Mitsubishi Electric CR750-D Instruction Manual page 40

2Unpacking to installation
Table 2-5 ： Pin assignment (CNUSR13)
Pin
Name
No.
1
2
3 LAH1
4 LAL1
5 LBH1
6 LBL1
7
8 LZH1
Note1) The reserved pins cannot be used. Do not wire the pins.
Note2) The pin 6 of CNUSR11/12 are used for common line (SG line).
Table 2-6 ： Pin assignment (CNUSR2)
Pin
Name
No.
1 MPI11 (850)
2 MPICOM1
3
4
5
6
7
8
9 SKIP11
10 SKIP21
11 SKIP31
12 SKIP41
13
14
15 SG
16 ROBOTERR11
17 ROBOTERR21
2-28 Installation
Note1)
Remarks
Function
Reserved
Reserved
A-phase signal + Encoder input of a
(plus) side of dif -
trucking function
Note2)
ferential encoder
CH1
CH1
A-phase signal -
(minus) side of dif -
ferential encoder
CH1
B-phase signal +
(plus) side of dif -
ferential encoder
CH1
B-phase signal -
(minus) side of dif -
ferential encoder
CH1
Reserved
Z-phase signal + Encoder input of a
(plus) side of dif -
trucking function
ferential encoder Note2)
CH1
CH1
Note1)
Remarks
Function
Servo digital input
1
MPI input common
(COM)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Dedicated stop This pin and pin 34
input common is a pair.
(COM)
SKIP21 common This pin and pin 35
(COM)
is a pair.
SKIP31 common This pin and pin 36
(COM)
is a pair.
SKIP41 common This pin and pin 37
(COM)
is a pair.
Reserved
Reserved
Common pin Common pin (SG)
Robot error output This pin and pin 41
is a pair.
Robot error output This pin and pin 42
is a pair.
Pin
Name
Function
No.
9 Reserved
10 LZL1 Z-phase signal -
(minus) side of dif -
ferential encoder
CH1
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Reserved
Pin
Name
Function
No.
26 MPI14 (851) Servo digital input
2
27 MPI16 (852) Servo digital input
3
28 Reserved
29 Reserved
30 Reserved
31 Reserved
32 Reserved
33 Reserved
34 SKIP12 Dedicated stop
input
35 SKIP22 (801) SKIP2 input
36 SKIP32 (802) SKIP3 input
37 SKIP42 (803) SKIP4 input
38 Reserved
39 Reserved
40 SG Common pin
41 ROBOTERR12 Robot error output This pin and pin 16
42 ROBOTERR22 Robot error output This pin and pin 17
Note1) Remarks
Encoder input of a
trucking function
Note2)
CH1
Note1) Remarks
This pin and pin 9
is a pair.
This pin and pin 10
is a pair.
This pin and pin 11
is a pair.
This pin and pin 12
is a pair.
Common pin (SG)
is a pair.
is a pair.