Connectors And Signal Assignment - Mitsubishi Electric MELFA CR750 Series Instruction Manual

3.2 Connectors and signal assignment

Fig. 3-5 Signal assignment of CNUSR21
Pin No. Signal name
1
AXMC11
2 AXMC12
3
LAH2
4 LBH2
5
LZH2
SG
6
7
ROBOTERR11 Robot error output
8 ROBOTERR12 Robot error output
9 NC
10 SKIP11
11
SKIP12
12 MPI11
13
MPI14
14 MPICOM1
15
NC
16 NC
Fig. 3-6signal assignment of CNUSR22
Pin No. Signal name
1
AXMC21
2 AXMC22
3
LAL2
4 LBL2
5
LZL2
SG
6
7
ROBOTERR21 Robot error output
8 ROBOTERR22 Robot error output
9 NC
10 SKIP21
11
SKIP22
12 SKIP31
13
SKIP32
14 NC
15
NC
16 NC
Function
Additional axis contactor control output
Additional axis contactor control output
Differential encoder A phase signal + side CH2
Differential encoder B phase signal + side CH2
Differential encoder Z phase signal + side CH2
Common pin
Reserved
Dedicated stop input common (COM)
Dedicated stop input
Safety input CH1-B
Safety input CH2-B
Safety input common
Reserved
Reserved
Function
Additional axis contactor control output
Additional axis contactor control output
Differential encoder A phase signal - side CH2
Differential encoder B phase signal - side CH2
Differential encoder Z phase signal - side CH2
Common pin
Reserved
Safety input CH2-A
Safety input common
Safety input CH2-A
Safety input common
Reserved
Reserved
Reserved
3 Signals and wiring
Remarks
The function is the standard
function of the robot.
For details, refer to
specifications or instruction
manual that comes with the
robot.
Unused
The function is the standard
function of the robot.
For details, refer to
specifications or instruction
manual that comes with the
robot.
DSI1-B
DSI2-B
Common to MPI11 and MPI14
Unused
Remarks
The function is the standard
function of the robot.
For details, refer to
specifications or instruction
manual that comes with the
robot.
Unused
DSI1-A
Common to SKIP21
DSI2-A
Common to SKIP31
Unused
Connectors and signal assignment 3-13