81055EN 02ROBOTandServo

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II. CONTROL UNIT
CONNECTION
(R--J2 Mate)
B--81055EN/02 CONTROL UNIT CONNECTION 1.GENERAL
1
GENERAL
37
1. GENERAL CONTROL UNIT CONNECTION B--81055EN/02
1.1
R--J2 Mate wide cabinet
SPECIFICATIONS OF
External diagram 495×470×320
CONTROLLER (W) (H) (D)
Peripheral device
Digital input 20 points
These signals include eight dedicated
signals:*HOLD RESET
signals:*HOLD,RESET,
START,ENBL,PNS1,PNS2,
PNS3, and PNS4
Digital output 16 polints
These signals include four dedicated
signals:
CMDENBL,FAULT,BATALM, and BUSY
Hand signals
Digital input 4 points
Digital output 4 points
Abnormal air pressure input 1 point
Hand breakage input 1 point
FANUC I/O link Use with selection of master mode and
slave mode software parameter stan-
dard : slave mode
External ON/OFF control An input terminal is provided on the
back of the door.
External emergency stop input An input terminal is provided on the
back of the door.
External emergency stop output An output terminal is provided on the
back of the door.
R--J2 Mate
Weight: Approx. 40kg.
(Excluding robot connection cables and peripheral

equipment connection cables.)
38
1.2
CONNECTION TO
CNC
Machine
tool CNC PMC
FANUC I/O LINK or peripheral

device cable Teach pendant
Controller
Fan
Peripheral
device
Power
supply Robot control printed Servo
unit circuit board amplifiter
Robot
Pulse coder
200VAC Circuit
protector MCC
Power
Emergency stop
PCB Emergency stop
Door unit RS--232--C
RS--422
NOTE
CNC is connected by I/O link cable or peripheral device
cable.
39
1.3
PANEL MOUNT TYPE
Machine magnetics Teach pendant

cabinet Brake
FANUC I/O LINK or
peripheral device cable power
Power Trans--
supply
supply CNC former
unit
unit
Emergency
200VAC MCC
stop circuit
Robot
Power Servo amp.
Robot control for robot
supply AC
PCB reactor (PSM) (SVM)
unit Power
Pulse coder
Emergency stop
RS--232--C/RS--422
Units to be added (those with shadow)

· Backplane for robot A05B--2330--C010
· Power supply unit A16B--1212--0900/0901
· Robot control PCB A16B--3200--0070/0071
· Brake Power unit A05B--2330--C001
· ∼ series amp. for robot
Power supply module (Note) A06B--6081--H103
Servo amp. module(3 axes) A06B--6079--H301 2pcs
AC reactor A81L--0001--0083#3C
A81L--0001--0126
(The out ward from is different.)
NOTE
When the ∼ series amplifier is used in a machine tool, the
power supply module can be shared. (Note, however, that
its capacity must be examined.)
D Required space (in mm) Robot control PCB : 125 ×380 ×250(including power supply unit)
Brake power unit : 110 ×100 ×150
Servo amplifier : 250 ×390 ×250 (including the PSM and SVM)
D Power capacity of Robot 1.2kVA
D Other notices 1. Brake power unit needs 100VAC.
2. Emergency stop and brake control circuit are required.
3. Use I/O link to connect to CNC.
4. Teach pendant has two types those are high--function type and
simplified type.
40
Fig. 1.3 (a) Panel mounting type control unit
Fig. 1.3 (b) ∼ series servo amplifier
41
1.3.1
External Dimension of
AC Reactor
(a) A81L--0001--0083#3C
(b) A81L--0001--0126
42
1.4
CONNECTION OF
POWER SUPPLY
CABLE
When the stand--alone controller is used, an optional power cable can be specified.
By using cable straps, secure A cable holder is provided at each

the primary power cable to the
screws used to fasten the fan.
circled d location.
A grounding stud is provided
beside the circuit protector.
Connect the primary power
ground wire to this stud. Use
an M4 crimp terminal.
To primary power supply
3χ200VAC
Circuit protector
Terminal is M4.
Connect the primary power cable to the circuit protector. After con-
nection, insulate the protector terminal by fitting the provided termi-
nal cover. Connect the primary power ground wire to the grounding
stud, located beside the circuit protector.
External ON/OFF control

A cable holder is provided at each circled
d location.
Customer should
prepare this cable
When the robot is shipped, ON, COM, and OFF are connected by
jumper wires. To enable external ON/OFF control, first disconnect
Emergency stop these jumper wires, then make the necessary connections. To
control PCB enable external ON/OFF control, set the circuit protector switch on
the door to ON before setting the external switches.
TBLR
ON
COM
OFF Apply the power ON/OFF timing shown below.
T ON TOFF TOFF--ON
Between ON and COM

Between OFF and COM
Power ON Power OFF Power--on
TON≧0.5 second, TOFF≧0.5 second,TOFF--ON≧10 seconds

All contacts must be rated at 50 VDC,100mA or greater.
43
1.5 When the panel--mount controller is used, the preparation of a power cable
and ON/OFF cable is the customer’s responsibility.
CONNECTION OF
THE POWER SUPPLY
Power supply unit
CABLE AND THE CP1
ON/OFF CABLE G
(PANEL MOUNT R 200VAC input
TYPE) S
ON button
CP4
ON
COM
OFF
AL OFF button
FA
Alarm input
FB
Alarm output
CP1 interface
Connector in cable side
3 2 1 JAPAN AMP
G S R Housing : 1--178128--3
Contact : 1--175218--5 (×3)
CP4 interface
3 2 1 JAPAN AMP
A COM OFF ON Housing : 2--178129--6
Contact : 1--175218--5 (×6)
(Note) B FB FA AL
NOTE
No connection is required when the AL, FA, and FB of the
CP4 interfaces are not used.
44
1.6
CONNECTORS OF
ROBOT CONTROL
PCB
a) In the case of a 6 axes controller
Robot control
PCB
CRM12 Emergency stop circuit and Brake control circuit
JRY3 For test
JD1A
Not used
JD17 RS--232--C or RS--422
JD4
(JD1B) I/O link (master)
JRS1
Teach pendant
JV6
JV5 3 axes SVM
JV4
JV3
JV2 3 axes SVM
JV1
JF6
Mechanical unit
CRF2
CRM5 Peripheral device
45
2. DETAILS OF CONNECTION CONTROL UNIT CONNECTION B--81055EN/02
2
DETAILS OF CONNECTION
46
B--81055EN/02 CONTROL UNIT CONNECTION 2. DETAILS OF CONNECTION
2.1
FANUC I/O LINK
When the R--J2 Mate control unit is used as a slave of an I/O link
(when a CNC, PLC, or F--D Mate is used as the master of the I/O link)
to other I/O link
JD1A JD4* JD1A

(JD1B)
CNC,PLC or
F--D Mate R--J2 Mate
*Note that the connector name differs from

that of the standard FANUC I/O link.
Software selection (switchable)
When the R--J2 Mate control unit is used as the master of the I/O link
(to control the process I/O P.C.B from the R--J2 Mate)
to other I/O link
JD4 JD4A* JD4B*

