FANUC机器人控制柜CRMA-15.16接线图(2)

END EFFECTOR INTERFACES B-82725EN-2/05 CONNECTIONS

4.3

4.3.1

INTERFACE FOR PERIPHERAL DEVICES

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 A1 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 A2

- 149 -

END EFFECTOR INTERFACES N

D

-2

Control unit (peripheral device control interface A1)

+24F

CRMA15 (49、50)

Peripheral device

Connector pin No.

DI101 DI102 DI103 DI104 DI105 DI106 DI107 DI108 SDICOM1 DI109 DI110 DI111 DI112 DI113 DI114 DI115 DI116 DI117 DI118 DI119 DI120 SDICOM2

Receiver circuit

RV RV 3.3k

CRMA15 (01) CRMA15 (02) 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

RV

RV RV RV RV RV RV RV RV RV RV RV RV RV RV RV RV RV RV RV

NOTE

In this diagram, common voltage of input devices is +24V.

- 151 -

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)

Peripheral device

+24V 0V +24V regulated power supply

Driver circuit

DO101

DV

CRMA15 (33)

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

Peripheral device

Control unit (peripheral device control interface A2)

+24F

Connector pin No.

CRMA16 (49、50)

XHOLD RESET

START

Receiver circuit

RV 3.3k RV

CRMA16 (01) CRMA16 (02) CRMA16 (03) CRMA16 (04) CRMA16 (05) CRMA16 (06) CRMA16 (07) CRMA16 (08) CRMA16 (19) CRMA16 (17、18)

ENBL

RV RV RV RV RV RV RV

PNS1

SDICOM3

PNS2 PNS3 PNS4

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)

DOSRC2

Connector pin No.

CRMA16 (31、32)

Peripheral device

+24V 0V +24V regulated power supply

Driver circuit

DO109

DV

CRMA16 (41)

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.

- 1 -

4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES B-82725EN-2/05 CONNECTIONS

The following shows the connector interface of the optional peripheral device cables on the peripheral

device side. Peripheral device A1 Controller 010203040506070809101112131415161718CRMA15 DI101 33 DO101 DI102 19SDICOM1 34 DO102 DI103 20SDICOM2 35 DO103 DI104 21 36 DO104 DI105 22DI117 37 DO105 DI106 23DI118 38 DO106 DI107 24DI119 39 DO107 DI108 25DI120 40 DO108 DI109 26 41 DI110 27 42 DI111 28 43 DI112 290V 44 DI113 300V 45 DI114 31DOSRC1 46 DI115 32DOSRC1 47 DI116 48 0V 49 24F 0V 50 24F Peripheral device A2 010203040506070809101112131415161718CRMA16 XHOLD 33 CMDENBL RESET 19SDICOM3 34 FAULT START 20 35 BATALM ENBL 21DO120 36 BUSY PNS1 22 37 PNS2 23 38 PNS3 24 39 PNS4 25 40 26DO117 41 DO109 27DO118 42 DO110 28DO119 43 DO111 290V 44 DO112 300V 45 DO113 31DOSRC2 46 DO114 32DOSRC2 47 DO115 48 DO116 0V 49 24F 0V 50 24F - 155 -

4. PERIPHERAL DEVICE AND

CONNECTIONS END EFFECTOR INTERFACES B-82725EN-2/05

4.3.2

Connection between the Process I/O Board MA and

Peripheral Devices

Control unit 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 B1 Peripheral device control interface B2 (source type DO) CRMA52B A B 01 24F 24F 02 DI131 DI132 03 DI133 DI134 04 DI135 DI136 05 DI137 DI138 06 DI139 DI140 07 08 DO129 DO130 09 DO131 DO132 10 DO133 DO134 11 DO135 DO136 12 13 0V 0V 14 0V 0V 15 DOSRC3 DOSRC3 Peripheral Device B2 NOTE

1 The peripheral device connection cable is optional.

2 The DOSRC3 pin of CRMA52A and CRMA52B supply power to the drivers (connect all pins).

- 156 -

B-82725EN-2/05 CONNECTIONS

4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES

Control unit

（Peripheral device controlinterface:B1）

DI121 DI122 DI123 DI124 DI125 DI126 DI127 DI128 DI129 DI130 COM1

+24FConnector pin No.

