6.

1
6
B-84035EN/01
[R-30iB Compact Plus DC POWER CIRCUIT]

BLOCK DIAGRAM OF THE POWER SUPPLY

POWER SUPPLY
INPUT UNIT
MA IN BOARD SERVO
- AMPLIFIER UNIT
I MA IN POWER _§_UP -PLY UN IT - - - ~- - -

1 1'' 0
l
24P1 24V-1
CN51 CRMBBO
I ~

~
r'
I FU~.3A 5V

L __U _j_
ov
I CN53
ov ~

F~2A
1,v
T
I
Ir-
FAN UN I

I
M

~
M
I
PPL Y UN IT <D
I
~'- - - - - ~-"
~
Fig.6.1 Block diagram of the power supply

DC/DC
"'--,
" ~
CN2
~ 24V ➔ 5Y

L _:_] I
24VEXT
JRM 1 8

:::::--<µ
I
24V-2
-h
-V
-1)
JO 1 A ( I /0

J □ S26(1/0
Li n k i

Linki
MASTER)

SLAVE)

MAINTENANCE
T -h
JRS30 (RS-323-C. SENSOR, HDI)
:::::_-(
ovfxi ho¾,1 -)
-,
- 79 -

ov JRS31 (LINE TRACK I NG. L VC)

D
I 2H-2

V-1

1ov
~
-
CRM879
I
CRMB79
. 24V-1
T
_l_
~
V
SE71A
-1) JRM18
-h JRT3 (SWITCH BOX)

~
I
ov -h CRJ3 (VISION SENSOR)

~
2AVEXT
f---G-------caD
J
USB
0
I
IL JRA15 SR-3iA/SR-6iA
I I ~ - ~
I - I I 2AP1 I I I
CRP39
.
~
~

_j_
..____.I
F~2A
-
RMP
24VR
RDI/RDO
24 V fo,
RD I /ROD
ROBOT

~
OVB

-fl
TP

6. POWER SUPPLY
CNT~..._ ~lA F~lA

I
'r
I
-v - - FLID...2A
-
I
5V I PULSECODER I

L_U ov
24P2
T F~lA
-
1,e
T
I I DV l
i... 2.48
BK
BRAKE RELEASE
BRAKE
: DVB DV
~
I _j_ I I
OVB L__ _ __J
INTERFACE UNIT-
2. ELECTRICAL CONNECTIONS CONNECTIONS B-84035EN/01

2 ELECTRICAL CONNECTIONS
2.1 CONNECTION DIAGRAM BETWEEN MECHANICAL UNITS

R-30iB Compact Plus

RMP Robot

~-------<
EE
[]------c=J
End Effector

~~-~
Input power
PWR
t-----------10

>---------------<□
Teach pendant
TP Enabling device
q ~ - ~

JD1A t-----------i□ q.___

(I/O_ _
I/O Link i master
UNIT-MODEL A etc.)

--□~~-~
I/O Link i slave (CNC etc.)
JRS26 or I/O Link master
(Process I/O etc.)

---------<□ q.____
Force Sensor,_
(Note 2)RS-232-C
JRS30
HDI

JRS31 t-----------i□ q.___ _ LVC _

Line tracking encoder 2ch

JRT3 ---------<□ q.___ _ mode _

Switch box/Operator’s panel
Remote switch

(Note 1) General purpose I/O

t-----------i (Peripheral device)
O.____ _

(Note 2)
JRM18 Emergency switch
t-----------i q . _ _ __ _

(Note 2)
Fence
t-----------i q'---~------~-

D□~=================:
Camera
CRJ3
D
□~~-~
Ethernet
(Note 2)
CD38A,CD38B,CD38C CD38A/B 100BASE

,.____ _ _______,
D CD38C 1000BASE

Fig.2.1 Unit-to-unit connection diagram

- 98 -
 3. PERIPHERAL DEVICE AND
B-84035EN/01 CONNECTIONS EE INTERFACES

3.1 I/O SIGNALS OF MAIN BOARD

3.1.1 Peripheral Device interface (JRM18)

There are 20 data inputs (DI) and 16 data outputs (DO) on main board (peripheral device interface
(JRM18)).
Table 3.1.1 shows DI/DO signals of peripheral device interface.

