Troubleshooting Tools
36 Product Manual
3.4.4 Measuring system
The signal interface with the serial measuring system. It complies with the EIA RS 422
standard, which means that signal transmission is differential, see 3.2 (Figure 3).
The MRCO signals travel from the robot computer to the measuring boards.
The MRCI signals enter the robot computer from the measuring boards.
MRCI1/MRCO1 signals are connected to the IRB axes (backplane connector X23,
see 3.1).
MRCI2/MRCO2 are used for external axes (backplane connector X12, see 3.1).
X9
Pin A C
20 0V
21 MRCI1 MRCI1 N
22 MRCO1 MRCO1 N
23 MRCI2 MRCI2 N
24 MRCO2 MRCO2 N
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