YASKAWA MA2010 User Manual

Internal cables and compressed air lines
8
- 43
For the wiring, see the following figure, "Connecting diagram for internal connections."
The internal connections of the robot are shown in the following diagrams "Connection
diagram A" and "Connection diagram B".
Fig. 8-4: Internal connection diagram (a)
B1
A1
B3 A3
B2 A2
LB1
LA1
LB1
OVERRUN LIMIT SWITCH S AXIS OVERRUN LIMIT SWITCH S AXIS
LC3 LD3
P
LA3
LB3
P
L AND U AXIS COLLISION LIMIT SWITCH L.S.
OVERRUN LIMIT SWITCH L AXIS
OVERRUN LIMIT SWITCH S AXIS
L AND U AXIS COLLISION LIMIT SWITCH L.S.
OVERRUN LIMIT SWITCH L AXIS
OVERRUN LIMIT SWITCH S AXIS
P P
P
P P P P P P
No. 4CN
No. 2CN
No. 10CN
LD1 LB1
LD1
LC1
LD2 LB2
LD2 LB2
LD1
LD1
LB1
LC1
LD1
LD1 LB1
LA1
LB1
LA3 LB3
LB2
LB1
LA1
LC3 LD3
LD2
LD1
LC1
LD1
LC2 LD2
LD2 LD1
LC1
LB1
LA2 LB2
LB2
LB1
LA1
P
LD1 +24V
+24V
CN2-10
CN4-6
LB1
P
P
P
P P P P
LC2 LD2
P
LB2 LA2
P
LA3 LB3
LB1 LA1
LC3 LD3
LD1
LC1
LC2 LD2
LD1
LA2 LB2
LB1
-2
1CN-1
No. 1CN
DATA+5 DATA-5
P
B-AXIS
PG
T-AXIS
PG
-4 -2 -3
OBT +5V 0V FG5
BAT OBT
2CN-1
-2 -4 -2 -3
+5V OBT 0V BAT
No. 3CN
3CN-1 4CN-1
DATA+6 DATA-6
OBT BAT
FG6-3
P
P P P
BAT-3
0BAT3 BAT3 0BAT2 BAT2
P P P P P
P
DATA-1 DATA+1 BAT 0V +5V FG1 DATA+2 DATA-2 +5V OBT BAT 0V OBT FG2
22CN-1
No. 22CN
-2 -6 -4 -9 -7
23CN-1
-2 -5 -4 -6 -9
No. 23CN
-5 -7
AL1 AL2
FG4
0V
CN4-10
CN4-10
-8 -2
OBT BAT
FOR LAMP (OPTIONAL)
+5V 0V 0V +5V
CN3-10 CN3-9
P
CN3-10 CN3-9
FG8 FG7 SPG-7 SPG+7
CN4-9
CN4-9 CN3-4
CN3-5P
CN3-4 CN3-5 CN4-4 CN4-5
P
CN4-4 CN4-5
CN2-9 CN2-10
CN2-9
CN2-4 CN2-5
P
CN2-4 CN2-5
CN1-4 CN1-5
CN1-2
CN1-1
CN1-9
CN1-10
CN1-3
CN1-8
CN1-7 CN1-6
CN2-2 CN2-1
CN2-3
CN2-7 CN2-6
CN3-2 CN3-1
CN2-8
CN3-3
CN3-7 CN3-6
CN4-1
CN4-7
CN4-3
CN4-2
CN4-6
CN3-8
CN4-8
1BC(10X4)
DATA-1 DATA+1 BAT 0V +5V FG1
PG
DATA+2 DATA-2 +5V OBT BAT 0V
L-AXIS
PG
S-AXIS
OBT
PG
U-AXIS
PG
R-AXIS
No. 16CN
16CN-1
-6 -2 -4 -5 -10 -9
9CN-1 10CN-1
-3 -2 -2 -4 -3
No. 13CN
-1
-7
DATA+5 DATA-5
No. 9CN
FG4
OBT BAT
BAT +5V 0V OBT DATA+4 DATA-4
+5V OBT FG3 0V BAT DATA-3 DATA+3
P
-3 -9
+5V 0V
-4
-10 -5 -11
DATA+6 DATA-6 +5V 0V
-6
FG6
FG2
17 18 21 19 20 22
0BAT1 BAT1
1
2 4 3
BAT11 0BAT12 BAT12 0BAT11
24 27 26 25 29 28
BAT4 0BAT4
31 32 2 4 3 1
PG5V1 PG5V2 PG0V2 PG0V1
30
7 5 6 8
0BAT21 0BAT22 BAT21 BAT22
1
2 4 6 5
3
23
18CN-1
No. 18CN
-2 -6 -4 -9 -10
19CN-1
-2 -5 -4 -6 -9
No. 19CN
-5
6 7 8 10 11 9 12
PG5V3 PG0V4 PG5V4 PG5V5 PG0V6 PG0V5 PG5V6
15 14 13 16
8
1 3 4 2
5 PG0V37
R R
P P
K K
RP RP
K K
CN1-5
1BC(10X4)
CN1-4
P
CN1-10
CN1-9
CN1-1
CN1-2
P P
CN1-3
CN1-6 CN1-7
CN1-8
P
SPG+2 SPG-2 FG2
FG1
SPG-1 SPG+1 +24V 0V +24V 0V
0BT
BAT
0BT
BAT
0BT
BAT BAT
0BT
CN2-1 CN2-2
P
CN2-3
CN2-6 CN2-7
P
CN3-1 CN3-2
P
CN2-8
CN3-3
FG5
CN3-6 CN3-7
P
CN4-1
FG6
CN4-2
CN4-3
CN4-7
P P
CN3-8
SS2 BC2 +24V
SPG-6 SPG+6 SPG-5 SPG+5 SPG+4 SPG-4
FG3
SPG+3 SPG-3
-10
E
CN4-8
P
Controller
E
1. The connecting terminal A B for the indication of the end switch has been changed as follows:
Mains cable
Internal cable
Notice
2. The connection C applies only if the cable is for the main power supply of the automatic welding machine.
connected to
B1
S-Axis limit switch specification
S, L, and U axes with overrun limit switch details
connected to
B2
connected to
B3
connected to
A1
connected to
A2
connected to
A3
connected to
B1
connected to
A1

YASKAWA MA2010 Specifications

General

Brand	YASKAWA
Model	MA2010
Category	Robotics
Language	English