R--J2 Mate Process I/O
P.C.B etc
*Note that the connector name differs from

that of the standard FANUC I/O link.
When the R--J2 Mate control unit is used as the master and a slave of an I/O link
JD4 JD1B
R--J2 Mate FANUC I/O
master Unit etc.
JD1B1 JD1A1
FANUC I/O Link c

onnection unit
JD1B2 JD1A2
JD1A JD1B
CNC,PLC or FANUC I/O
F--D Mate Unit etc.
47
2.2
CONNECTION OF I/O
LINK CABLE
The same interface is used for the panel
mount controllers. Cable connections
JD1A should be made
JD4(JD1B) according to the system. The customer
is requested to ground the shield.
Control printed board
For other I/O link
Earth plate
Peel off the sheath of the shielded
cable, then ground the shield here.
I/O Link cable connection (stand--alone controller)
1. Customer should be prepare this cable.
2. Power off when it is connected.
When making a connection with a CNC via an I/O link, apply the following timing to turn
the power to the CNC and robot controller on/off:
a) Turn on the power to the slave units when or before turning on the master power.
b) If the power to the CNC or robot controller is turned off after the system has been
started, an I/O link error will occur. To reestablish normal connection via the I/O link,
turn off the power to all units, then turn on the power as explained in a) above.
JD1A interface JD4(JD1B) interface
11 0V 01 RX 11 0V 01 RX
12 0V 02 *RX 12 0V 02 *RX
13 0V 03 TX 13 0V 03 TX
14 0V 04 *TX 14 0V 04 *TX
15 0V 05 15 0V 05 Connector in cable side
16 0V 06 16 0V 06 Honda Tsuushin Co.,Ltd
Connector: PCR--E20FS
17 07 17 (--15V) 07 (*ENSLC) Case : PCR--V20LA
18 (+5V) 08 18 (+5V) 08 (+15V)
19 09 (+5V) 19 (+24V) 09 (+5V)
20 (+5V) 10 20 (+5V) 10 (+24V)
Note) When using an optical Note) When using I/O signals that are
I/O link adaptor, use +5V. dedicated to the robot, use the
signals and power supplies
indicated in parentheses.
When using an optical I/O link
adaptor, use +5V.
(1) Twisted--pair cables should be used for pin pairs 1 and 2, and 3 and 4.
(2) Use unified shielding, and ground the shield on the CNC side.
48
49
50
2.3
CONNECTION OF
TEACH PENDANT
2.3.1 · When a panel--mount type controller is used, the teach pendant can be
High Performance Type connected or disconnected with the ON/OFF switch.(See 2.3.3)
Teach Pendant · To obtain a simple connection, provide a connection interface on the
operator’s panel of the machine tool. The following shows an example
of construction.
Interface for Operator’s panel

JRS1 Panel mount or
CNC built--in
Robot control JRS1
PCB Robot
control Teach pendant
PCB
For teach pendant ON/OFF Interface for teach

switch pendant
Operator’s
Earth plate panel
Teach pendant cable

connection
(stand--alone controller)
JRS1 interface Operator’s panel interface (Example of construction)

11 01 RXTP 01 TXTP 14 *TXTP
08
12 0V 02 *RXIP 02 RXTP 15 *RXTP
09
13 03 TXTP 03 EMGDM 16 EMGEN
10
14 EMGEN 04 *TXTP 04 17 0V
11
15 05 (+5V) 05 18
12 EMGTP
16 EMGDM 06 0V 06 19
13 (+5V)
17 07 07 +24E 20 FG
(Note)
18 EMGTP 08 (Note) High performance type teach pendant does not use +5V interface.
19 09
20 +24E 10 +24V Connector in operator’s panel side
Honda Tsushin Co.,Ltd.
Connector in cable side MR--20RMH(male) or MR--20RFH(female)
Hirose electric Co.,Ltd.
Connector : F140--2015S Connector in cable side
Case : FI--20--CV Honda Tsushin Co.,Ltd.
MR--20LMH(male) or MR--20LFH(female)
(1) Twisted--pair cables should be used for pin pairs RXTP and *RXTP,
and TXTP and *TXTP.
51
High--function type teach

pendant interface
01 02 03 04
TXTP *TXTP RXTP *RXTP
05 06 07 08 09 10
+24E +24E
11 12 13 14 15 16
EMGTP EMGDM EMGEN Connector in cable side
HIROSE ELECTRIC CO.,LTD
17 18 19 20 Connector:HR22--12TPD--20SC
0V 0V Crimped terminal:HR22--SC--122( 11Pairs)
2.3.2 · When CNC built--in type or a panel--mount type controller is used, the
Simplified Type Teach teach pendant can be connected or disconnected with the ON/OFF
switch. (See 2.3.3)
Pendant
· To obtain a simple connection, provide a connection interface on the
operator’s panel of the machine tool. The following shows an example
of construction.
CNC built--in or Operator’s panel interface

JRS1 panel mount
Robot control JRS1
PCB Robot control
PCB Teach pendant
For teach pendant Teach pendant

ON/OFF interface
switch
Teach pendant
Earth pendant
52
Teach pendant cable

connection
(stand--alone controller)
JRS1 interface Operator’s panel interface (Example of construction)

11 01 RXTP 01 TXTP 14 *TXTP
08
12 0V 02 *RXTP 02 RXTP 15 *RXTP
09
13 03 TXTP 03 EMGDM 16 EMGEN
10
14 EMGEN 04 *TXTP 04 17 0V
11
15 05 +5V 05 18
12 EMGTP
16 EMGDM 06 0V 06 19
13 +5V
17 07 (Note) 07 (+24E) 20 FG
18 EMGTP 08
Operator’s panel connector
19 09 HONDA TSUSHIN CO.,LTD
20 (+24E) 10 (+24E) MR--20RMH(Female) or MR--20RFH(Male)
(Note) Connector in cable side
Connector in cable side HONDA TSUSHIN CO.,LTD
HIROSE ELECTRIC CO.,LTD MR--20LMH(Female) or MR--20LFH(Male)
Connector:F140--2015S (Note) Simplified type teach pendant does not
Case:F1--20--CV use +24V interface.
(1) Twisted--pair cables should be used for pin pairs 1 and 2, and 3 and 4.
2.3.3 Prepare the circuit shown below to enable attachment and detachment of
Attaching and the teach pendant. (For the stand--alone controller, an option can be
specified.)
Detaching the Teach
Pendant
Robot control PCB (Note1)
JRS1
Contact 1 Connecting procedure
+24V Internal circuit 1.Connect the teach pendant.
2.Switch ON.
EMGTP
Detachment procedure
1.Switch OFF. (Note2)
2.Detach the teach pendant
Emergency stop
Contact 2
EMGDM
Deadman switch
EMGEN
ON status Enable switch
OFF status
NOTE
1 Contact 1 is not used when attaching/detaching a simplified teach pendant.
2 When the switch is set to OFF, the teach pendants emergency stop function is disabled even
if the teach pendant is connected.
53
2.4 · In case of Panel mount type controller,customer should make these

cables.
CONNECTION OF
· To obtain a simple connection, provide a connection interface on the
CABLE FOR operator’s panel of the machine tool. The following shows an example
RS--232--C/RS--422 of construction.
· Selection of RS--232--C or RS--422 interface need setting on robot
control PCB.
CNC built--in or Operator’s