Table 3.1.1 (a) Input signals of peripheral device interface

Connector
Signal name Description Remarks
number
JRM18-8 DI101 Peripheral device status General signal
JRM18-42 DI102
JRM18-9 DI103
JRM18-43 DI104
JRM18-10 DI105
JRM18-44 DI106
JRM18-11 DI107
JRM18-45 DI108
JRM18-12 DI109
JRM18-46 DI110
JRM18-13 DI111
JRM18-47 DI112
JRM18-14 XHOLD (DI113) Temporary stop
JRM18-48 RESET (DI114) External reset
JRM18-15 START (DI115) Start
JRM18-49 ENBL (DI116) Operation enabled
JRM18-16 PNS1 (DI117) Program number
JRM18-50 PNS2 (DI118)
JRM18-17 PNS3 (DI119)
JRM18-51 PNS4 (DI120)

Table 3.1.1 (b) Output signals of peripheral device interface

Connector
Signal name Description Remarks
number
JRM18-18 DO101 Peripheral device status General signal
JRM18-52 DO102
JRM18-19 DO103
JRM18-53 DO104
JRM18-20 DO105
JRM18-54 DO106
JRM18-21 DO107
JRM18-55 DO108
JRM18-22 DO109
JRM18-56 DO110
JRM18-23 DO111
JRM18-57 DO112
JRM18-24 CMDENBL (DO113) During automatic operation
JRM18-58 FAULT (DO114) Alarm
JRM18-25 BATALM (DO115) Battery voltage drop
JRM18-59 BUSY (DO116) During operation

- 115 -
3. PERIPHERAL DEVICE AND
EE INTERFACES CONNECTIONS B-84035EN/01

3.1.2 Connection between the Main Board (JRM18) and Peripheral

Devices

Peripheral device control interface (source type DO)

JRM18
1 24VEXT_IN 35 0VEXT
2 24V-2 36 0V
3 24V-2 37 0V
4 24V-2 38 0V
5 SDICOM1 39 SDICOM2
6 EXEMG1 40 EXEMG2
7 FENCE1 41 FENCE2
8 DI101 42 DI102
9 DI103 43 DI104
10 DI105 44 DI106
11 DI107 45 DI108
12 DI109 46 DI110
13 DI111 47 DI112

□ DDD
14 XHOLD (DI113) 48 RESET (DI114)
Peripheral
15 START (DI115) 49 ENBL (DI116)
16 PNS1 (DI117) 50 PNS2 (DI118) device
17 PNS3 (DI119) 51 PNS4 (DI120)
18 DO101 52 DO102
19 DO103 53 DO104
20 DO105 54 DO106
21 DO107 55 DO108
22 DO109 56 DO110
23 DO111 57 DO112
CMDENBL
24 58 FAULT (DO114)
(DO113)
BATALM
25 59 BUSY (DO116)
(DO115)
26 DOSRC1 60 0V
27 DOSRC1 61 0V
28 DOSRC2 62 0V
29 DOSRC2 63 0V
30 ESPB1 64 ESPB11
31 ESPB2 65 ESPB21
32 ESPB1 66 ESPB11
33 ESPB2 67 ESPB21
34 68

SDICOM1 to 2 signals are common selection signal for SDI.

When 24V-2 common is used, connect to 0V.
When 0V common is used, connect to 24V-2.

SDICOM1 → Selects a common for DI101 to DI108.

SDICOM2 → Selects a common for DI109 to DI112, XHOLD, RESET, START, ENBL, PNS1 to
PNS4.

NOTE
1 The peripheral device connection cables are optional.
2 The DOSRC1 and DOSRC2 pins of the JRM18 are pins for supplying power to
drivers. (None of these pins can be left open.)

