R-axes)
Socket DF3-3S-2C (Hirose)
Air joint, black (4)
Air joint, red (4)
Air joint, white (4)
Plug
172166-1
(Tyco Electronics
AMP)
Socket
DF11-10DS-2C
(
Hirose
)
Air joint, black (4)
Air joint, red (4)
Air joint, white (4)
Plug
DF11-10DEP-2C
(Hirose)
FG (To base)
Connector
XAP-02V-1 (JST)
Board
PG cable
(outside robot)
Female connector
HIF 3BA-10D-2.54C
(Hirose)
DWG No.
1068764*
BK power cable (outside robot)
U cable (outside robot)
Dedicated batteries for IX: AB-3
DWG No. 1068765*
Housing
KEC-15P
Contact
JK-SP2140 (JST)
Plug
GIC2,5/4-STF-
7.62 (Phoenix
Contact)
M1
M2
M3
M4
PG1
PG2
PG3
PG4
M1
M2
M3
M4
PG2
M2
PG3
M3
BK3
PG4
M4
BK4
LED
BK
User
Connector
ALM
BK SW
INPG1
INPG2
INPG3
INPG4
OUTPG1
OUTPG4
BK4
BK3
OUTPG2
OUTPG3
SW
BAT 1
BAT 2
BAT 3
BAT 4
24 VDC
UA
UB
+24 V
G24 V
U1
U2
U3
U13
U14
U15
LED +24V
LED G24V
FG
DWG No. 1069442*
DWG No. 1069444*
Plug
172165-1
(Tyco Electronics
AMP)
Plug
172169-1
(Tyco Electronics
AMP)
4. Wiring Diagram
4.1 Layout Drawing
IX-NNN2515H/3515H