Internal Connections - YASKAWA MOTOMAN-MPL80 II Instructions Manual

170904-1CD
MPL80 II
8.2

Internal Connections

Fig. 8-4(a): Internal Connection Diagram
Controller
0BT 1
K R P BAT 2
0BT 3
K R P BAT 4
0BT 5
K R P BAT 6
0BT 7
K R P BAT 8
1
2
3
4
5
6
7
8
1BC(10×4)
No.24CN X
CN1-5
+24V +24V -1 +24V
CN1-5
0V P CN1-4 0V -3 0V
CN1-4
+24V CN1-10 +24V -2 +24V
CN1-10
0V P CN1-9 0V -4 0V
CN1-9
CN1-1
SPG+1 SPG+1
CN1-1
SPG-1 P CN1-2 SPG-1
CN1-2
CN1-3
FG1 FG1
CN1-3
SPG+2 CN1-6 SPG+2
CN1-6
SPG-2 P CN1-7 SPG-2
CN1-7
CN1-8
FG2 FG2
CN1-8
CN2-1
SPG+3 SPG+3
CN2-1
SPG-3 P CN2-2 SPG-3
CN2-2
CN2-3
FG3 FG3
CN2-3
CN3-1
SPG+5 SPG+5
CN3-1
SPG-5 P CN3-2 SPG-5
CN3-2
CN3-3
FG5 FG5
CN3-3
SPG+6 CN3-6 SPG+6
CN3-6
SPG-6 P CN3-7 SPG-6
CN3-7
CN3-8
FG6 FG6
CN3-8
0V CN4-10 0V
CN4-10
+24V +24V
CN2-10
CN2-10
BC2 CN4-3 BC2
CN4-3
+24V CN4-1 +24V
CN4-1
LB1 P CN4-6 LB1
CN4-6
+24V CN2-4 +24V
CN2-4
LD1 P CN2-5 LD1
CN2-5
E
S1(24-28)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
8-4
<Notes>
1.For the limit switch specification, the connection of the section A B are changed as follows:
LA1
LA1
LB1
LB1
LB2
0BAT11 17 0BAT1
LB2
BAT11 18 BAT1
LB1
0BAT12 19 0BAT2
BAT12 20 BAT2
21 0BAT3
22 BAT3 LC1 LC1
23 LD1
24
0BAT21 25 LD1
BAT21 26
LD2
0BAT22 27 0BAT5
BAT22 28 BAT5 LD2
29 0BAT6
LD1
30 BAT6
31
SLU-axes with Limit Switch Specification
32
1 PG0V1
2 PG5V1
3 PG0V2 LC1 LC1
4 PG5V2
LD1
5 PG0V3
6 PG5V3
LA1 LA1
7
8 LB1
9 PG0V5
S-axis with Limit Switch Specification
10 PG5V5
1 11 PG0V6
3 12 PG5V6
13
2 14
4 15
16
No.18CN S
-1 BAT1
-2 0BAT1
-3 PG5V1
-4 PG0V1
No.19CN L
-1 BAT2
-2 0BAT2
-3 PG5V2
-4 PG0V2
No.20CN U
-1 BAT3
-2 0BAT3
-3 PG5V3
-4 PG0V3
No.22CN B
-1 BAT5
-2 0BAT5
-3 PG5V5
-4 PG0V5
No.23CN T
-1 BAT6
-2 0BAT6
-3 PG5V6
-4 PG0V6
LB1
LA1 LB1 LB2
A1
LD1
LD2
LB2
LD1
LC1
LB1
B1
LD2
LD1
E
Base MANIPULATOR
E
P
P
P
P
P
P
P
P
P
P
P
8 Electrical Equipment Specification
8.2 Internal Connections
S-axis overrun L.S. Connected to A1
LB1
LA2
L-axis overrun L.S. Connected to A2
LB2
LA3
L and U-axes interference L.S. Connected to A3
LB3
LD1 S-axis overrun L.S. Connected to B1
LC2
LD2 L-axis overrun L.S. Connected to B2
LC3
LD3 L and U-axes interference L.S. Connected to B3
Connected to B1
LD1 S-axis overrun L.S.
Connected to A1
LB1 S-axis overrun L.S.
No.1CN
1CN-1 DATA+1
P -2 DATA-1
-6 BAT
P -5 OBT PG S-AXIS
-4 +5V
P -9 0V
-10 FG1
OBT
BAT
No.2CN
2CN-1 DATA+2
P -2 DATA-2
-6 BAT
P -5 OBT PG L-AXIS
-4 +5V
P -9 0V
-10 FG2
OBT
BAT
No.3CN
3CN-1 DATA+3
P -2 DATA-3
-6 BAT
P -5 OBT PG
-4 +5V
U-AXIS
P -9 0V
-10 FG3
OBT
BAT
No.5CN
5CN-1 DATA+5
P -2 DATA-5
-6 BAT
P -5 OBT PG
-4 +5V
P -9 0V
-10 FG5
OBT
BAT
No.6CN
6CN-1 DATA+6
P -2 DATA-6
-6 BAT
P -5 OBT PG
-4 +5V
P -9 0V
-10 FG6
OBT
BAT
BC1
BC2 FOR LAMP(OPTION)
A2
LA2
LB2
B2
LC2
LD2
A3
LA3
LB3
B3
LC3
LD3
Casing
No.8CN(24-28)
1
SP1
2
SP2
3
SP3
4
SP4
5
6 SP5
SP6
7
SP7
8
SP8
9
SP9
10
SP10
11
SP11
12
SP12
13
14 SP13
15 SP14
16 SP15
SP16
17
SP17
18
SP18
19
SP19
20
SP20
21
SP21
22
SP22
23
SP23
B-AXIS
T-AXIS
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HW1483872