- 116 -
 3. PERIPHERAL DEVICE AND
B-84035EN/01 CONNECTIONS EE INTERFACES

and the hub is connected as follows:

R-30iB Compact Plus HUB
CD38A,CD38B,CD38C

Pin 100BASE-TX 1000BASE-T RJ-45 Pin 100BASE-TX 1000BASE-T

No. (CD38A/CD38B) (CD38C) modular connector No.
1 TX+ MDI0+ 1 TX+ MDI0+
2 TX- MDI0- 2 TX- MDI0-
3 RX+ MDI1+ 3 RX+ MDI1+
4 MDI2+ 4 MDI2+
5 MDI2- 5 MDI2-
6 RX- MDI1- 6 RX- MDI1-
7 MDI3+ 7 MDI3+
8 MDI3- MAX.100m 8 MDI3-

CD38A/CD38B(100BASE-TX)
HUB
CD38C(1000BASE-T) .-----

MDI0＋ / TX＋
1 ' ' 1
TX＋ / MDI0＋
2 2
MDI0－ / TX－ TX－ / MDI0－
3 3
MDI1＋ / RX＋ RX＋ / MDI1＋
6 6
MDI1－ / RX－ RX－ / MDI1－
4 4
MDI2＋ MDI2＋
5 5
MDI2－ MDI2－
7 7
MDI3＋ MDI3＋
8 8 MDI3－
MDI3－
-:r-------------\---_;
Shielded cable
- - - -
• Keep the total cable length within 100 m. (The maximum cable length of the movable cable
recommended by FANUC is 40m.) Do not extend the cable more than is necessary.
• The figure above shows the cable connection when cables are crossed in the hub.
"X" is usually indicated at the port of the hub to signify that cables are crossed in the hub.

“X”: cross-connection inside the hub

R-30iB
Compact Plus

1 TX+
\ X
TX+ 1
HUB

----K 2 TX- _____,/\ TX- 2

3 RX+

6 RX-
_/\ RX+ 3

RX- 6

- 133 -
 D.TEACH PENDANT DISCONNECT
B-84035EN/01 APPENDIX FUNCTION (OPTION)

D TEACH PENDANT DISCONNECT FUNCTION

(OPTION)
This appendix shows an instruction for Teach pendant disconnect function (Option).

D.1 CONFIGURATION

Teach pendant

Switch box

Teach pendant cable

Fig.D.1 Teach pendant disconnect function

D.2 PROCEDURE OF TEACH PENDANT DISCONNECT

D.2.1 Teach Pendant Disconnect

(1) Set AUTO mode.
(2) Turn the TP disconnect switch to “Connect/Disconnect” symbol position. (Robot stops because
Operator’s panel E-stop Alarm occurs and Power LED of the teach pendant is OFF.)
(3) Disconnect the teach pendant cable.
(4) Connect the jumper connector.
(5) Turn the TP disconnect switch to “TP” symbol position.
(6) Administrator should store the teach pendant and the teach pendant cable in the storage in order to
avoid incorrect operation.

D.2.2 Teach Pendant Connect

(1) Set AUTO mode.
(2) Turn the TP disconnect switch to “Connect/Disconnect” symbol position. (Robot stops because
Operator’s panel E-stop Alarm occurs.)
(3) Disconnect the jumper connector.
(4) Connect the teach pendant cable with the teach pendant.
(5) Turn the TP disconnect switch to “TP” symbol position.

- 169 -
D.TEACH PENDANT DISCONNECT
FUNCTION (OPTION) APPENDIX B-84035EN/01

WARNING

When the LED (POWER) on the teach pendant turned on, this teach pendant is
connected to the robot controller and emergency stop button of the teach
pendant is active.

When the LED (POWER) on the teach pendant turned off, This teach pendant is
not connected to robot controller and emergency stop button of the teach
pendant is not active.