CRMA52A (49、50)

Peripheral device

RV RV RV RV RV RV RV RV RV RV RV

+24E

CRMA52A (02) CRMA52A (03) CRMA52A (04) CRMA52A (05) CRMA52A (06) CRMA52A (07) CRMA52A (08)

CRMA52A (01)

CRMA52A (10)

CRMA52A (09)

B

CRMA52A (17、18)

A

0V

0V

Common-level change-over setting pin (ICOM1)

(This common voltage is for 24V.)

EXT24V

DOSRC3

Connector pin No.

CRMA52A (31、32)

+24V 0V +24V regulated power supply

Driver circuit

DO121

DV

CRMA52A (33)

LOAD

RELAY

DO123 DO124 DO125 DO126 DO127 DO128

DO122 DV DV DV DV DV DV

DV

CRMA52A (35) CRMA52A (36) CRMA52A (37) CRMA52A (38) CRMA52A (39) CRMA52A (40)

CRMA52A (34)CRMA52A (29、30)

0V

LOAD LOAD LOAD LOAD LOAD LOAD

LOAD

EXT0V

NOTE

In this diagram, common voltage of input device is 24V.

- 157 -

4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES

Control unit

CONNECTIONS B-82725EN-2/05

（Peripheral device controlinterface:B2）

DI131 DI132 DI133 DI134 DI135 DI136 DI137 DI138 DI139 DI140 COM1

+24FConnector pin No.

CRMA52B (49、50)

Peripheral device

RV RV RV RV RV RV RV RV RV RV RV

+24E

CRMA52B (02) CRMA52B (03) CRMA52B (04) CRMA52B (05) CRMA52B (06) CRMA52B (07) CRMA52B (08)

CRMA52B (01)

CRMA52B (10)

CRMA52B (09)

B

CRMA52B (17、18)

A

0V

0V

Common-level change-over setting pin (ICOM2) (This common voltage isfor 24V.)

EXT24V

DOSRC3

Driver circuit

DO129

Connector pin No.

CRMA52B (31、32)

+24V 0V +24V regulated power supply

DV

CRMA52B (33)

LOAD

RELAY

DO131 DO132 DO133 DO134 DO135 DO136

DO130 DV DV DV DV DV DV

DV

CRMA52B (35) CRMA52B (36) CRMA52B (37) CRMA52B (38) CRMA52B (39) CRMA52B (40)

CRMA52B (34)CRMA52B (29、30)

0V

LOAD LOAD LOAD LOAD LOAD LOAD

LOAD

EXT0V

NOTE

In this diagram, common voltage of input device is 24V.

- 158 -

CONNECTIONS

4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES

The following shows the connector interface of the optional peripheral device cables on the peripheral device side.

01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18

DI 121 DI 122 DI 123 DI 124 DI 125 DI 126 DI 127 DI 128 DI 129 DI 130

Peripheral device A1

19 20 21 22 23 24 25 26 27 28 29 30 31 32

33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50

DO 121 DO 122 DO 123 DO 124 DO 125 DO 126 DO 127 DO 128

Controller

0V 0V DOSRC3 DOSRC3

CRMA 52A

0V 0V

24F 24F

CRMA 52B

01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18

DI 131 DI 132 DI 133 DI 134 DI 135 DI 136 DI 137 DI 138 DI 139 DI 140

Peripheral device A2

19 20 21 22 23 24 25 26 27 28 29 30 31 32

0V 0V DOSRC3 DOSRC3

0V 0V

33 DO 129 34 DO 130 35 DO 131 36 DO 132 37 DO 133 38 DO 134 39 DO 135 40 DO 136 41 42 43 44 45 46 47 48 49 24F 50 24F