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3 Controller
3.8 Additional axis synchronization output
When an additional axis is used, the servo ON/OFF status of the additional axis can be synchronized with the servo ON/
OFF status of the robot itself by using the output contact (AXMC) provided on the rear or inside of the controller and
configuring a circuit so that the power to the servo amplifier for the additional axis can be turned off when this output is
open.
An example circuit is shown in
Page 53, "(2) Image of how to connect the controller
When you are using an additional axis, please perform appropriate circuit connections by referring to these drawings.
Refer to
Page 49, "3.7 Additional Axis
on the additional axis function.
Note1) you use the addition axis function as a user mechanism who became independent of the robot arm,
please do not connect this output signal. Servo-on of the user mechanism may be unable.
(1) Example circuit
1) Get the power supply for the controller from the secondary terminal of short circuit
breaker (NV) built in the addition axis amplifier box.
2) Get the power supply for the MC synchronization from the secondary
terminal of short circuit breaker (NV) prepared by the customer.
NV
To the internal circuit
AXMC is output from
the contact for internal
servo power supplies.
[Note] For the input/output cable (CNUSR connector cable) that connects customer's system and the controller, prevent
ground faults from occurring at the + side of the 24V power supply prepared by customer. A ground fault may lead
to a failure of the protection device in the controller.
Bending or frictional forces may be applied to the input/output cable repeatedly depending on the system
configuration or layout. In this case, use a flexible cable for the input/output cable. Note that a fixed cable may be
broken, resulting in a ground fault.
Fig.3-14: Example of circuit for additional axis synchronization output
3-52 Additional axis synchronization output
Page 52, "(1) Example
Function"and the separate "Additional axis interface Instruction Manual" for details
<Controller>
circuit". An image of how to connect the connector is shown in
connector".
NV
DC24V
Note 1)
CNUSR connector
Note 2)
AXMC11
AXMC12
Note 2)
AXMC21
AXMC22
Note 1) Connector and pin number
Signal
Connector
AXMC11
CNUSR11
AXMC12
AXMC21
CNUSR11
AXMC22
Note 2) This output is opened, if the robot turns off the servo by
occurrence of alarm etc.
<Electric specification>
DC24V/10mA to 100mA
MC
MC1
MC2
<Addition axis amplifier box>
Pin number
9
25
2
18
Amplifier
88
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