Emergency stop button

Teach pendant
POWER LED

- 170 -
B. TOTAL CONNECTION DIAGRAM APPENDIX B-84035EN/01

B TOTAL CONNECTION DIAGRAM

- 148 -
 B-84035EN/01
R-30iB Compact Plus
Svstem Block Diagram

r·'ll I
INTERFACE UN IT (1/2)

111 SERVO AMPLIFIER UN IT

I
- __J
b8~ 4-AX IS SERVO AMPLIFIER BOARD

i Mester)

lcA1u7
l_J
Fig.B (a) System block diagram

JRS30 (RS-232-C, FORCE SENSOR, HDI)

JRS31 (LI NE TRACI( I NG, L VC)

LJ

APPENDIX
~~=7
- 149 -

I=~DULE I

L_J
PERIPHERAL
- r.-:::-7
• 1/0
CRRA34 CRRA3I CNFl

B. TOTAL CONNECTION DIAGRAM

~ICE 9 ~ T E R M I N A L
(1/0) -
I .

L __J : RR'i"31

J
l
INTERFACE
(2/2) UNll

I MAIN POWER I I BRAKE POWERI

f E - s T O P 7 ~L _ _
!SIGNAL Slf'PLY UNII SIJIPI.Y UNIT

I EES ~~OY◄2~~ ~~OY◄2~~

EAS _J
E~ BREAICER
SURGE ABOSORBER
EMC FILTER fl!a.,
WR:-: RRA30 HCC

j
'-9"--+----tlt----,

PE i....-i

r-71 -····:,=........,.--
~32
'd
JUMPER
 B. TOTAL CONNECTION DIAGRAM
POWER SOURCE
4-AXIS SERVO

L-
N-
:Bl
:82
I
3
BREAKER
- - 2 Ul
Vl
'-'E2=00'--'V-"A---t-r--+-l-,r------____j---<1---2-KM~2-"''"'2~---,--------1111)------'~.!.._---( ' " ' "
3 4
'"l""
s .-~6:----h------.1)-__!:_~:_--iii~
I -......__~

J-
Fig.B (b) AC power line connection diagram

APPENDIX
- 150 -

B-84035EN/01
[Ac Power Line]
 B-84035EN/01
[R-30iB Compact Plus DC POWER CIRCUIT]

INPUT UNIT
I MAIN BOARD
- -
SERVO AMPLIFIER UNIT

I
MAIN POWER SU PPLY
- UN IT - - - - -

-f7
l
m 14PI 1dV- I
I CN51 CRMB80
I
y
I 1cN53 -------iDV Furu.3A 5V
- FAN UNI

L_ DV
F~2A
T

14V
T
I
Ir-"I M
~

I
UPPLY UN IT
I <D

5V
; ~ - - - - ~-"

,.
DC/DC

H P--
0:
14V --,
Fig.B (c) DC power line connection diagram

CN2 24V ➔ 5V

L _:J I
14VEXT
T
JRM I 8
,- --<---.I
I
14V-1
::::l)

=)
JDlA(l/0 Linki

JDS26 (1/0 LI nk I
MASTER)

SLAVE)
'---
=D

APPENDIX
~--( :=-i
--i =D JRS30 (RS-323-C, SENSOR, HD!)
- 151 -

Dirx1
DVEXT
DV =D
D
I 14V-1 =I) JRS3I (LINE TRACK I NG, L VC)

=D
~I
I
~
4V-1 14V- I F~lA JRM18
CRMB79 CRMB79
.._.I
=D JRT3(SWITCH BOX)

1 DV CRJ3 (VISION SENSOR)

B. TOTAL CONNECTION DIAGRAM

~
DV I

~
14VEXT

J ~D USB
0
I
IL JRAI5 SR-3; A/SR:.§; A
I I I I
I - I I 14PI I I
CRP39
FUSEJ IA
w RMP
I

F~1A

------i DVB
- ~
~
24VR
RDI/RDO
24V for
RDI/RDO
ROBOT

TP

-fl
I
I
'r
I
CNTP _,
-,.,
FfillA
-
FUS,Q,IA
~
Fi.§Q1A
-
I
5V I PULSECODER
I

L_U DV
14P1
T F~IA
-
14B
T
I
24B BRAKE RELEASE

~
~ BK BRAKE
r- DVB ov
IDVB
INTERFACE UNIT
B. TOTAL CONNECTION DIAGRAM APPENDIX B-84035EN/01

DI/DO:Simole DI/DO
R-30iB Compact Plus PI/PO:Photo coupler DI/DO
To t a l ci r CU i t Not showing the diodes to protect
from reverce electric power.