Panel mount type panel interface
Communication JD17
Robot Floppy,
port
control Printer etc.
PCB
Operator’s
panel
Flopply, printer
etc.
Operator’s panel interface (example configuration)
Connection diagram
(Separate type)
JD17 interface
11 TXD 01 RXD 01 FG
14 (TX)
12 0V 02 0V 02 TXD
15 (*TX)
13 DTR 03 DSR 03 RXD
16 (RX)
14 0V 04 0V 04 RTS
17 (*RX)
15 RTS 05 CTS 05 CTS
18
16 0V 06 0V 06 DSR
19
17 (TX) 07 (RX) 07 0V
20 DTR
18 (*TX) 08 (*RX) 08
21
19 +24E 09 09
22
(Note) 20 *ESPOP 10 +24E 10
23
11
Connector in cable side 24
HONDA TSUSHIN CO.,LTD 12
25 +24E
Connector:PCR--E20FS 13
Case:PCR--V20LA
(Note)For information about this signal, Connector:DB--25P(Male) or DB
refer to the diagram of the emergency stop circuit. Case:DB--C2--J9
(1) Signals whose names are enclosed in parentheses are assigned to use
the RS--422 interface. The numbers of the interface differ from those
of the standard RS--422 interface. Take the caution when designing
the interface.
(2) Twisted--pair cables should be used for pin pairs 1 and 2, and 3 and 4.,
and ... 19 and 20.
54
2.5
CABLE
CONNECTION TO
PERIPHERAL
DEVICE
2.5.1
Peripheral Device
Interface CRM5
D connection to peripheral
device (In the case of
remote type)
Robot control PCB
CRM5
For peripheral device
Earth plate
Peripheral device cable connection Peel off the sheath of the shielded cable, then ground the shield here.
2.5.2 · When a panel mount type controller is used, customer should prepare
When the Robot is this cable.
Connected to the CNC · Turn off the controller when in operation.
Machine by a FANUC
I/O Link
CNC built--in or
panel mount Operator’s panel interface
CRM5
Robot control
Peripheral
PCB device
Operator’s panel
55
2.5.3 · When a panel mount type controller is used, the customer should
When the Robot is prepare this cable.
Connected to the CNC · Turn off the controller when connecting the cable.
Machine by a
Peripheral Device Robot
CRM5
Cable control
PCB
CNC
CRM5 interface (Specified signals are not allocated and the Robot is
connected to CNC machine by a FANUC I/O Link.)
01 SDI101 33 SDO101
02 SDI102 34 SDO102 HONDA TSUSHIN CO.,LTD
19 SDICOM1
03 SDI103 35 SDO103 Connector MR--50LMH(Male)
20 SDICOM2
04 SDI104 36 SDO104
21 37
05 SDI105 SDO105
22 SDI117
06 SDI106 38 SDO106
23 SDI118
07 SDI107 39 SDO107
24 SDI119 40
08 SDI108 SDO108
25 SDI120 41
09 SDI109 SDO109
26 42
10 SDI110 SDO110
27 43 SDO111
11 SDI111
28 44 SDO112
12 SDI112
29 0V
13 SDI113 45 SDO113
30 0V
14 SDI114 46 SDO114
31 +24E
15 SDI115 47 SDO115
32 +24E
16 SDI116 48 SDO116
17 0V 49 +24E
18 0V 50 +24E
SDICOM1 and SDICOM2 are the signals used for selecting a common for SDI signals.
To use the +24V common, connect SDICOM1 and SDICOM2 to 0V.
To use the 0V common, connect SDICOM1 and SDICOM2 to +24V.
SDICOM1Selects a common for SDI101 to SDI108.
SDICOM2Selects a common for SDI109 to SDI120.
(Note) Maximum output current per one SDO signal is 70mA.
56
CRM5 interface
(standard allocation of specified signals and Connector in cable side
the Robot is connected to the CNC machine HONDA TSUUSHIN CO.,LTD
by a peripheral device cable.) Connector MR--50LMH (Male)
01 SDI101 33 SDO101
02 SDI102 34 SDO102
19 SDICOM1
03 SDI103 35 SDO103
20 SDICOM2
04 SDI104 36 SDO104
21
05 SDI105 37 SDO105
22 SDI117
06 SDI106 38 SDO106
23 SDI118
07 SDI107 39 SDO107
24 SDI119
08 SDI108 40 SDO108
25 SDI120
09 *HOLD 41 SDO109
26
10 RESET 42 SDO110
27
11 START 43 SDO111
28
12 ENBL 44 SDO112
29 0V
13 PNS1 45 CMDENBL
30 0V
14 PNS2 46 FAULT
31 +24E
15 PNS3 47 BATALM
32 +24E
16 PNS4 48 BUSY
17 0V 49 +24E
18 0V 50 +24E
SDICOM1 and SDICOM2 signal are common selection signal for SDI.
When 24 V common is used, connect to 0V.
When 0V common is used, connect to +24V
SDICOM1”Selects a common for SDI101 to SDI108.
SDICOM2”Selects a common for *HOLD, RESET,
START, ENBL, PNS1 to PNS4, and SDI109 to SDI112.
NOTE
1 Maximum output current for one SDO signal is 70mA.
2 The common (selected with SDICOM2) for a dedicated
signal should ideally be the +24V common, but the 0V
common can also be used.
3 Allocation of the specified signals can be changed from the
teach pendant.
57
(Specified signals are not allocated.)
(peripheral device control interface CRM5)
0V
Fig. 2.5.3 (a) Peripheral device control interface (Input signal, +24V common)
58
0V
Fig. 2.5.3 (b) Peripheral device control interface (Input signal, 0V common)
59
0V
Fig. 2.5.3 (c) Peripheral device control interface (Output signal)
60
In case +24V common at the peripheral device side (Standard allocation of specified signal)
0V
Fig. 2.5.3 (d) Peripheral device control interface (Input signal, +24 common)
61
In case 0V common at the peripheral device side (Standard allocation of specified signal)
0V
Fig. 2.5.3 (e) Peripheral device control interface (Input signal, 0V common)
62
(Standard allocation of specified signal)
0V
Max. current per SDO is 70mA.
Fig. 2.5.3 (f) Peripheral device control interface (Output signal)
63
2.5.4 This section describes the specifications of the digital I/O signals
Digital I/O Signal interfaced with the peripheral device and end effector.
Specifications
Peripheral Device
Interface CRMS
D Output signal regulation Example of connection

Spark killer diode
+24V
0.2 A
or less
0V 0V
+24V
Lamp
0.2 A
or less
0V 0V
Protective resistance
D Electrical specifications
Rated voltage : 24 VDC
Maximum applied voltage : 30 VDC
Maximum load current : 0.2 A
Transistor type : Open collector NPN
Saturation voltage at connection : 1.0 V (approx.)
D Spark killer diode

Rated peak reverse voltage : 100 V or more
Rated effective forward current : 1 A or more
D Notes on use
Do not use the +24 V power supply of the robot.
When loading a relay, solenoid, and so on directly, connect them in
parallel with diodes for preventing back electromotive force.
If a load causing a surge current such as turning on LED is connected,
use a protective resistance.
D Applicable signal
Output signal of peripheral device interface CRM5 :
SDO101 to SDO116
64
D Input signal regulation Example of connection
+24V
RV
3.3 kτ
+24V
B A
ICOM 0V
D Electrical specifications of the receiver

Type : Grounded voltage receiver
Rated input voltage : Contact close :+20 V to +28 V
Contact open :0 V to +4 V
Maximum applied input voltage: +28 VDC
Input impedance : 3.3 kτ (approx.)
Response time : 5 ms to 20 ms
D Specifications of the peripheral device contact

Rated contact capacity : 30 VDC, 50 mA or more
Input signal width : 200 ms or more (on/off)
Chattering time : 5 ms or less
Closed circuit resistance : 100τ or less
Opened circuit resistance : 100 kτ or more
TB (Signal) TB (Signal) TB
Peripheral device
contact signal
Robot receiver signal
TC TC TB ; Chattering 5 ms or less
TC ; 5 to 20 ms
D Note on use
Apply the +24 V power of the robot to the receiver.
However, the above signal regulations must be satisfied at the
robot receiver.
D Applicable signal
Input signal of peripheral device interface CRM5 :
SDI101 to SDI120
65
End Effector Control

Interface
D Output signal regulation Example of connection
Spark killer diode
+24V
0.2 A
or less
0V 0V
+24V
Lamp
0.2 A
or less
0V Protective resistance 0V

D Note on use
The +24 V power supply of the robot can be used when the
endeffector interface is 0.7 A or less.
When loading a relay, solenoid, and so on directly, connect them
in parallel with diodes for preventing back electromotive force.
If a load causing a surge current such as turning on LED is
connected, use a protective resistance.
D Applicable signals
Output signals of the end effector control interface :
RDO1 to RDO6
66
D Input signal regulation Example of connection
+24V
RV
3.3 kτ
+24V
B A
ICOM 0V

