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Балтийский государственный технический университет "ВОЕНМЕХ" им. Д.Ф. Устинова

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MOTOMAN-UP350N-600 INSTRUCTIONS.pdf

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151781-1CD

8.1 Position of S-axis Overrun Limit Switch

HP600 MANIPULATOR

8 Motoman Construction

8.1Position of S-axis Overrun Limit Switch

The overrun limit switch is only installed on the S-axis and located as shown in " Fig. 15 Locations of the Overrun Limit Switch ".

S-axis overrun

limit switch

Fig. 15 Locations of the Overrun Limit Switch

8.2Internal Connections

Internal connection diagrams are shown in the following " Fig. 16 (a) Internal Connection Diagram " and " Fig. 16 (b) Internal Connection Diagram ".

8-1

HW0482904 32/73

151781-1CD

8.2 Internal Connections

NX100	+24V
CN1-5	+24V
CN1-4	0V
CN1-10	+24V
CN1-9	0V
CN1-9
CN1-1	SPG+1
CN1-2	SPG-1
CN1-3	FG1
CN1-6	SPG+2
CN1-7	SPG-2
CN1-7
CN1-8	FG2
1BC(10P×4)
CN2-1	SPG+3
CN2-2	SPG-3
CN2-2
CN2-3	FG3
CN2-6	SPG+4
CN2-7	SPG-4
CN2-8	FG4
CN3-1	SPG+5
CN3-2	SPG-5
CN3-3	FG5
CN3-6	SPG+6
CN3-7	SPG-6
CN3-7
CN3-8	FG6
CN4-1	+24V
CN4-6	LB1
CN4-6

CN4-2 SS2

CN4-7 AL1

	CN4-3	BC2
	CN4-3	AL2
	CN4-8	AL2
	CN4-8
	CN4-4	SPG+7

	CN4-5	FG7
	CN4-9
		0V
	CN2-4
		5V
	CN2-5
		0V
	CN2-9
		5V
	CN2-10
		0V
	CN3-4
		5V
	CN3-5
		0V
	CN3-9
		5V
	CN3-10

0BT

0BAT11

0BAT1

BAT

BAT11

BAT1

NOTE:

0BT

0BAT12

0BAT2

BAT

BAT12

BAT2

0BAT3

1. The connection diagram is for MOTOMAN-UP350N-600.

BAT3

2. This diagram shows the connection diagram for the standard spec.

0BT

0BAT21

0BAT4

BAT

BAT21

BAT4

For the spec with each option, see the following framed rectangle: "Connection Diagram For Optional Spec".

0BT

0BAT22

0BAT5

BAT

BAT22

BAT5

3. For the connection diagram for the spec with a lamp, perform wiring on the U-arm as shown in the framed rectangle:

0BAT6

BAT6

"Connection Diagram for Optional Spec".

PG0V1

PG5V1

PG0V2

PG5V2

PG0V3

PG5V3

PG0V4

1BC(10P×4)

