5. Hardware Reference (Undefined variable: MyVariables.ProductName)
System Schematics Part Number: PF40-DI-00010 Rev. A
5. Hardware Reference
System Schematics
System Diagram and Power Supplies
The robot has a 24 VDC and 48 VDC power supply located in the Z column. For Revisions A and B,
the AC input to these power supplies is fused with two fuses in a pull-out fuse drawer in the IEC type
power entry module. For Revision C and later, these fuses have been removed. The power supplies
have both over-current and over-voltage protection and are CSA, UL, and CE certified.
The robot controller and electric gripper are powered by the 24 VDC supply. The four main robot
motors are powered by the 48 VDC supply. The 48 VDC supply is protected against over-voltage
bus pump up by an energy dump circuit, which connects a 25-Watt dump resistor across the 48
VDC supply output when the voltage reaches 56 Volts and disconnects the dump resistor when the
voltage drops to 52 Volts. This protects the power supply during high speed motor deceleration
when the motor generates Back EMF voltage that adds to the power supply voltage.
DC power is routed from the power supplies to an interconnect board in the base of the Z column (Z
Base Motor Interface Board). From this interconnect board, the power is routed in P1 and P2 flat
ribbon cables. The P2 cable contains the 48 VDC motor power and is connected to the power
amplifier board in the controller. The P1 cable contains the 24 VDC controller power and is routed to
a second interconnect board (the MIDS Power Interface Board), which is mounted on the side wall
inside the inner link of the robot. From this board, 24 VDC power is connected to the main robot
controller.
Four digital input and four digital output signals from the main robot controller are also connected to
the MIDS Power Interface Board through a ten-conductor ribbon cable. One digital input signal, DI3,
is routed down to the base of the robot thru the P1 ribbon cable where it is connected to the green
Phoenix E-Stop connector. This provides a digital input for safety interlock purposes. There is a
jumper on the MIDS Power Board which jumps this signal to the P1 cable. This jumper must be
installed for this connection to work.
The rest of the digital inputs and outputs are daisy chained to a second connector on the MIDS
board for use if needed. Some of these signals are used when the pneumatic gripper option is
installed.
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