Rated input voltage : Contact close:+20V to +28V
Contact open:0V to +4V
Maximum applied input voltage : +28VDC
D Specifications of peripheral device contact

Closed circuit resistance : 100 τ or less
Peripheral device
contact signal

TC ; 5 to 20 ms
D Notes on use
However, the above signal specifications must be satisfied at the
robot receiver.
Input signals of the end effector control interface
RDI1 to RDI4, *HBK, *PPABN
67
2.5.5 The figure below shows the connector for peripheral device cable.
Peripheral Device
Cable Connector
Symbol Name
1 Connector cover
2 Cable clamp screw
3 Connector clamp spring
4 Connector clamp screw
5 Connector 50 pins (male) MR50MH
Connector Applicable Dimensions Remark

specification interface A (B) C (D) Honda Tsushin
MR50LMH CRM2 67.9 73.5 44.8 18 Kogyo 50 pins
2.5.6 Connect a peripheral device using a completely shielded, heavily

Recommended Cables protected cable conforming to the specifications in Table 2.5.6.
Allow an extra 1.5m for routing the cable in the control unit.
The maximum cable length is 30m.
Table 2.5.6 Recommended cable (For peripheral device connection)
Conductor Effective Electrical characteristics
Number of Wire specifications Sheath
outside Conductor
wires (FANUC Diameter Configura- thickness Allowable
diameter resistance
specifications) (mm) tion (mm) current (A)
(mm) (τ/km)
50 A66L--0001--0042 ∞1.05 7/0.18 1.5 ∞12.5 106 1.6
AWG24
68
2.6
PERIPHERAL
DEVICE INTERFACE
(PROCESS I/O
PRINTED BOARD)
Item Name Drawing number DI DO D/A A/D Remarks
1 Robot control printed circuit A16B--3200--0071 20 16 -- -- Standard
board CRM5
2 Process I/O printed circuit A05B--2300--J030 40 40 2 6 Option (with analog inter-
board CA face)
3 Process I/O printed circuit A05B--2300--J031 40 40 -- -- Option (without analog
board CB interface)
4 Process I/O printed circuit A05B--2300--J035 96 96 -- -- Option (without analog
board DA interface)
5 Welding interface printed cir- A05B--2330--J020 8 8 2 2 Option
cuit board
NOTE
The number of general--purpose I/Os (SDI/SDO) is the
number listed in the table, minus the number of dedicated
signals.
Example: Robot control PC board + process I/O PC board
CB
DI: 20 + 40 -- 8 = 52 points
DO: 16 + 40 -- 4 = 52 points
Main CPU printed Process I/O printed circuit

circuit board board (CA/CB)
CRM2A Peripheral device

JD1A JD4A
CRM2B Peripheral device
JD4B CRW1
CRW2
CRW1 and CRW2 are not provided for process I/O printed circuit board.
69
Main CPU Process I/O printed

printed circuit board (DA)
circuit board
JD1A JD4A
JD4B CRM2C Peripheral device
CRM2D Peripheral device
Main CPU Weld interface PCB
PCB
Weld equipment
70
2.6.1
Peripheral Device and
Control Unit
Connection
Control unit
Peripheral device control interface A1
CRM2A
1 SDI121 (Without special 33 SDO121
signal)
2 SDI122 34 SDO122
19 SDO133
3 SDI123 35 SDO123
20 SDO134
4 SDI124 36 SDO124
21 SDO135
5 SDI125 37 COM--A1
22 SDO136
6 SDI126 38 SDO125
23 COM--A4
7 SDI127 39 SDO126
24 SDO137
8 SDI128 40 SDO127
25 SDO138 Peripheral
9 SDI129 41 SDO128 device A1
26 SDO139
10 SDI130 42 COM--A2
27 SDO140
11 SDI131 43 SDO129
28 COM--A5
12 SDI132 44 SDO130
29 SDI137
13 SDI133 45 SDO131
14 30 SDI138
SDI134 46 SDO132
31 SDI139
15 SDI135 47 COM--A3
32 SDI140
16 SDI136 48
17 0V 49 +24E
18 0V 50 +24E

CRM2B
signal)
2 SDI142 34 SDO142
19 SDO153
3 SDI143 35 SDO143
20 SDO154
4 SDI144 36 SDO144
21 SDO155
5 SDI145 37 COM--B1
22 SDO156
6 SDI146 38 SDO145
23 COM--B4
7 SDI147 39 SDO146
24 SDO157
8 SDI148 40 SDO147
9 SDI149 41 SDO148
26 SDO159 device A2
10 SDI150 42 COM--B2
27 SDO160
11 SDI151 43 SDO149
28 COM--B5
12 SDI152 44 SDO150
29 SDI157
13 SDI153 45 SDO151
14 30 SDI158
SDI154 46 SDO152
31 SDI159
15 SDI155 47 COM--B3
32 SDI160
16 SDI156 48
17 0V 49 +24E
18 0V 50 +24E
71
NOTE
1 The peripheral device connection cables are optional.
2 All of COM-** are connected to 0 V.
Applicable process I/O printed circuit board

Type Specifications CRM2C CRM2D
CA A05B--2300--J030
CB A05B--2300--J031
DA A05B--2300--J035 f f
72
Control unit
CRM2C
signal)
2 SDI162 34 SDO162
19 SDO173
3 SDI163 35 SDO163
20 SDO174
4 SDI164 36 SDO164
21 SDO175
5 SDI165 37 COM--C1
22 SDO176
6 SDI166 38 SDO165
23 COM--C4
7 SDI167 39 SDO166
24 SDO177
8 SDI168 40 SDO167
9 SDI169 41 SDO168 device A3
26 SDO179
10 SDI170 42 COM--C2
27 SDO180
11 SDI171 43 SDO169
28 COM--C5
12 SDI172 44 SDO170
29 SDI177
13 SDI173 45 SDO171
14 30 SDI178
SDI174 46 SDO172
31 SDI179
15 SDI175 47 COM--C3
32 SDI180
16 SDI176 48
17 0V 49 +24E
18 0V 50 +24E

CRM2D
signal)
2 SDI182 34 SDO182
19 SDO193
3 SDI183 35 SDO183
20 SDO194
4 SDI184 36 SDO184
21 SDO195
5 SDI185 37 COM--D1
22 SDO196
6 SDI186 38 SDO185
23 COM--D4
7 SDI187 39 SDO186
24 SDO197
8 SDI188 40 SDO187
9 SDI189 41 SDO188
26 SDO199 device A4
10 SDI190 42 COM--D2
27 SDO200
11 SDI191 43 SDO189
28 COM--D5
12 SDI192 44 SDO190
29 SDI197
13 SDI193 45 SDO191
14 30 SDI198
SDI194 46 SDO192
31 SDI199
15 SDI195 47 COM--D3
32 SDI200
16 SDI196 48
17 0V 49 +24E
18 0V 50 +24E
NOTE
1 The peripheral device connection cables are optional.
2 All of COM-** are connected to 0 V.
Applicable process I/O printed circuit board

Type Specifications CRM2C CRM2D
CA A05B--2300--J030
CB A05B--2300--J031
DA A05B--2300--J035 f f
73
Without special signal for process I/O

Control unit Connector pin No. Peripheral device
(peripheral device control interface A1)
+24E
CRM2A (49,50)
Receiver circuit
CRM2A (1)
SDI121 RV
CRM2A (2)
SDI122 RV
CRM2A (3)
SDI123 RV
CRM2A (4)
SDI124 RV
0V
CRM2A (5)
SDI125 RV
CRM2A (6)
SDI126 RV
CRM2A (7)
SDI127 RV
CRM2A (8)
SDI128 RV
CRM2A (9)
SDI129 RV
CRM2A (10)
SDI130 RV
CRM2A (11)
SDI131 RV
CRM2A (12)
SDI132 RV
CRM2A (13)
SDI133 RV
CRM2A (14)
SDI134 RV
CRM2A (15)
SDI135 RV
CRM2A (16)
SDI136 RV
CRM2A (29)
SDI137 RV
CRM2A (30)
SDI138 RV
CRM2A (31)
SDI139 RV
CRM2A (32)
SDI140 RV
+24E
B A
comom switching
set pin
0V
(ICOMI)
NOTE
This is a connection diagram for +24v common.
74

