Connector - Nachi RMU20-20 Instruction Manual

2.2.3 Connector

1) CN1
Pin no. Circuit code
(A1) U24V
(A2) U24V
(A3) IN1A+
(A4) IN1B+
(A5) IN2A+
(A6) IN2B+
(A7) IN3A+
(A8) IN3B+
(A9) GPIN1
(A10) GPIN3
(A11) GPIN5
(A12) GPIN7
(A13) P1
(A14) OUT1A+
(A15) OUT1B+
(A16) BK1+
(A17) GPOUT1
(A18) OUTCOM1
(A19) U24A
(A20) U24A
Receptacle housing at cable side: Hirose HIF3BA-40D-2.54C, 40 contacts
SI: safety input, SO: safety Output, BI: back-check input, I: monitor input, O: monitor output, PI: power input, GI: ground input,
PO: power output, GO: ground output
Table 2-2 Connector CN1 pin allocation
Signal name
I/O
DC24V (+)
PI
DC24V (+)
PI
Robot emergency
SI
stop 1+
Robot emergency
SI
stop 2+
Enable switch 1+
SI
Enable switch 2+
SI
Slave error 1+
SI
Slave error 2+
SI
Not used
I
TEACH mode
I
System OK
I
LS release switch
I
DC24V (+)
PO
Robot power ON 1+
SO
Robot power ON 2+
SO
Robot power ON
BI
back check 1+
ES Error
O
GPOUT1 common
O
DC24V (+)
PI
DC24V (+)
PI
2.2 Description of Exterior and Parts
Pin no. Circuit code
(B1) U0V
(B2) U0V
(B3) IN1A-
(B4) IN1B-
(B5) IN2A-
(B6) IN2B-
(B7) IN3A-
(B8) IN3B-
(B9) GPIN2
(B10) GPIN4
(B11) GPIN6
(B12) GPIN8
(B13) P1
(B14) OUT1A-
(B15) OUT1B-
(B16) BK1-
(B17) GPOUT2
(B18) OUTCOM2
(B19) U0A
(B20) U0A
Signal name
I/O
DC24V (GND)
GI
DC24V (GND)
GI
Robot emergency
SI
stop 1-
Robot emergency
SI
stop 2-
Enable switch1-
SI
Enable switch 2-
SI
Slave error 1-
SI
Slave error 2-
SI
PLAYBACK mode
I
Power shut-off
I
command
Not used
I
Gun axis
I
brake release
DC24V
PO
Robot power ON 1-
SO
Robot power ON 2-
SO
Robot power ON
BI
back check 1-
Motors-ON LED
O
GPOUT2 common
O
DC24V (GND)
GI
DC24V (GND)
GI
2-7