Electrical
Troubleshooting Guide
IRB6400 M94A
Page 7 - 8
Power Unit Circuitry
7.5 KM4
The KM4 relay is used to release the robot axis brakes.
The System board’s (DSQC 256A) K3CR sends 24
VDC out AP41 XP1 pin C30 to the KM3 normally closed
contacts 21 and 22. These contacts ensure that KM4 is
not energized unless KM3 is de-energized meaning
that the motors are on.
- 24 VDC goes to KM4 terminal A1 energizing KM4.
- The 24 VDC on terminal A1 also goes through
diode V1 to the hour meter pin 'N'. This starts the
meter timing.
It is important to note that the 0 VDC on KM4 terminal
A2 goes through FS1 (Drive Power Circuit Breaker) and
then to 0 VDC. That way if FS1 is tripped then the
brakes will not release.
KM 4 has four sets of normally open contacts and two
sets of normally closed contacts.
Normally OPEN contacts 1 and 2 go to XS3/XT3
terminals C10 and C11 are supplied for the customer to
use to monitor the robots brake circuits.
Normally OPEN contacts 3 and 4 along with KM1 and
KM2 contacts send 24 VDC to the brakes, to release the
brakes.
Normally OPEN contacts 5 and 6 along with KM1 and
KM2 contacts could be used to release external axis
brakes.
Normally OPEN contacts 33 and 34 are used to
enable the Axis 1 blower motor if this option exists in the
system.
Normally CLOSED contacts 21 and 22 are used to
disable KM3 when KM4 is energized.
Normally CLOSED contacts 51 and 52 are used to
disable the brake push buttons.
Sheet 8, line 16 ............
Fig. 7-1 ............
Fig. 7-2 ............
Fig. 7-3 ............
Sheet 9, line 13 ............
Fig. 7-2 ............
Sheet 9, line 13 ............
Sheet 5, line 18 ............
Sheet 9, line 13 ............
Sheet 8, line 18 ............
Fig. 7-1 ............
Sheet 9, line 13 ............
Sheet 9, line 13 ............
Sheet 9, line 13 ............
Sheet 9, line 04 ............
Sheet 9, line 13 ............
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