I 1~!~h Pen=-7 Inter-face Lkiii-1

I I OPTION(SWITCl-j_BOX etc)
TP
~/ROSE) 3-Mode S11i tch
R.ISEl lA24P1 .RT3 2AV-2
•24T El T f'CR 2Qp/n)
SR2
M'.IEII
M'.IE12
I I
M'.IE21
OVEXT
24T
M'.IE22
solzr TPENl

SQ~-2 TPEN2
SQ1
ov TPDSC
TPDSC
ov ov
ov
L__o~
r----
ov _J
w,

VEXT

2AVEXT

OPer-ator-' s Panel
Emergency Stop

582-1

r
I

DI ON_<FF MA INBOARD
j
----- -----~

=•
03200 3X
POOi
PO<l2

E200VA r-i_ __
E200VB

200-240V11c
50/60Hz
Sinale Phese
==~-Rooo-L----.!6--li L,-'
y
N
PE

Fig.B (d) Emergency stop circuit connection diagram

- 152 -
B-84035EN/01 APPENDIX B. TOTAL CONNECTION DIAGRAM

I
I
I
I
I I
24V-1 I I
"""[________j,
IKAI
---------rKA,
I
I _J
I

- 153 -
 B. TOTAL CONNECTION DIAGRAM
MAIN BOARD
JRM18 JD1A JRS30 CD38A CRMB79
IO I/O Link i Master RS232C, Sensor, HDI Ethernet 100BASE-TX Signal
(I/O Device) (I/O Device) (serial device, Force/3D sensor, HDI Device) (Network) (Input Unit)

11111111111mm
f-----+----+---
1 24VEXT_IN 35 0VEXT 1 RXSLCA 11 0V 1 RXD 11 TXDB 1 TPTXA+ A1 24V-1 B1 ON_OFF
2 24V-2 36 0V 2 XRXSLCA 12 0V 2 0V 12 0V 2 TPTXA- A2 MONKM2 B2 PCON11
3 24V-2 37 0V 3 TXSLCA 13 0V 3 DSRB 13 DTRB 3 TPRXA+ A3 0V B3 MONKA
4 24V-2 38 0V 4 XTXSLCA 14 0V 4 0V 14 0V 4 NCA1 A4 KM2ON B4 PCON1
5 SDICOM1 39 SDICOM2 5 15 0V 5 CTS 15 RTSB 5 NCA1
6 EES1 40 EES2 6 16 0V 6 0V 16 0V 6 TPRXA-
Fig.B (e) Main board connector table

7 EAS1 41 EAS2 7 17 7 XHDI1 17 XHDI2 7 NCA2 CRMB80

8 DI101 42 DI102 8 18 5V 8 SDATA 18 XSDATA 8 NCA2 24V Input

ut
9 DI103 43 DI104 9 5V 19 24V-1 9 5V 19 24V-1 1 24P1
10 DI105 44 DI106 10 24V-1 20 5V 10 24V-1 20 5V CD38B 2 0V
11 DI107 45 DI108 Ethernet 100BASE-TX 3 24V-2
12 DI109 46 DI110 JRS26 JRS31 (Network)