Receiver circuit LOAD

DV CRM2A (33)
RELAY
SDO121
CRM2A (34)
SDO122 DV LOAD
CRM2A (35)
SDO123 DV LOAD
CRM2A (36)
SDO124 DV LOAD
CRM2A (38)
SDO125 DV LOAD
CRM2A (39)
SDO126 DV LOAD
CRM2A (40)
SDO127 DV LOAD
CRM2A (41)
SDO128 DV LOAD
CRM2A (43)
SDO129 DV LOAD
CRM2A (44)
SDO130 DV LOAD
CRM2A (45)
SDO131 DV LOAD
CRM2A (46)
SDO132 DV LOAD
CRM2A (19)
SDO133 DV LOAD
CRM2A (20)
SDO134 DV LOAD
CRM2A (21)
SDO135 DV LOAD
CRM2A (22)
SDO136 DV LOAD
CRM2A (24)
SDO137 DV LOAD
CRM2A (25)
SDO138 DV LOAD
CRM2A (26)
SDO139 DV LOAD
CRM2A (27)
SDO140 DV LOAD
CRM2A(23,28,37,
42,47)
0V +24V
+24 V regulated
0V power supply
75

+24E
CRM2A (49,50)
Receiver circuit
CRM2B (1)
SDI141 RV
CRM2B (2)
SDI142 RV
CRM2B (3)
SDI143 RV
CRM2B (4)
SDI144 RV
CRM2B (5)
SDI145 RV
CRM2B (6)
SDI146 RV
CRM2B (7)
SDI147 RV
CRM2B (8)
SDI148 RV
CRM2B (9)
SDI149 RV
CRM2B (10)
SDI150 RV
CRM2B (11)
SDI151 RV
CRM2B (12)
SDI152 RV
CRM2B (13)
SDI153 RV
CRM2B (14)
SDI154 RV
CRM2B (15)
SDI155 RV
CRM2B (16)
SDI156 RV
CRM2B (29)
SDI157 RV
CRM2B (30)
SDI158 RV
CRM2B (31)
SDI159 RV
CRM2B (32)
SDI160 RV
+24E
B A
comom switching
set pin
(ICOM2)
NOTE
This is a connection diagram for +24V common.
76
Control unit Peripheral device

Connector pin No. LOAD

CRM2B (33)
SDO141 DV RELAY
CRM2B (34)
SDO142 DV LOAD
CRM2B (35)
SDO143 DV LOAD
CRM2B (36)
SDO144 DV LOAD
CRM2B (38)
SDO145 DV LOAD
CRM2B (39)
SDO146 DV LOAD
CRM2B (40)
SDO147 DV LOAD
CRM2B (41)
SDO148 DV LOAD
CRM2B (43)
SDO149 DV LOAD
CRM2B (44)
SDO150 DV LOAD
CRM2B (45)
SDO151 DV LOAD
CRM2B (46)
SDO152 DV LOAD
CRM2B (19)
SDO153 DV LOAD
CRM2B (20)
SDO154 DV LOAD
CRM2B (21)
SDO155 DV LOAD
CRM2B (22)
SDO156 DV LOAD
CRM2B (24)
SDO157 DV LOAD
CRM2B (25)
SDO158 DV LOAD
CRM2B (26)
SDO159 DV LOAD
CRM2B (27)
SDO160 DV LOAD
CRM2A(23,28,37,
42,47)
0V +24V
+24 V regulated
0V power supply
77

Connector pin No.
+24E
CRM2C (49,50)
Receiver circuit
CRM2C (1)
SDI161 RV
CRM2C (2)
SDI162 RV
CRM2C (3)
SDI163 RV
CRM2C (4)
SDI164 RV
CRM2C (5)
SDI165 RV
CRM2C (6)
SDI166 RV
CRM2C (7)
SDI167 RV
CRM2C (8)
SDI168 RV
CRM2C (9)
SDI169 RV
CRM2C (10)
SDI170 RV
CRM2C (11)
SDI171 RV
CRM2C (12)
SDI172 RV
CRM2C (13)
SDI173 RV
CRM2C (14)
SDI174 RV
CRM2C (15)
SDI175 RV
CRM2C (16)
SDI176 RV
CRM2C (29)
SDI177 RV
CRM2C (30)
SDI178 RV
CRM2C (31)
SDI179 RV
CRM2C (32)
SDI180 RV
+24E
B A
comom switching
set pin
0V
(ICOM3)
NOTE
78


CRM2C (33)
SDO161 DV
RELAY
CRM2C (34)
SDO162 DV LOAD
CRM2C (35)
SDO163 DV LOAD
CRM2C (36)
SDO164 DV LOAD
CRM2C (38)
SDO165 DV LOAD
CRM2C (39)
SDO166 DV LOAD
CRM2C (40)
SDO167 DV LOAD
CRM2C (41)
SDO168 DV LOAD
CRM2C (43)
SDO169 DV LOAD
CRM2C (44)
SDO170 DV LOAD
CRM2C (45)
SDO171 DV LOAD
CRM2C (46)
SDO172 DV LOAD
CRM2C (19)
SDO173 DV LOAD
CRM2C (20)
SDO174 DV LOAD
CRM2C (21)
SDO175 DV LOAD
CRM2C (22)
SDO176 DV LOAD
CRM2C (24)
SDO177 DV LOAD
CRM2C (25)
SDO178 DV LOAD
CRM2C (26)
SDO179 DV LOAD
CRM2C (27)
SDO180 DV LOAD
CRM2C(23,28,37,
42,47)
0V +24V
+24 V regulated
power supply
79

Connector pin No.
+24E
CRM2D (49,50)
Receiver circuit
CRM2D (1)
SDI181 RV
CRM2D (2)
SDI182 RV
CRM2D (3)
SDI183 RV
CRM2D (4)
SDI184 RV
CRM2D (5)
SDI185 RV
CRM2D (6)
SDI186 RV
CRM2D (7)
SDI187 RV
CRM2D (8)
SDI188 RV
CRM2D (9)
SDI189 RV
CRM2D (10)
SDI190 RV
CRM2D (11)
SDI191 RV
CRM2D (12)
SDI192 RV
CRM2D (13)
SDI193 RV
CRM2D (14)
SDI194 RV
CRM2D (15)
SDI195 RV
CRM2D (16)
SDI196 RV
CRM2D (29)
SDI197 RV
CRM2D (30)
SDI198 RV
CRM2D (31)
SDI199 RV
CRM2D (32)
SDI200 RV
+24E
B A
comom switching
set pin
0V
(ICOM4)
NOTE
80


CRM2D (33)
SDO181 DV
RELAY
CRM2D (34)
SDO182 DV LOAD
CRM2D (35)
SDO183 DV LOAD
CRM2D (36)
SDO184 DV LOAD
CRM2D (38)
SDO185 DV LOAD
CRM2D (39)
SDO186 DV LOAD
CRM2D (40)
SDO187 DV LOAD
CRM2D (41)
SDO188 DV LOAD
CRM2D (43)
SDO189 DV LOAD
CRM2D (44)
SDO190 DV LOAD
CRM2D (45)
SDO191 DV LOAD
CRM2D (46)
SDO192 DV LOAD
CRM2D (19)
SDO193 DV LOAD
CRM2D (20)
SDO194 DV LOAD
CRM2D (21)
SDO195 DV LOAD
CRM2D (22)
SDO196 DV LOAD
CRM2D (24)
SDO197 DV LOAD
CRM2D (25)
SDO198 DV LOAD
CRM2D (26)
SDO199 DV LOAD
CRM2D (27)
SDO200 DV LOAD
CRM2D(23,28,37,
42,47)
0V +24V
+24 V regulated
0V power supply
81
2.6.2
Connection Between
the Control Unit and
Welder
(Process I/O CA)
Control unit
Welder interface
CRW1
Welder
Analog input interface

