General Contents
OVERVIEW ........................................................................................................... 1-1
1-1
1-2
Setting Up for Operation ....................................................................................................... 1-3
1-3
1-3-1
1-3-2
1-4
System Configuration ............................................................................................................. 1-7
1-4-1
1-5
Accessories and Options ........................................................................................................ 1-8
1-5-1
1-5-2
2-1
2-1-1
2-1-2
2-2
2-2-1
2-2-2
2-2-3
2-3
Grounding .............................................................................................................................. 2-5
2-4
2-5
Connecting to the Robot ........................................................................................................ 2-6
2-5-1
2-6
2-7
I/O INTERFACE .................................................................................................... 3-1
3-1
I/O Signals ............................................................................................................................. 3-2
3-2
Input Signal Description ........................................................................................................ 3-3
3-2-1
3-2-2
3-2-3
3-2-4
3-2-5
3-3
Output Signal Description ..................................................................................................... 3-8
3-3-1
3-3-2
3-4
I/O Circuits ............................................................................................................................ 3-9
3-4-1
3-4-2
3-5
I/O Connection Diagram ..................................................................................................... 3-12
3-5-1
3-5-2
3-5-3
3-6
I/O Control Timing Charts ................................................................................................... 3-15
3-6-1
3-6-2
3-6-3
3-6-4
3-6-5
3-6-6
ERCX controller ............................................................................................................................................. 1-4
TPB ................................................................................................................................................................ 1-6
System configuration ..................................................................................................................................... 1-7
Accessories .................................................................................................................................................... 1-8
Peripheral options ......................................................................................................................................... 1-8
Installation method ....................................................................................................................................... 2-2
Installation location ....................................................................................................................................... 2-2
Power supply ................................................................................................................................................. 2-3
Connecting the power supply ........................................................................................................................ 2-4
Dedicated command input ............................................................................................................................ 3-3
SERVICE mode input (SVCE) .......................................................................................................................... 3-7
Interlock (LOCK) ........................................................................................................................................... 3-7
Dedicated output .......................................................................................................................................... 3-8
I/O circuit specifications ............................................................................................................................... 3-9
General connections ................................................................................................................................... 3-12
Connection to PLC output unit .................................................................................................................... 3-13
Connection to PLC input unit ...................................................................................................................... 3-14
When turning the power on ........................................................................................................................ 3-15
When interlock signal is input ..................................................................................................................... 3-20
When emergency stop is input .................................................................................................................... 3-21
When alarm is issued ................................................................................................................................... 3-21
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