5 Installation and Commissioning
5.7 Misc. System Connections
110 3HNA009834-001 en Rev.06 Product Manual, Control Cabinet IRC5P
5.7.8 Home Position Switch
General Home position switch is an option that shows when the manipulator axis 1 is in a
determined home position. The manipulator is equipped with a namur switch on
axis 1. A relay is located in the control cabinet. The principle diagram is shown in
following illustration.
Figure 56 Home position switch, principle diagram
The relay with terminal X1 is located at the bottom of the controller, see Figure 17.
15
7
8
9
10
11
12
14
Control cabinet Manipulator
1
3
0V
+24VDC
Relay
X1 X1
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