8.2 Internal Connections
8-3
HW0481994
Fig. 20 (a) Internal Connection Diagram
Y
Y
X
RH9550-4077~
RH9550-4077~ ~RH9550-4077
DC/DC
23
24
22
SP22
SP23
SP24
P
P
P
P
P
P
0BAT6
BAT6
PG5V6
T
-1
-2
-3
No.21CN
-4 PG0V6
0BAT5
BAT5
PG5V5
B
-1
-2
-3
No.20CN
-4 PG0V5
R
0BAT4
PG0V4
PG5V4
BAT4
-4
-3
-2
-1
No.19CN
U
0BAT3
PG0V3
PG5V3
BAT3
-4
-3
-2
-1
No.18CN
L
0BAT2
PG0V2
PG5V2
BAT2
-4
-3
-2
-1
No.17CN
S
0BAT1
BAT1
PG5V1
PG0V1
-1
-2
-3
-4
No.16CN
X
0V
+24V
0V
+24V
No.22CN
-2
-4
-1
-3
-6
-5
-4
-9
-6
-5
-4
-9
-6
-5
-4
-9
-6
-5
-4
-9
-6
-5
-4
-9
-9
-4
-5
-6
LA1
E
E
S-AXIS
PG
DATA-1
DATA+1
-2
0V
BAT
OBT
+5V
1CN-1
No.1CN
0BAT2
0BAT3
BAT2
BAT3
BAT118
19
21
22
20
0BAT4
0BAT5
0BAT6
BAT5
BAT4
24
25
28
29
27
26
23
17 0BAT1
BAT
0BT
BAT
P
P4
2
3
BAT11
0BAT12
BAT12
0BT
0BT
BATP
BATP6
8
7
5
0BAT21
BAT22
0BAT22
BAT21
K
K
K
K
R
R
R
R
0BAT11
10BT
BAT6
PG0V2
PG5V1
PG0V1
30
31
3
2
1
32
PG0V3
PG0V5
PG0V4
PG5V4
PG5V3
5
9
7
8
6
4 PG5V2
P
P
P
PG5V6
PG0V6
12
11
16
15
14
13
10 PG5V5
1
2
5
4
3
8
7
6
1BC(10Px4)
3
1
4
2
0V
+24V
0V
+24V
SPG-1
SPG+1
P
P
P
CN1-5
CN1-2
CN1-1
CN1-9
CN1-10
CN1-4
L-AXIS
PG
U-AXIS
PG
DATA+2
FG1
BAT
OBT
-7
2CN-1
No.2CN
-7
BAT
0V
FG2
+5V
OBT
-2 DATA-2
DATA-3
DATA+3
-2
BAT
BAT
3CN-1
No.3CN
-7
OBT
0V
FG3
OBT
+5V
OBT
R-AXIS
PG
B-AXIS
PG
DATA+4
DATA-4-2
OBT
BAT
4CN-1
No.4CN
-7
OBT
BAT
FG4
0V
+5V
DATA+5
DATA-5-2
0V
BAT
OBT
+5V
5CN-1
DATA+6
-7
OBT
BAT
FG5
6CN-1
No.6CN
No.5CN
BAT
P
P
P
P
P
P
FG1
SPG+2
FG2
SPG-2
P
CN1-7
CN1-6
CN1-8
SPG-3
SPG+3
FG3
P
CN2-3
CN2-2
CN2-1
P
P
P
P
P
P
SPG+4
SPG-4
FG4
P
CN2-7
CN2-6
CN2-8
SPG-5
SPG+5
SPG+6
FG5
P
CN3-6
CN3-3
CN3-2
CN3-1
T-AXIS
PG
No.7CN(20-29)
1
FOR LAMP(OPTION)
-7
BAT
0V
OBT
+5V
FG6
BAT
A
OBT
LA2
LB2
BC1
BC2
LB3
LA3
15
10
9
E
0V
5V
SPG-7
FG7
E
P
E E
Casing
SP19
2
SPG+7
P
P
P
LB1
SS1
LA2
LB2
SS2
LB3
LA3
FG6
LB1
+24V
P
CN3-8
CN4-6
CN4-1
SS2
SPG+7
BC2
P
P
CN4-4
CN4-8
CN4-3
CN4-7
CN4-2
E
Base
E E
0V
0V
5V
5V
FG7
0V
0V
5V
5V
P
P
P
P
CN2-10
CN2-9
CN2-5
CN2-4
CN4-9
CN3-5
CN3-9
CN3-10
CN3-4
E
19
S1(28-21)
CN4-5
P
SPG-7
MANIPULATOR
P
SPG-6
P
CN3-7
-2 DATA-6
CN1-3
CN1-5
CN1-4
CN1-10
CN1-9
0V
0V
+24V
+24V
CN1-1
CN1-2
SPG-1
SPG+1
NX100
CN1-3
CN1-6
FG1
SPG+2
CN1-7
CN1-8
FG2
SPG-2
CN2-1
CN2-2
SPG-3
SPG+3
CN2-3
FG3
CN2-6
CN2-7
SPG+4
SPG-4
CN2-8
FG4
CN3-1
CN3-2
SPG+5
SPG-5
CN3-6
CN3-3
SPG+6
FG5
CN3-7
CN3-8
FG6
CN4-1
CN4-6
+24V
LB1
CN4-2
CN4-7
SS2
AL1
CN4-8
CN4-3
BC2
AL2
SPG+7
FG7
CN4-5
CN4-9
CN2-4
CN2-5
CN2-9
CN2-10
5V
0V
0V
5V
0V
CN3-10
CN3-9
CN3-5
0V
5V
5V
CN3-4
SPG-7
CN4-4
SPG-6
No.8CN(22-14)
3
2
1
SP1
SP2
SP3
E
SP6
7
8
9
SP7
SP8
6
5
SP5
SP4
4
13
14
15
16
12
11
SP12
SP13
SP14
SP15
SP11
SP10
18
SP18
SP17
17
SP16
10
SP9
SP20
SP21
P
P
P
1
2
21
6
8
7
4
5
3
20
12
13
15
14
10
11
18
17
16
9
Note)
1. This diagram is for the MOTOMAN-ES165N-100.
For the limit switch specification, the connection of the section A was changed.
2. For RH9550-4077 and over, the connections of the sections X , Y , Z were changed
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