Description of Units and Circuit Boards
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8.2 Axes control circuit board
8.2.1 Major axes control circuit board
The major axes control circuit board controls the servomotors of the robot’s six axes. It also
controls the converter and the PWM amplifiers. Mounting an external axes control circuit
board of an option makes it possible to control the servomotor of nine axes, including the
robot axes.
The major axes control circuit board also has the following functions:
• Brake power supply control circuit
• Shock sensor (shock) input circuit
• Direct-in circuit
Machine safety I/O I/F (CN511) Major axes control circuit board
Brake control signal (CN513
STO control signal I/F (CN521)
LED
Control communication (CN515)
Control communication (CN516)
PWM amplifier 2 I/F (CN502)
PWM amplifier 4 I/F(CN504)
PWM amplifier 5 I/F (CN505)
PWM amplifier 3 I/F (CN503)
PWM amplifier 1 I/F (CN501)
Analog monitor I/F (CN519)
Rotary switch (S1)
Encoder signal (CN508)
DC control power supply (CN510)
Converter I/F (CN507)
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