CRW2
Peripheral device
NOTE
Welder and peripheral device connection cable is option.
Applicable process I/O board type

CA
82
Control unit Welder

(Welding interface)
Connector pin number MS connector pin number
Welding voltage
command signal
The input impedance
shall be more than 3.3kτ
high--pass filter shall be
provided.
Wire speed
command signal
Welding voltage
detection signal
Output signals
without ripples.
Welding current
detector signal
R=100τ or more
Wire soldering
detector signal
Welding power supply
83
Control unit Welder

(Welding interface)
Welding start
signal
Gas signal
Wire inching
(positive) signal
Wire inching
(negative) signal
+24V regulated
power supply
Receiver circuit
Arc detection
signal
Gas shortage
detection signal
Wire cut
detection signal
Cooling water
shortage detection
signal
Welding power
supplu abnomality
signal
Common switching
set pin
CRWI (33,34)
Shield
FG (cabinet ground)
NOTE
This is the connection for +24V.
84

(Analog input interface)
Output signals without

ripples.
85
2.6.3
Connection Between
Controller and Weld
Equipment
(Weld Interface Printed
Circuit Board)
Controller
Weld Interface
Weld equipment
86
Controller (Weld interface) Weld equipment
Weld start signal
Gas signal
Wire inching
(positive) signal
Wire inching
(negative) signal
+24 stabilized power
Receiver circuit
Arc restart
detection signal
Gas fault signal
Wire fault signal
Water fault signal
Power fault signal
Setting pin for

switching common
Shield
Cabinet ground
87
Controller (Weld interface) Weld equipment
Connector
pin number MS connector pin number
Voltage command
Input impedance 3.3kτ

or more
With high freguency
filter
Wire feed speed
command
Voltage feedback
Output the signal with-

out ripples
Current feedback
R=100τ or more
Wire stick
Weld power
88
2.6.4 This section describes the specifications of the digital I/O signals
Digital I/O Signal interfaced with the peripheral device, end effector, and arc welder.
Specifications
Peripheral Device (1) Output signals in peripheral device interface A

Interface Example of connection
Spark killer diode
+24V
0.2 A
or less
0V
+24V
Lamp
0.2 A
or less
0V
Protective resistance
Electrical specifications
Spark killer diode

Note on use
Do not use the +24 V power supply of the robot.
When loading a relay, solenoid, and so on directly, connect them in
parallel with diodes for preventing back electromotive force.
If a load is connected causing a surge current when a lamp is turned
on, use a protective resistance.
Applicable signals
Output signals of process I/O printed circuit board CRM2
SDO121 and later
89
(2) Input signals in peripheral device interface A

Example of connection
+24V
RV
3.3 kΩ
+24V
B A
ICOM
Electrical specifications of the receiver

Rated input voltage : Contact close
: +20 V to +28 V
Contact open
: 0 V to +4 V
Maximum applied input voltage : +28 VDC
Specifications of the peripheral device contact
Peripheral device
contact signal

TC ; 5 to 20 ms
Note on use
Apply the +24 V power at the robot to the receiver.
robot receiver.
Applicable signals
Input signals of process I/O printed circuit board CRM2
SDI121 and later
90
2.6.5
Input/Output Signal
Regulations
D Output signal regulation Example connection
Spark killer diode
+24V
0.2 A
or less
0V

D Note on use
The +24 V power supply of the robot can be used when the
endeffector interface is 0.7 A or less.
When loading a relay, solenoid, and so on directly, connect them
in parallel with diodes to prevent back electromotive force.
If a load causing a surge current such as turning on LED is
connected, use a protective resistance.
Output signals of the end effector control interface :
WDO1--8
91
D Input signal regulation Example connection

Rated input voltage : Contact close:+20V to +28V
Contact open : 0V to +4V
Maximum applied input voltage : +28 VDC
D Specifications of peripheral device contact

Peripheral device
contact signal

TC ; 5 to 20 ms
D Notes on use
robot receiver.
Input signals of the arc welding interface
WDI1--8
92
D Analog output signal

regulation Example connection
(Voltage command, wire Weld equipment side
feed speed command)
NOTE
Input impedance ; 3.3kτ or more
Provide the high--fregnency filter.
D Analog input signal

regulation
(Voltage feedback, Example connection
Weld equipment side
Current feedback)
NOTE
Output the signal without ripples
(Wire stick ; WDI+, WDI--)

Example connection
Weld equipment side
Welding electrode
NOTE
The resistance between the positive (+) and negative (--)
terminals on the weld equipment side should be 100τ or
more.
The wire stick detection signal in TIG welding should be
connected insulating from the weld circuit (high--frequency).
The withstand voltage of this circuit is 80V.
93
2.6.6 If the customer manufactures cables, conform to the FANUC standard

Peripheral Devices and cables described in this section.
Welder
Peripheral Device
Interface A Cable
(CRM2: Honda
Tsushin, 50 pins)
Honda Tsushin Honda Tsushin
Process I/O Peripheral

device
Honda Tsushin
Honda Tsushin’s MR50RFH
Supplied with an ordered cable
Peripheral Device
Interface B Cable
(CRM4: Honda
Tsushin, 20 pins)
Honda Tsushin Honda Tsushin
Process I/O Peripheral

device
CRM4*
Honda Tsushin
Honda Tsushin’s MR20RFH
Supplied with an ordered cable
94
ARC Weld Connection Be sure to use our cable to connect the welder.
Cable (CRW1: Honda
Tsushin, 34 pins)
ARC welder
Honda Tsushin
Process I/O
Japan Aviation Electronics

Industry Ltd.
MS3102A28--21S
Honda Tsushin Japan Aviation Electronics Standard position of guide key
MR34RFA Industry Ltd.
MS3108B28--21P
MS3057--16
Connecting cable for To connect welding equipment, use a cable which conforms to the
arc welding equipment FANUC specifications.
(CRW6: 34 pins,
manufactured by
Yamaichi Electric)
Arc welding
Yamaichi Electric equipment
UFS--34B--04
UFS contact type 66 (X31)
Weld interface
PCB
Japan Aviation Electronic

MS3102A28--21S
Guide key standard position
Yamaichi Electric Japan Aviation Electronic
FAP--34--07#2 MS3108B28--21P
MS3057--16
95
2.6.7 (1) Fig.2.6.7 (a) (b) show the connector for peripheral device cables A
and B.
Peripheral Device
Cable Connector
Connector Applicable Dimensions

Remark
specifications interface A (B) C (D)
MR50LMH CRM2 67.9 73.5 44.8 18 Honda Tsushin Kogyo,
50 pins
MR20LMH CRM4 39.3 44.9 39.8 17 Honda Tsushin Kogyo,
20 pins
Symbol Name
¡ Connector cover
© Cable clamp screw
¢ Connector clamp spring
£ Connector clamp screw
¤ Connector 50 pins (male) MR50MH
20 pins (male) MR20MH
Fig. 2.6.7 (a) Peripheral device cable connector (Honda Tsushin Kogyo)
96
(2) Peripheral device connector
Connector Applicable Dimensions

Remark
specifications interface A B
MR50RFH (CRM2) 61.4 56.4 Honda Tsushin Kogyo,
50 pins
MR20RFH (CRM4) 39.3 44.9 Honda Tsushin Kogyo,
20 pins
Symbol Name
¡ Connector clamp screw
© Screw ø2.6_8
¢ Connector (MR50RFH)
(MR20RFH)
Fig. 2.6.7 (b) Peripheral device connector (Honda Tsushin Kogyo)
97
2.6.8 (1) Peripheral device connection cable