APPENDIX
13 DI111 47 DI112 I/O Link i Slave Line Tracking, LVC 1 TPTXB+
- 154 -

14 DI113 48 DI114 (I/O Device) (encoder, LVC) 2 TPTXB- JX20

15 DI115 49 DI116 1 RXSLC1 11 0V 1 0V 11 0V 3 TPRXB+ SVCPU I/F

~ ~
16 DI117 50 DI118 2 XRXSLC1 12 0V 2 RX485B 12 TX485B 4 NCB1 1 BOOTOFF12 11 DRDY
17 DI119 51 DI120 3 TXSLC1 13 0V 3 XRX485B 13 XTX485B 5 NCB1 2 BOOTOFF11 12 CHKTX1
18 DO101 52 DO102 4 XTXSLC1 14 0V 4 14 6 TPRXB- 3 CHKTX2 13
19 DO103 53 DO104 5 RXSLC2 15 0V 5 15 7 NCB2 4 CHKRX2 14 CHKRX1
20 DO105 54 DO106 6 XRXSLC2 16 0V 6 0V 16 0V 8 NCB2 5 BOOTOFF13 15 0V
21 DO107 55 DO108 7 TXSLC2 17 7 RX485A 17 TX485A 6 CHKTX3 16 BOOTOFF21
22 DO109 56 DO110 8 XTXSLC2 18 5V 8 XRX485A 18 XTX485A CD38C 7 CHKRX3 17
23 DO111 57 DO112 9 5V 19 24V-1 9 5V 19 24V-1 Ethernet 1000BASE-T 8 18 0V
24 DO113 58 DO114 10 24V-1 20 5V 10 24V-1 20 5V (Network) 9 MCON 19 0V
25 DO115 59 DO116 1 TDPA 10 AALM1 20 0V
26 DOSRC1 60 0V JRT3 USB 2 TDMA
27 DOSRC1 61 0V Switch box USB 2.0 3 TDPB
28 DOSRC2 62 0V (Switch box, Mode switch, ESTOP switch) (USB Device) 4 TDPC JX21
29 DOSRC2 63 0V 1 START 11 RESET 1 USB_5V 5 FG3 5 TDMC PSCPU I/F
30 ESPB1 64 ESPB11 2 XCY CSTART_SW 12 XFAULT_SW 2 USB_M 6 FG3 6 TDMB 1 11 CHKCLK
31 ESPB2 65 ESPB21 3 MODE11 13 MODE12 3 USB_P 7 FG3 7 TDPD 2 12 CHKTX
32 ESPB1 66 ESPB11 4 0V 14 0V 4 USB_0V 8 FG3 8 TDMD 3 PA0 13 CHKFSX
33 ESPB2 67 ESPB21 5 MODE21 15 MODE22 9 FG 4 USERBOOT 14 CHKRX
34 68 6 OPESP1 16 OPESP2 CRJ3 10 FG 5 15 0V
7 OPESP11 17 OPESP21 CoaXPress 6 BOOTOFF 16
8 18 (Camera) 7 5V 17
9 19 24V-2 1 CAMERA 8 PS1 18 0V
10 24V-2 20 SHIELD 0V 9 19 0V
10 0V 20 0V

B-84035EN/01
 B-84035EN/01
INTERFACE UNIT
JRA15 VBAT CNTP
MAIN BOARD I/F BATTERY TP I/F

I I I I I I 111111111111111
1 TPDM2 31 61 TPDSC 91 1 VBAT 1

W
2 32 RDO2 62 92 RDI1 2 0V 2
3 TPEMG2 33 63 TPDM1 93 3
4 34 RDO1 64 94 RDI2 CRP39 4
5 0V 35 65 TPEMG1 95 BRAKE POWER 5 SG

wl
Fig.B (f) Front board connector table

6 RXN_TP 36 RDO5 66 96 RDI3 1 24P2IN 6 TXP_TP

7 RXP_TP 37 67 0V 97 2 0VB 7 TXN_TP
8 0V 38 RDO6 68 TXN_TP 98 RDI4 3 8 RXP_TP
9 XCYCSTART_FR 39 69 TXP_TP 99 9 24T
10 0V 40 XHBK 70 0V 100 RDI9(PPABN) CRRA36 10 24T

APPENDIX
11 XFAULT_FR 41 71 0V 101 AMPRIFIER BOARD I/F 11 TPDM1
- 155 -

1111111'111111
12 0V 42 24VEXT_IN 72 0V 102 0VEXT 1 U_J4 12 TPESP1
13 BRKALM 43 73 BRKRLON2 103 0VEXT 2 V_J4 13 TPEMG1
14 BRKRLON1 44 24VEXT 74 BRKDOF 104 0V 3 W_J4 14 RXN_TP
15 XPRQ4 45 75 PRQ5 105 0V 4 U_J3 15 TPESP2
16 PRQ4 46 0V 76 XPRQ5 106 0V 5 V_J3 16 TPEMG2

