System Setup
9 - 87
9.2.2 Procedure for the second home position setting
9.2.3 Procedure after alarm
Follow the safety instructions described in section 2 "Safety" on page 15.
WARNING!
Death or injury because of danger of crushing
When performing the position check operation, pay careful attention to ensure the safety of
the surrounding operation environment.
CPU board
Machine safety
CPU board
Universal I/O(DIx12,DOx12)
Universal I/O(DIx12,DOx12)
Universal I/O(DIx8,DOx8)
Emergency
stop button
Universal I/O(DIx8,DOx8)
Robot Controller
CPU board
CPS unit
Powe supply unit
Back board
Robot I/F board
PCI raiser board
Machine safety I/O
logic board
Universal I/O board
Machine safety termnal
block board
Mchine safety
terminal block board
Brake board
Converter
Manipulator
External axes
CN303
CN306
CN307
CN308
CN309
CN151
CN152
CN153
CN154
CN155
CN156
CN157
CN158
CN159
CN5
CN104
CN105
CN106
CN103
CN107
CN101
CN102
CN202
CN203
CN201
CN6
CNPCIE
CN1
CN2
CN113
CNPxxx
CN114
CN110
CN10/11
CN4
CN3B
CN3
CN553
CN552
B
CN556
CN557
CN559
CN551
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN583CN582
CN581 CN584
CN558
CN554
CN555
CN509
CN510
CN501
CN502
CN503
CN504
CN505
CN506
CN507
CN510
CN508
CN531
CN532
CN533
CN534
CN535
CN536
CN537
CN538
CN522
CNBX
CNBX
CN250
CN515
CN516
CN511
CN251
CN212
CN211
CN213
CNA
CNA
CN215
CN216
CN217
Terminal block
CN219
CN214
CNB
CNB
CNC
CNC
CN218
CN403
CN405
CN400
CN401
CN404
CN513
CN402
PG5V
BAT
+24V1
CN521
CNAX
CNAX
CN523
CN524
CN552
A
CN219
CN220
TB221
TB222
Terminal
block
CN220
CN601
CN602
CN605
CN604
CN608
CN603
CN606
CN607
CN610
CN612
CN611
(For Teaching Pendant)
PWM1
PWM2
PWM3
PWM4
PWM5
PWM6
CV I/F
PG×6,
+24V1,+24V2
PWM7
PWM8
PWM9
PG7
PG8
PG9
MCON,MCONFB
ALMIN1,3-5
FANCTL1-3
SFRON1-4
KMMB1-4
OT1,SHOCK,LAMP
SAFF
EXESP
EXDSW
FST
SSP
EXSVON
SYSRUN
AXOUT1-2
BON,BONFB,SHOCK
AXDIN1-6,AXDIN_COM
AXIN1-2,AXIN_COM
AXOUT1-2
GSIN1-2
GSOUT1-2
GSEDM1-2
PPESP,PPDSW
PBESP
MODE1,MODE0,HOLD
OT1
SHOCK,LAMP
DC/DC
OT2
OT3
OT4
ALMIN2
ONEN1-4
OT2-4
PPESP
PBESP
1KM
1,2FU
1Z
3,4FU
JANCD-YIO21-E
JZNC-YPS21-E
JANCD-YBB21-E
JANCD-YCP21-E
JANCD-YSF21-E
JANCD-YIF01-2E
JANCD-YBB22-E
SRDA-EAXA21A
SRDA-EAXB21A
JANCD-YSF25-E(Opt.)
JANCD-YSF22-E
JANCD-YSF24-E
(Opt.)
JANCD-YBK21-3E
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
Servo
Motor
JANCD-YFC22-E
JANCD-YFC24-E
JZRCR-YPU51-1
JARCR-YPC21-1
JZNC-YRK21-1E
External axes
control board
Functional safety
board
AMP module
Major axes control board
Machine safety
optional I/O
board
EXHOLD,EXSVON
AXDIN1-6,AXDIN_COM
AXIN1-2,AXIN_COM
XIN1-8
XOUT1-8
XEDM1-8
Ethernet(10BASE-T/100BASE-TX)
CN1
CN2
SRDA-COA A21 -E
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