Nachi RMU20-20 Instruction Manual page 38

2.2 Description of Exterior and Parts
6) CNGP1 (RMU20-20)
Pin no. Circuit code
(A1) IN5A+
(A2) IN5B+
(A3) IN6A+
(A4) IN6B+
(A5) GPOUT3
(A6) GPOUT4
(A7) GPOUT5
(A8) GPOUT6
Receptacle housing at cable side: JST Mfg. No. J21DF-16V-KY, 16contacts, Y-type
SI: safety input, IO: serial signal
7) CNGP2
Pin no. Circuit code
(A1) OUT2A+
(A2) OUT2B+
(A3) BK2+
(A4) OUT3A+
(A5) OUT3B+
(A6) BK3+
(A7) OUT4A+
(A8) OUT4B+
(A9) BK4+
(A10)
Receptacle housing at cable side: Tyco electronics No. 2-1318118-9, 20 contacts, Y-type
SO: safety output, BI: back-check input
2-10
Table 2-6 Connector CNGP1 pin allocation
Signal name
I/O
Emergency stop 1+
SI
Emergency stop 2+
SI
Safety plug 1+
SI
Safety plug 2+
SI
Not used
O
O Not used
O Not used
Not used
O
Table 2-7 Connector CNGP2 pin allocation
Signal name
I/O
General safety output
SO
11+
General safety output
SO
12+
Back check 1+
BI
General safety output
SO
21+
General safety output
SO
22+
Back check 2+
BI
General safety output
SO
31+
General safety output
SO
32+
Back check 3+
BI
Pin no. Circuit code
(B1) IN5A-
(B2) IN5B-
(B3) IN6A-
(B4) IN6B-
(B5) GPOUT7
(B6) GPOUT8
(B7) GPOUT9
(B8) OUTCOM
Pin no. Circuit code
(B1) OUT2A-
(B2) OUT2B-
(B3) BK2-
(B4) OUT3A-
(B5) OUT3B-
(B6) BK3-
(B7) OUT4A-
(B8) OUT4B-
(B9) BK4-
(B10)
Signal name
I/O
Emergency stop 1-
SI
Emergency stop 2-
SI
Safety plug 1-
SI
Safety plug 2-
SI
O Servo ON
O Not used
O Not used
Output common
O
Signal name
I/O
General safety output
SO
11-
General safety output
SO
12-
Back check 1-
BI
General safety output
SO
21-
General safety output
SO
22-
Back check 2-
BI
General safety output
SO
31-
General safety output
SO
32-
Back check 3-
BI