B. TOTAL CONNECTION DIAGRAM

17 XPRQ3 47 0V 77 PRQ6 107 0V 6 W_J3 17 TPDSC
18 PRQ3 48 0V 78 XPRQ6 108 ALMON1 7 U_J2 18 TPDM2
19 XPRQ2 49 VBAT 79 PRQ7 109 ALM1 8 V_J2 19 0V
20 PRQ2 50 0V 80 XPRQ7 110 ALM2 9 W_J2 20 0V
21 XPRQ1 51 81 PRQ8 111 ALM3 10 U_J1
22 PRQ1 52 82 XPRQ8 112 11 V_J1
23 5VIN 53 83 5VIN 113 24P1 12 W_J1
24 5VIN 54 24V-2 84 5VIN 114 24P1 13 G
25 5VIN 55 24V-2 85 0V 115 24P1
26 0V 56 86 0V 116 24P1
27 57 24VR 87 117 24P1
28 RDO4 58 24VR 88 RDO7 118 24P1
29 59 24VR 89 119 24P1
30 RDO3 60 24VR 90 RDO8 120 24P1
B. TOTAL CONNECTION DIAGRAM APPENDIX B-84035EN/01

R-30iB Compact
Plus
SWITCH BOX
- - TP CABLE CONNECTION
Tea ch Pendant SWITCH BOX CABLE INTERFA CE PANEL II
I
r, r, TP
.:1T ssz2.,1r
- I \ 9, 1 0 I \ A I, A2 +2d T

DI I \ I \
5B2-1
- I I 12 I I s• TPESPl
I r> - I I3 I B3 TPESP11
SB2-2
--,. - I 15 I B2 TPESP2

+2.:1 T
- I I I6 I I Bl TPESP21

""[____,.,-, - I I II I I •• TPEN 1
SQ 1 -1
SQill-2
I I 18
I I A3 TPEN2
SQ I I I I? I I AS TPOSC
ov \ \
Jv '-../
I 7~~ 9
Ju mPe r A ::i.4 v
'-../
I
- - Bl :I .:1 ::i.4y
A2:I .:i TPOSC I
B2:1 .:1 TPOSC
Teach Pendant LJ
DISCONNECT SW I
-----=Ts_~~
B-21 •-

1-2

3-2..!._.,:,_ SWITCH BOX

I CONNECTION
- - -
--.-
0Perator
Emergency
. Pane I
5 t OP CRT27
-
CABLE JRT
t\
-
I

~ SB1-1QPESP1 AS: I ' s, OPE SP 1

I T-/- OPESPl 85: I ?, OPE SP 1 1
I 5B1-2QPESP2 AB: I 16 OPESP2
I -,. OPESP2 BB: I I? OPESP21
I
- - - CRP5 I
n.,, I I I
81:
I I
82: R2:
I
u I
I I
SW and LED
-h~us~P001 I I XCYCST ART _SW
A7: 2'
FAULT PD02 AB: 12 FAULT_SW
~ FAULT RESET PD 11 87: I I RESET
-'!' CYCLE START PD 12 88: I' START
I h POWER ov I I
_ _ __J
I I
3-Mode Switch I
CRT28 I
-----:_lrn~l 1~21 - I I
SR2 +2.:1E Al: Al, A2: I 1 0, 1 9: 2.dV-2
R2·1 AUTOl B A2: A3: MODE 11
3'
:i: AUT028 82: 83: 13 MODE I 2
I SRM ..!.)RM MODE 1 B A3: A4: s, MODE21
=,.., _
MODE 28
ov
83:
81:
84:
81:
15
I•
MODE22
ov
_ _ __J I -
- ~

\ I
'-I

[switch box]