Recommended Cables Connect a peripheral device using a completely shielded, heavily
protected cable conforming to the specifications in Table 2.6.8.
Allow an extra 50 cm for routing the cable in the control unit.
The maximum cable length is 30 m.
Table 2.6.8 Recommended cable (for peripheral device connection)
Electrical characteris-
Conductor Effective
Sheath tics
Number Wire specifications outside
thickness Conductor Allowable
of wires (FANUC specifications) Diameter Configura- diameter
(mm) resistance current
(mm) tion (mm)
(τ/km) (A)
50 A66L-0001-0042 ø1.05 7/0.18 1.5 ø12.5 106 1.6
AWG24
20 A66L-0001-0041 ø1.05 7/0.18 1.5 ø10.5 106 1.6
AWG24
98
2.7 · The customer should prepare this cable, when a panel mount type
controller is used.
EMERGENCY STOP
· Turn off the controller when connecitng the cable.
SIGNAL
· Design the system so that the power to the servo amplifier is turned off
CONNECTION when an emergency stop occurs, irrespective of the input of the
emergency stop signal.
CNC built--in or
panel mount
Emergency
Robot CRM12 stop button
control
PCB
Operator’s panel
CRM12 interface
3 2 1 Connector in cable side

JAPAN AMP
A *ESP 0V +24E Housing : 3--178127--6
B *ESPOP *BRKON BRKON Contact : 1--175218--5 ( 6)
Emergency stop button
Stand alone type controller
99
2.8
EMERGENCY STOP
CIRCUIT
2.8.1
Circuit Diagram of
Emergency Stop (In the
Case of Remote Type)
High--performance
type teach pendant
+24E
JRS3
EMGTP
Emergency stop switch
EMGDM
Dead man switch
EMGEN
Enable switch
Emergency stop switch

CRR17 Emergency stop control CRM13 Face of door front
PCB
*ESPOP
EMGIN1
CRM12
EMGINC
0V EMGIN2
Robot control
EMGOUT
PCB
0V CX3
CRR17
BRK
EMG1 CX4
Servo amp.
0V (PSM)
EMGOUT1
emgout
emg1 EMGOUT2
200A
emg1
200B
MCC
3χ 200VAC
100
2.8.2
Circuit Diagram of
Emergency Stop
(CNC Built--in Type or
Panel Mount Type)
High--performance Simplified type
type teach pendant teach pendant
+24E JRS3
EMGTP
Emergency stop switch Emergency
EMGDM stop switch
Dead man switch
EMGEN
Enable switch
JD17
Emergency stop
(Note1) control circuit
(Shall be prepared by customer)
Emergency stop switch (Note2)

CRM12
*ESP 1
(Note1)
*ESPOP 3
0V EMG1 (Note3)
CX3 Servo amp.
*BRKON
(PSM)
2
CX4
0V
Robot control PCB
emg1
100A
MCC
emg1
(Note4)
100B
Brake power unit
*BKON 3χ 200VAC
100IN1
100IN2
CNBK
T1
For robot brake
101
NOTE
1 Draw *ESPOP from a location between the emergency stop
switch and the contact of the servo amplifier. Connect
*ESPOP to either CRM12 or JD17.
2 Position the emergency stop switch at a location prior to the
servo amplifier contact. For the emergency stop switch, use
a contact with a rating of 250V/10A or greater.
3 Relay specifications
Rated voltage of coil: 24VDC
Max. contact current: 10A
Max. contact voltage: 380VAC
Use a relay with a built--in diode.
4 MCC specifications
Rated coil voltage: 100VAC
Rated current: 20A
5 Those items that are available from FANUC are indicated by
the shading.
2.8.3
External Emergency
Stop Input (In the Case
of Remote Type)
Customer should A cable holder is provided at

prepare this cable each circled d location.
Emergency stop control
When the robot is shipped, EMGIN1, INC, and IN2 are con-
nected by jumper wires. To enable external emergency stop
TBLR input, first disconnect these jumper wires, then make the neces-
EMGIN1 sary connections.
External emergency stop input #1 is reflected in the external
EMGINC emergency stop output, but external emergency stop input #2 is
EMGIN2 not reflected in the external emergency stop output.
Confirm the operation of emergency stop switches on the teach
pendant and on the front panel, after you wired the external
emergency stop input.
External External
emergency emergency
stop input #1 stop input #2
102
2.8.4
External Emergency
Stop Output (In the
Case of Remote Type)
A cable holder is provided at
each circled d location.
Customer should
prepare this cable
Circuit
Emergency stop R--J2 Mate
control PCB EMGOUT1
EMGOUT2
TBLR
EMGOUT1 The printed circuit board features a relay that opens at emergency stop.
EMGOUT2
An emergency stop button on the teach pen-
dant, deadman’s switch (provided on a high--
performance type teah pendant only), an
emergency stop button on the control unit
door, and external emergency stop input #1
are reflected in the external emergency stop
For peripheral control output.
For sequencer etc.
103
2.9 Turn off the controller when connecting the cables.

CONNECTION OF
BRAKE POWER UNIT
Diode stack CNBK

100IN1
Relay
BKP1
100IN2
Spark killer
Absorber
From Emergency stop circuit Relay
MCON
BKM1
BKP2
*BKON
BKM2
Robot control
PCB BKP3
BKM3
CRM12
Terminal block ; T1 (Note)
NOTE
For terminal block (T1) connection, use an M4 crimp terminal.
CRM12 interface CNBK interface

3 2 1 1 2 3
A *ESP 0V +24E BKP1 BKP2 BKP3
B *ESPOP *BRKON BRKON 4 5 6
Connector in cable side BKM1 BKM2 BKM3
JAPAN AMP
Housing : 3--178127--6 Connector in cable side
Contact : 1--175218--5 ( 6) BURNDY JAPAN
Housing : SMS6P--1
Contact : RM16M--23( 6)
The customer is required to make the BKP1--3 and BKM1--3 connections.

When the optional robot connection cable is specified, the BKP1--3 and
BKM1--3 connections are made by using robot connection cable M1.
104
Machine side power

magnetics cabinet Brake power
supply unit
Robot
CNBK
Servo amp.
M1
Optional cable to connect robot
Fig. 2.9 Outline drawing of the brake power unit
105
2.10 Customer should prepare this cable when a panel mount type controller
is used.
CONNECTION OF Also refer to descriptions of servo amplifier for connection on this type
SERVO AMPLIFIER of controller.
PSM SVM1 SVM2

POWER SUPPLY SERVO AMPLIFIER SERVO AMPLIFIER
MODULE MODULE MODULE
TB1
A06B--6081--H101 A06B--6079--H301 TB1 A06B--6079--H301
P P P
N
N N
TB1 Terminal
Power CX1A
supply JX1B JX1A JX1B JX1A JX1B
unit CP3
CX2A CX2B CX2A CX2B CX2A CX2B
Emergency
stop circuit CX3 JV1B JV1B
CX4 JV2B JV2B
Output JV3B Output

TB2 L1 L2 L3 PE JV3B
MCC
Main CPU
For Robot
JV1 -- JV6,JV1B -- JV3B interface

(Note) n means number of axis
11 ISn 01 IRn
J1 : Robot control printed board / JV1--AMP1/JV1B
12 GNDSn 02 GNDRn
J2 : Robot control printed board / JV2--AMP1/JV2B
13 *PWMDn 03 *PWMAn J3 : Robot control printed board / JV3--AMP1/JV3B
14 0V 04 0V J4 : Robot control printed board / JV4--AMP2/JV1B
15 *PWMEn 05 *PWMBn J5 : Robot control printed board / JV5--AMP2/JV2B
16 0V 06 0V
17 *PWMFn 07 *PWMCn
18 0V 08 0V
19 09
20 *DRDYn 10 *MCONn
(1) Twisted--pair cables should be used for pin pairs 1 and 2, and 3 and 4,
...19 and 20.
106
2.11
CONNECTION TO
ROBOT
(IN THE CASE OF
REMOTE TYPE)
Servo amplifier 1 Servo amplifier 2
Robot control printed circuit board

