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Atmospheric Single-Arm Robot Manual
4000-0016 Rev A
111
MOF Return
MOF Return
MOF
ES Return
ES
To Robot
Controller (CPU)
Operate/Teach Safety Circuit
To Robot Controller
(I/O Board)
Robot Controller I/F
Operate
Teach
Blk
Grn
Wht
Blu
Gra
Vio
Brn
Red
Org
Yel
Blk
Blu
Grn
MOF Send
Emergency Stop Button
Emergency Stop
Safety Interlocks
Host Control Lockout
Terminal Cable
TTR-200
Teach
Pendant
Interlock
Closed
Monitor
J6
CON 2 Pin
1
2
J5
CON 2 Pin
1
2
J8
DB37M
19
37
18
36
17
35
16
34
15
33
14
32
13
31
12
30
11
29
10
28
9
27
8
26
7
25
6
24
5
23
4
22
3
21
2
20
1
J1
DB15F
8
15
7
14
6
13
5
12
4
11
3
10
2
9
1
P9
DB37F
19
37
18
36
17
35
16
34
15
33
14
32
13
31
12
30
11
29
10
28
9
27
8
26
7
25
6
24
5
23
4
22
3
21
2
20
1
J23
RJ11
1
2
3
4
5
6
J2
RJ11
1
2
3
4
5
6
S1
Key Switch
J4
CON 2 Pin
1
2
J7
CON 2 Pin
1
2
D1
Green LED
PGND+24VDC
RJ12

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