Fig.B (g) Switch box connection diagram

- 156 -
 B-84035EN/01

INPUT UNIT SERVO AMPLIFIER UNIT

CRRA29 CRRA32 CNF1 CRRA31

POWER_OUT EARTH FAN UNIT I/F POWER
A1 EARTH (Cabinet) 1 24V A1 EARTH
A2 PCM01 1 EARTH 2 0V A2 AC1
A3 PCM02 2 3 FAN1 A3 AC2
3 EARTH JUMPER 4 24V

un
CRRA30 5 0V CRRA34

- 157 -
POWER_IN CRMB79 6 FAN2 (Input Unit )
APPENDIX

(Breaker) Signal 7 24V 1

1 EARTH (Main board) 8 0V 2 VS
2 200V_A A1 24V-1 B1 ON_OFF 9 FAN3 3 VR
f-----+-----+--
UD UT

3 200V_B A2 MONKM2 B2 PCON11

A3 0V B3 MONKA CRR63 CRRA37
CRRA31 A4 KM2ON B4 PCON1 THERMOSTAT Resistor

>------+----+--
POWER 1 24V A1 DCP B1 DCP
A1 EARTH 2 XDCOH A2 B2
A2 AC1 3 A3 XDCON1 B3 DCN
un
1------+------+

A3 AC2

Fig.B (h) Input unit/ Servo amplifier unit connector table

B. TOTAL CONNECTION DIAGRAM
B. TOTAL CONNECTION DIAGRAM APPENDIX B-84035EN/01

,-,-, -- -

-~~,-c,:n n,:, 1'1 F ~

1s, : i ~-
'F=- I
I

"'I ci~

11'
~
I I
, - -
I
T -- - -
I - - -
F
- --- "l
p-_-_- I
I - - '-I I ---
~

r _,,_, l-;

p-,- ;-
- ,-,: : I
'

I .,;_
~

f---
C'

T - I I';
:, ' Ii 4.
I,
-

_! I
-
!I
,I I ',J
~
~-1 C
J I
r r>.:s I C

,j[',_;o I cl
,- F 1==:1-F- - ,:;,-,
' I
11' _, - 'u
,- I I-''_; J ·-1 ~ ~
I==! = C
'/,-
I I I

r r: 1: _

,- I I'_, - j,J', I
.------= F=1-11 = C
I
I 1 IJ , - -

J_ I
II f-~

I I
~
=·1_ c:: ,:o ,~ _' _Ip ~-' :J -

L_ - I
E'6li

I c_l - I: ,_j
I

f-~,-
_:ic
II I --- !, i;; n.___ l ,I !I_,, i :,;
IF , I I II I
I
'
I i, \;, ' 'i', i ,_Ji ii,, i :,;
Ir I
I i' ii !. I _Ji, ii 'i. :t
I t==G ,- I: - c: r'

~
II _! ' p 1- ,-
I
i, i;; I ,II 11 ' i, :
, 11- 1
I

~
IF I II I
17 ,, l _,?,
'
C
J_ ~- I
IJ

L_ - --
I

r
-
,_ I !
-
_,, I

T
-

T
-

'cl /b 11,,
l':'11 I
- -
:::;: -~
I I_

-
I LL :::;< I
I

L
[I' 7 -- '
ij_n

-
-
i
-
i -
/-
f-
I

I
_:_J
I 1

Fig.B (i) Connection diagram of robot interface

- 158 -
 B-84035EN/01
Fig.B (j) Mechanical unit interface

RMP
(Pulsecoder Feedback Signal & RI/RO)
(MOTOR Power & Brake)
1 U_J4 2 V_J4 3 BK 4 RDI1 5 RDI3 6 PRQ1 7 XPRQ1

APPENDIX
8 W_J4 9 U_J3 10 24VB 11 RDI2 12 RDI4 13 PRQ2 14 XPRQ2
- 159 -

15 V_J3 16 W_J3 17 G 18 RDI9(PPABN) 19 RDO1 20 PRQ3 21 XPRQ3

22 U_J2 23 V_J2 24 G 25 24VR 26 RDO2 27 PRQ4 28 XPRQ4
29 W_J2 30 V_J1 31 G 32 0V 33 RDO3 34 5V 35 0V
36 U_J1 37 W_J1 38 G 39 0VB 40 RDO4 41 5V 42 0V

B. TOTAL CONNECTION DIAGRAM