Emergency stop control
printed circuit board
Connection to robot Customer should prepare these cables when optional robot connection
cables are not used with panel mount type controller is equipped.
Machine magnetic Brake power

cabinet Servo amp. supply unit
Robot
Robot
control
PCB
RM
CRF2 RP
Specifications of optional cables to connect to robot
· Waterproof specification A05B--2332--H226 (4m)

A05B--2332--H227 (7m)
A05B--2332--H228 (14m)
Waterproof connectors are used.
107
D Connection of cable RP
CRF2 interface
33 PD4 01 PD1
34 *PD4 02 *PD1
19 PD3
35 PRQ4 03 PRQ1
20 *PD3
36 *PRQ4 04 *PRQ1
21 PRQ3
37 PD5 05 PD2
22 *PRQ3
38 *PD5 06 *PD2
23 0V
39 PRQ5 07 PRQ2
24 0V
40 *PRQ5 08 *PRQ2
25 0V
41 RDO01 09 RDI01
26 0V
42 RDO02 10 RDI02
27 0V
43 RDO03 11 RDI03
28 +5V
44 RDO04 12 RDI04
29 +5V
45 RDO05 13 RDI05
30 +5V
46 RDO06 14 RDICOM
31 +5V
47 15 *ROT
32 +5V
48 16 *HBK
49 +24E 17 *PPABN
50 +24E 18 0V
108
D Connection of cable RM
SVM1 SVM2
A06B--6079--H301 A06B--6079--H301
UL VL UM VM UN VN UL VL UM VM UN VN
J11 J12 J21 J22 J31 J32 J41 J42 J51 J52 J61 J62
WL PE WM PE WN PE WL PE WM PE WN PE
J13 J1G J23 J2G J33 J3G J43 J46 J53 J5G J63 J6G
For robot
109
2.12 In this manual the treatment for the shielded cable is shown on several
pages. Partly cut off the shielded cable to expose the shield jacket, and
TREATMENT FOR fasten the jacket to the shield plate with a clamp to protect against noise.
THE SHIELDED (In case of stand--alone type a shield plate is installed in the controller, but
CABLE in case of panel--mounting type the shield should be prepared by
customer.)
Fig. 2.12 Shielded cable treatment
110
3. TRANSPORTATION AND
B--81055EN/02 CONTROL UNIT CONNECTION INSTALLATION
3
TRANSPORTATION AND INSTALLATION
111
INSTALLATION CONTROL UNIT CONNECTION B--81055EN/02
3.1 The control unit should be transported by a crane. Attach a rope to eye
bolts at the top of the control unit.
TRANSPORTATION
Fig. 3.1 Transportation
3.2 Installation area

When the control unit is installed, allow the space for maintenance shown
INSTALLATION in the following figure.
When 2nd controller

is installed.
Fig. 3.2 Installation
112
3.3
EXTERNAL
CONTROLLER
DIMENSIONS
M10 Weld nut (4 points)

Normally the holes of weld nuts are
covered with stickers. Remove stick-
ers in case that the controller is fixed
with these weld nuts.
Fig. 3.3 External drawing of robot controller
113
INSTALLATION CONTROL UNIT CONNECTION B--81055EN/02
3.4
INSTALLATION Item Specifications/condition
CONDITION Transformer 50Hz; 200VAC, +10%, --15%
60Hz; 200VAC to 220 VAC, +10%, --15%
50/60 Hz1Hz, 3--phase
Input power supply capacity 1.2 kVA
Average power consumption 0.5 kW
Ambient temperature range 0 to 45 n
Ambient humidity range 75% RH max.
No condensation
95% RH maximum for up to 1 month.
Atmosphere No corrosive gases
Contact FANUC when operating the unit
where there is a lot of dust or cutting oil.
Vibration 0.5G max.
Contact us when operating the unit where
vibration frequently occurs.
Weight of control unit 40kg
3.5 Adjust and check according to following procedure at installation.

ADJUSTMENT AND No. Description
CHECKS AT 1 Visually check the inside and outside of the control unit.
2 Check if the screwed terminal is connected properly.
INSTALLATION
3 Check that the connectors and printed circuit boards are inserted cor-
rectly.
4 Connect control unit and mechanical unit cables.
5 Turn the breaker off and connect the input power cable.
6 Check the input power voltagage.
7 Press the EMERGENCY STOP button on the operator’s panel and
turn the power on. Check the output voltage.
8 Check the interface signals between control unit and robot mechanical
unit.
9 Check the parameters. If necessary, set them.
10 Release the EMERGENCY STOP button on the operator’s panel.
Turn the power on.
11 Check the movement along each axis in the manual jog mode.
12 Check the end effector interface signals.
13 Check the peripheral device control interface signals.
114
3.6 An overtravel and emergency stop occur when the robot is operated for
the first time after it is installed and the mechanical and control units are
RESETTING wired. This section describes how to reset the overtrvel and emergency
OVERTRAVEL AND stop.
EMERGENCY STOP Remove the red plate fastening the swiveling axis beforehand.
AT INSTALLATION The J2 and J3 axes are pressed against the hard stops at shipment.
Therefore, an overtravel alarm occurs when the power is turned on after
installation.
3.7 Press the reset key on the teach pendant.

Manually move an axis that has overtraveled into the operating range
RESETTING while pressing the shift key on the teach pendant.
OVERTRAVEL
115

81055EN 02ROBOTandServo

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Weight: Approx. 40kg.

(Excluding robot connection cables and peripheral

FANUC I/O LINK or peripheral

Machine magnetics Teach pendant

Units to be added (those with shadow)

Fig. 1.3 (a) Panel mounting type control unit

Fig. 1.3 (b) ∼ series servo amplifier

By using cable straps, secure A cable holder is provided at each

External ON/OFF control

Between ON and COM

TON≧0.5 second, TOFF≧0.5 second,TOFF--ON≧10 seconds

JRY3 For test

JD17 RS--232--C or RS--422

JV5 3 axes SVM

JV2 3 axes SVM

CRM5 Peripheral device

to other I/O link

JD1A JD4* JD1A

*Note that the connector name differs from

to other I/O link

JD4 JD4A* JD4B*

*Note that the connector name differs from

FANUC I/O Link c

For other I/O link

JD1A interface JD4(JD1B) interface

Interface for Operator’s panel

For teach pendant ON/OFF Interface for teach

Teach pendant cable

JRS1 interface Operator’s panel interface (Example of construction)

High--function type teach

CNC built--in or Operator’s panel interface

For teach pendant Teach pendant

Teach pendant cable

JRS1 interface Operator’s panel interface (Example of construction)

2.4 · In case of Panel mount type controller,customer should make these

CNC built--in or Operator’s

Robot control PCB

For peripheral device

(Specified signals are not allocated.)

(peripheral device control interface CRM5)

(Specified signals are not allocated.)

(peripheral device control interface CRM5)

(Specified signals are not allocated.)

(peripheral device control interface CRM5)

Fig. 2.5.3 (c) Peripheral device control interface (Output signal)

(peripheral device control interface CRM5)

(peripheral device control interface CRM5)

(Standard allocation of specified signal)

(peripheral device control interface CRM5)

Max. current per SDO is 70mA.

Fig. 2.5.3 (f) Peripheral device control interface (Output signal)

D Output signal regulation Example of connection

D Spark killer diode

D Input signal regulation Example of connection

D Electrical specifications of the receiver