7.3 I/O Contactor Unit
7-15
Example of Start Sequence Circuit from External Device
Only the rising edge of the external start signal is valid. This signal starts the manipulator.
Reset this signal with the interlock configuration that determines if operation can start and with
the playback (RUNNING) signal confirming that the robot has actually started moving.
7.3.3
Power-on Circuit Board (JANCD-XTU01)
The power-on circuit board is controlled by the servo control circuit board (JASP-WRCA01).
The main functions are as follows:
• Specific I/O circuit, for instance, servo power supply contactor I/O circuit and emergency
stop circuit
• Brake power supply circuit and its output
• Overrun (OT) shock sensor (SHOCK) and lamp light power supply output to robot
"
Connection of Shock Sensor
Remove SHOCK- and +24VU from XIU-CN25 (Dynamic Connector), and connect the shock
sensor signal SHOCK- to the robot.
Shock Sensor Connection Terminal
Terminal Type Factory Setting Use Shocksensor
SHOCK- PC-2005W
+24VU PC-2005M
SHOCK- PC-2005M
X4
X5
PL
X3
Running
X6 (3010)
Run PB
While
Servo ON
(3011)
Play mode
select
(3016)
Alarm/Error
Occuring
(3013)
Ruunig
Confirmation
X5
Start
(Command)
Note: Number in ( ) means output signal number assigned to XIU01.
Ruunig
Confirmation
X6
X4
YASNAC XRC
Ex. Start
Command
I/O Contactor Unit
(JZNC-XIU01)
+24VU
Running Output
(3010), etc.
External Start
Input
(2011)
CN12
-B1
-B7
Running, etc.
OVU
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