fanuc机器人控制柜接线_fanuc机器人控制柜crma-15.16接线图(2)

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B-82725EN-2/05 CONNECTIONS - 149 - 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES 4.3 INTERFACE FOR PERIPHERAL DEVICES 4.3.1 Connection between the Main board (CRMA15, CRMA16) and Peripheral Devices Peripheral device control interface A1 (source type DO) CRMA15 A B 01 24F 24F 02 24F 24F 03 SDICOM1 SDICOM2 04 0V 0V 05 DI101 DI102 06 DI103 DI104 07 DI105 DI106 08 DI107 DI108 09 DI109 DI110 10 DI111 DI112 11 DI113 DI114 12 DI115 DI116 13 DI117 DI118 14 DI119 DI120 15 DO101 DO102 16 DO103 DO104 17 DO105 DO106 18 DO107 DO108 19 0V 0V 20 DOSRC1 DOSRC1 Peripheral device control interface A2 (source type DO) CRMA16 A B 01 24F 24F 02 24F 24F 03 SDICOM3 04 0V 0V 05 XHOLD RESET 06 START ENBL 07 PNS1 PNS2 08 PNS3 PNS4 09 10 DO109 DO110 11 DO111 DO112 12 DO113 DO114 13 DO115 DO116 14 DO117 DO118 15 DO119 DO120 16 CMDENBL FAULT 17 BATALM BUSY 18 19 0V 0V 20 DOSRC2 DOSRC2 Peripheral device A1 Peripheral device A2 - 2 N D END EFFECTOR INTERFACES Control unit (peripheral device control interface A1) +24F Connector pin No. CRMA15 (49、50) Peripheral device DI101 DI102 Receiver circuit 3.3k RV CRMA15 (01) CRMA15 (02) DI103 DI104 RV DI105 RV DI106 RV DI107 RV DI108 RV SDICOM1 RV DI109 RV DI110 RV DI111 RV DI112 RV DI113 RV DI114 RV DI115 RV DI116 RV DI117 RV DI118 RV DI119 RV DI120 RV SDICOM2 RV CRMA15 (03) CRMA15 (04) CRMA15 (05) CRMA15 (06) CRMA15 (07) CRMA15 (08) CRMA15 (19) CRMA15 (09) CRMA15 (10) CRMA15 (11) CRMA15 (12) CRMA15 (13) CRMA15 (14) CRMA15 (15) CRMA15 (16) CRMA15 (22) CRMA15 (23) CRMA15 (24) CRMA15 (25) CRMA15 (20) CRMA15 (17、18) 0V NOTE In this diagram, common voltage of input devices is +24V. - 151 - RV RV 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES CONNECTIONS B-82725EN-2/05 Control unit (peripheral device control interface A1) DOSRC1 Connector pin No. CRMA15 (31,32) Driver circuit DV DO101 CRMA15 (33) Peripheral device +24V 0V +24V regulated power supply LOAD RELAY DO102 DO103 DO104 DO105 DO106 DO107 DO108 DV DV DV DV DV DV DV CRMA15 (34) CRMA15 (35) CRMA15 (36) CRMA15 (37) CRMA15 (38) CRMA15 (39) CRMA15 (40) CRMA15 (17、18) LOAD LOAD LOAD LOAD LOAD LOAD LOAD 0V A maximum output current per DO point is 0.2 A. B-82725EN-2/05 CONNECTIONS 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES Control unit (peripheral device control interface A2) +24F Connector pin No. CRMA16 (49、50) Peripheral device XHOLD RESET Receiver circuit 3.3k RV CRMA16 (01) CRMA16 (02) CRMA16 (03) CRMA16 (04) CRMA16 (05) CRMA16 (06) CRMA16 (07) CRMA16 (08) CRMA16 (19) CRMA16 (17、18) . RV RV RV START RV ENBL PNS1 PNS2 PNS3 PNS4 SDICOM3 RV RV RV RV 0 V NOTE In this diagram, common voltage of input devices is +24V 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES CONNECTIONS B-82725EN-2/05 Control unit (peripheral device control interface A2) Connector pin No. Pe ripheral device +24V 0V Driver circuit DO109 DV CRMA16 (31、32) CRMA16 (41) +24V regulated power supply LOAD RELAY DO110 DO111 DO112 DO113 DO114 DO115 DO116 DO117 DO118 DO119 DO120 CMDENBL FAULT BATALM BUSY DV DV DV DV DV DV DV DV DV DV DV DV DV DV DV CRMA16 (42) CRMA16 (43) CRMA16 (44) CRMA16 (45) CRMA16 (46) CRMA16 (47) CRMA16 (48) CRMA16 (26) CRMA16 (27) CRMA16 (28) CRMA16 (21) CRMA16 (33) CRMA16 (34) CRMA16 (35) CRMA16 (36) LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD LOAD CRMA16 (17、18) 0V A maximum output current per DO point is 0.2 A. - 154 - DOSRC2 B-82725EN-2/05 CONNECTIONS - 155 - 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES The following shows the connector interface of the optional peripheral device cables on the peripheral device side. Peripheral device A1 01DI101 33 DO101 02DI102 19SDICOM1 34 DO102 03DI103 20SDICOM2 35 DO103 04DI104 21 36 DO104 05DI105 22DI117 37 DO105 06DI106 23DI118 38 DO106 07DI107 24DI119 39 DO107 08DI108 25DI120 40 DO108 09DI109 26 41 10DI110 27 42 11DI111 28 43 12DI112 290V 44 13DI113 300V 45 14DI114 31DOSRC1 46 15DI115 32DOSRC1 47 16DI116 48 170V 49 24F 180V 50 24F Peripheral device A2 01XHOLD 33 CMDENBL 02RESET 19SDICOM3 34 FAULT 03START 20 35 BATALM 04ENBL 21DO120 36 BUSY 05PNS1 22 37 06PNS2 23 38 07PNS3 24 39 08PNS4 25 40 09 26DO117 41 DO109 10 27DO118 42 DO110 11 28DO119 43 DO111 12 290V 44 DO112 13 300V 45 DO113 14 31DOSRC2 46 DO114 15 32DOSRC2 47 DO115 16 48 DO116 170V 49 24F 180V 50 24F Controller CRMA15 CRMA16 CONNECTIONS B-82725EN-2/05 - 156 - 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES 4.3.2 Connection between the Process I/O Board MA and Peripheral Devices Peripheral device control interface B1 (source type DO) CRMA52A A B 01 24F 24F 02 DI121 DI122 03 DI123 DI124 04 DI125 DI126 05 DI127 DI128 06 DI129 DI130 07 08 DO121 DO122 09 DO123 DO124 10 DO125 DO126 11 DO127 DO128 12 13 0V 0V 14 0V 0V 15 DOSRC3 DOSRC3 Peripheral device control interface B2 (source type DO) CRMA52B A B 01 24F 24F 02 DI131 DI132 03 DI133 DI134 04 DI135

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