Connecting The Positioner Cables; Figure 4-17 Positioner Interface Panel Installation - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

INSTALLATION
4.10.7

Connecting the Positioner Cables

The positioner headstock uses a cable interface panel for cable connections. The
cable interface panel is placed inside the housing cabinet for shipping. To install
the interface panel and connect positioner cables to it, proceed as follows:
1. Unpack positioner cables CA21, CA23, CA61, and CA62 from the R1
controller and route to the positioner headstock (see Figure 4-13).
2. Using a 10-mm wrench/socket, remove the ten mounting nuts from the side
of the headstock frame. The headstock side panel requires eight nuts, the
other two secure the interface panel. Save hardware for installation of both
panels.
3. Remove the headstock side panel.
4. Remove the interface panel from the housing cabinet and secure it to the base
of the headstock cabinet, using hardware removed in Step 2 (see Figure 4-17
for proper orientation.)
HEADSTOCK
SIDE PANEL
5. Route the PL21 and CN11 cables through the far-left hole on the interface
panel to the inside of the headstock cabinet. These two cables are internal
cables of the CA21 cable.
6. Use a phillips screwdriver to secure the CA21 cable gland plate to the
interface panel.
7. Connect the XCO02 CN11 cable to the CN11 connection on the XCO02 board.
8. Locate both PL21 cables (male and female) inside the headstock cabinet and
connect them.
9. Connect the CA23 cable to the CA23 connector on the interface panel.
10. Connect the CA62 cable to the CA62 connector on the interface panel.
11. Connect the CA61 cable to the CA61 connector on the interface panel.
12. Replace the headstock side panel using hardware removed in Step 2. A 10-
mm socket/wrench is required.
ArcWorld IV-6200 XHD DR2C System Manual
MOUNTING
NUT
CA21

Figure 4-17 Positioner Interface Panel Installation

4-18
XCO02 CN11
PL21
CA61
INTERFACE
PANEL
CA62
CA23
MOTOMAN