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POWER CABLE
0BT
1
P
BAT
2
0BT
3
P
BAT
4
0BT
5
P
BAT
6
0BT
7
P
BAT
8
1
2
3
4
5
6
7
8
NX100
1BC(4X10)
CN1-5
CN1-5
+24V
CN1-4
P
CN1-4
0V
CN1-10
CN1-10
+24V
CN1-9
P
CN1-9
0V
CN1-1
CN1-1
SPG+1
CN1-2
P
CN1-2
SPG-1
CN1-3
CN1-3
FG1
CN1-6
CN1-6
SPG+2
CN1-7
SPG-2
P
CN1-7
CN1-8
CN1-8
FG2
CN2-1
CN2-1
SPG+3
CN2-2
P
CN2-2
SPG-3
CN2-3
CN2-3
FG3
CN2-6
CN2-6
SPG+4
CN2-7
P
CN2-7
SPG-4
1BC(10X4)
CN2-8
FG4
CN2-8
CN3-1
CN3-1
SPG+5
CN3-2
P
CN3-2
SPG-5
CN3-3
CN3-3
FG5
CN3-6
CN3-6
SPG+6
CN3-7
P
CN3-7
SPG-6
CN3-8
CN3-8
FG6
CN4-1
CN4-1
+24V
CN4-6
P
CN4-6
LB1
CN4-2
CN4-2
SS2
CN4-7
P
CN4-7
CN4-3
CN4-3
BC2
CN4-8
P
CN4-8
AL2
CN2-4
CN2-4
0V
CN2-5
P
CN2-5
+5V
CN2-9
CN2-9
0V
CN2-10
P
CN2-10
+5V
CN3-4
CN3-4
0V
CN3-5
P
CN3-5
+5V
CN3-9
CN3-9
0V
CN3-10
P
CN3-10
+5V
CN4-4
CN4-4
SPG+7
CN4-5
P
CN4-5
SPG-7
CN4-9
CN4-9
FG7
E
E
3BC(20-29)
E
1
3BC-1
-2
2
-3
3
-4
4
-5
5
-6
6
-7
7
-8
8
-9
9
-10
10
-11
11
-12
12
-13
13
-14
14
-15
15
-16
16
CONNECTOR BASE
Fig. 20 (a) Internal Connection Diagram
8-3
INTERNAL CABLE IN S-AXIS
INTERNAL CABLE IN L-AXIS
0BAT11
17
0BAT1
BAT11
18
BAT1
0BAT12
19
0BAT2
BAT12
20
BAT2
21
0BAT3
22
BAT3
23
24
0BAT21
25
0BAT4
BAT21
26
BAT4
0BAT22
27
BAT22
28
29
30
31
32
1
PG0V1
2
PG5V1
3
PG0V2
4
PG5V2
5
PG0V3
6
PG5V3
7
PG0V4
8
PG5V4
9
PG0V5
10
PG5V5
1
11
PG0V6
3
12
PG5V6
13
2
14
4
15
16
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
LA1
LA2
P
P
E E
E
Casing
Base
E
E
E
1
1
2
2
P
3
3
4
4
P
5
5
6
6
P
7
SS1
SS1
SS1
8
SS2
SS2
P
SS2
P
INTERNAL CABLE IN BT-AXES
<NOTES>
- For the limit switch specification, the connection ofthe section A is changed as follows:
LA1
LA1
LB1
LB1
SLU-AXES OVERRUN LIMIT SWITCH SPECIFICATION
- The pins No.7 and No.8 of 3BC connector on the U-arm are respectively connected with
the shock sensor power supply and shock sensor signal input port of the NX100 controller.
Pin No.
No.20CN
20CN-1
DATA+1
7
-2
DATA-1
-6
BAT
S-AXIS
-5
OBT
PG
8
-4
+5V
-9
0V
-7
FG1
OBT
BAT
No.21CN
- In case of connecting the pin No.7 and No.8 of respective 3BC connectors on the U-arm
21CN-1
DATA+2
-2
DATA-2
and connector base, the connection in the section B should be changed as shown in the
-6
BAT
L-AXIS
-5
OBT
PG
-4
+5V
section C below.
-9
0V
-7
FG2
(Contact your Yaskawa representative in case of modifying the wiring before use.)
OBT
BAT
No.5CN
No.22CN
5CN-1
DATA+3
22CN-1
DATA+3
-2
DATA-3
P
-2
DATA-3
-3
BAT
-6
BAT
U-AXIS
-4
OBT
P
-5
OBT
PG
6CN-1
+5V
-4
+5V
-2
0V
P
-9
0V
-3
FG3
-7
FG3
OBT
No.6CN
BAT
No.23CN
23CN-1
DATA+4
-2
DATA-4
-3
BAT
R-AXIS
P
-4
OBT
PG
24CN-1
+5V
-2
0V
-3
FG4
OBT
BAT
No.7CN
No.14CN
7CN-1
DATA+5
14CN-1
DATA+5
-7
DATA-5
P
-2
DATA-5
BAT
-3
BAT
-2
P
-8
OBT
P
-4
OBT
+5V
15CN-1
+5V
-3
0V
P
-2
0V
-9
-3
FG5
OBT
BAT
No.16CN
-4
DATA+6
16CN-1
DATA+6
-10
DATA-6
P
-2
DATA-6
-3
BAT
P
-4
OBT
-5
+5V
17CN-1
+5V
-11
0V
P
-2
0V
-6
FG6
-3
FG6
OBT
BAT
LB3
LA2
A
U
FOR LAMP (OPTIONAL)
V
NX100
CN4-1
CN4-2
B
3BC(20-29)
E
1
1
1
3BC-1
2
2
2
-2
P
-3
3
3
3
4
4
4
-4
P
-5
5
-6
6
7
-7
SS1
-8
SS2
P
8
9
-9
SHOCK SENSOR
-10
10
-11
(OPTIONAL)
11
FOR SPARE
12
-12
CABLE
-13
13
14
-14
-15
15
-16
16
U-ARM
8.2 Internal Connections
S-AXIS OVERRUN LIMIT SWITCH
LA2
LA2
LA2
L-AXIS OVERRUN LIMIT SWITCH
LB2
A
P
LA3
LB3
LB3
L AND U-AXES INTERFERENCE
LIMIT SWITCH
Connected Port in NX100
Shock sensor power supply; +24V (1A)
Shock sensor signal input
B-AXIS
PG
T-AXIS
PG
C
POWER CABLE
INTERNAL CABLE
CONNECTOR BASE
1BC(4X10)
CN4-1
+24V(1A)
SS1
CN4-2
SS2
SS2
CRIMPED
E
E
CONTACT-PIN
Casing
E
Base
3BC(20-29)
E
E
E
UNUSED
3BC-1
1
1
1
1
1
-2
2
2
2
P
2
2
-3
3
3
3
3
3
-4
4
4
4
4
4
P
-5
5
5
5
-6
6
6
6
P
-7
7
7
SS1
SS1
SS1
-8
8
8
SS2
P
SS2
SS2
-9
9
-10
10
P
-11
11
-12
12
-13
13
-14
14
-15
15
-16
16
WIRING OF 3BC CABLE AFTER CHANGING CONNECTIONS OF B
U-ARM
3BC(20-29)
E
E
3BC-1
1
-2
P
2
3
-3
4
-4
P
5
-5
6
-6
-7
7
-8
P
8
-9
9
-10
10
-11
11
12
-12
13
-13
14
-14
-15
15
-16
16
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