PG5V4

No.19CN X

PG0V5

CN1-5

+24V

PG5V5

-1

+24V

PG0V6

CN1-4

-3

PG5V6

CN1-10

+24V

-2

+24V

CN1-9

-4

CN1-1

SPG+1

No.7CN

No.15CN

7CN-1

DATA+1

CN1-2

SPG-1

-2

DATA-1

-1

BAT1

-6

BAT

S-axis

-2

0BAT1

-5

OBT

-3

PG5V1

-4

+5V

CN1-3

FG1

-4

PG0V1

-9

-7

FG1

OBT

BAT

CN1-6

SPG+2

No.8CN

No.16CN

8CN-1

DATA+2

CN1-7

SPG-2

-2

DATA-2

-1

BAT2

-6

BAT

L-axis

-2

0BAT2

-5

OBT

-3

PG5V2

-4

+5V

CN1-8

FG2

-4

PG0V2

-9

-7

FG2

OBT

BAT

CN2-1

SPG+3

No.9CN

No.17CN

9CN-1

DATA+3

CN2-2

SPG-3

-2

DATA-3

-1

BAT3

-6

BAT

U-axis

-2

0BAT3

-5

OBT

-3

PG5V3

-4

+5V

CN2-3

FG3

-4

PG0V3

-9

-7

FG3

OBT

BAT

CN2-6

SPG+4

No.1CN

No.18CN

1CN-1

DATA+4

CN2-7

SPG-4

-2

DATA-4

-1

BAT4

-6

BAT

R-axis

-2

0BAT4

-5

OBT

-3

PG5V4

-4

+5V

CN2-8

FG4

-4

PG0V4

-9

-7

FG4

OBT

BAT

CN3-1

SPG+5

No.2CN

No.19CN

2CN-1

DATA+5

CN3-2

SPG-5

-2

DATA-5

-1

BAT5

-6

BAT

B-axis

-2

0BAT5

-5

OBT

-3

PG5V5

-4

+5V

CN3-3

FG5

-4

PG0V5

-9

-7

FG5

OBT

BAT

CN3-6

SPG+6

No.3CN

No.20CN

3CN-1

DATA+6

CN3-7

SPG-6

-2

DATA-6

-1

BAT6

-6

BAT

T-axis

-2

0BAT6

-5

OBT

-3

PG5V6

-4

+5V

CN3-8

FG6

-4

PG0V6

-9

-7

FG6

OBT

SS1

BAT

CN4-1

+24V

LA1

S-axis overrun limit switch

CN4-6

LB1

LA2

L-axis overrun limit switch (optional)

LB1

CN4-2

SS2

AL1

Connection Diagram for Optional Spec

CN4-7

AL1

Power cable

+24

Inside the base

LA1

Inside the S-head

On the U-arm

CN4-3

BC2

AL2

CN4-1

LA1

S-axis overrun limit switch

CN4-8

AL2

1BC

CN4-6

LB1

LA2

L-axis overrun limit switch

LB1

CN4-4

(optional)

LA3

For U-axis overrun

CN4-9

CN2-4

LB1

limit switch (optional)

CN2-5

LB3

CN2-9

CN2-10

CN3-4

CN3-5

CN4-1

+24

BC1

CN3-9

For lamp (optional)

1BC

CN4-3

BC2

CN3-10

Base

Manipulator

Casing

4BC(22-14)

E E

4BC(22-14)

4BC

4BC-1

4BC-2

4BC-3

4BC-4

4BC-5

4BC-6

4BC-7

4BC-8

4BC-9

4BC-10

4BC-11

4BC-12

4BC-13

4BC-14

4BC-15

4BC-16

4BC-17

BC1

For lamp (optional)

BC2

LB1

LA3

U-axis overrun limit switch (optional)

LB3

LB1

Fig. 16 (a) Internal Connection Diagram
8-2	HW0482904
	HW0482904

33/73

152781-1CD

8.2 Internal Connections

2BC(8P×6)

3BC(8P×6)

		X21
		E
	CN2-1	MU1
	CN2-1	MU1
	CN2-2	MU1
	CN2-2	MU1
	CN2-3	MU1
	CN2-3	MU1
	CN2-4	MU1
	CN2-4	MV1
	CN2-5	MV1
	CN2-5	MV1
	CN2-6	MV1
	CN2-6	MV1
	CN2-7	MV1
	CN2-7	MV1
	CN2-8	MV1
	CN2-8	MW1
	CN3-1	MW1
	CN3-1	MW1
	CN3-2	MW1
	CN3-2	MW1
	CN3-3	MW1
	CN3-3	MW1
	CN3-4	MW1
	CN3-4	ME1
	CN1-5	ME1
	CN1-5	ME1
	CN1-6	ME1
	CN1-6	ME1
	CN1-7	ME1
	CN1-7	ME1
	CN1-8	ME1
	CN1-8	BA1
	CN1-1	BA1
	CN1-1	BB1
	CN1-2	BB1
	CN1-2
	CN3-5	MU2
	CN3-6	MU2
	CN3-7	MU2
	CN3-8	MU2
	CN4-1	MV2
	CN4-2	MV2
	CN4-3	MV2
	CN4-4	MV2
	CN4-5	MW2
	CN4-6	MW2
	CN4-7	MW2
	CN4-8	MW2
	CN5-1	ME2
	CN5-2	ME2
	CN5-3	ME2
	CN5-4	ME2
	CN1-3	BA2
	CN5-5	MU3
	CN5-5	MU3
	CN5-6	MU3
	CN5-6	MU3
	CN5-7	MU3
	CN5-7	MU3
	CN5-8	MU3
	CN5-8	MV3
	CN6-1	MV3
	CN6-1	MV3
	CN6-2	MV3
	CN6-2	MV3
	CN6-3	MV3
	CN6-3	MV3
	CN6-4	MV3
	CN6-4	MW3
	CN6-5	MW3
	CN6-5	MW3
	CN6-6	MW3
	CN6-6	MW3
	CN6-7	MW3
	CN6-7	MW3
	CN6-8	MW3
	CN6-8
	CN1-4	BA3
	CN1-4
		X22
		E
	CN5-5	ME3
	CN5-5	ME3
	CN5-6	ME3
	CN5-6	ME3
	CN5-7	ME3
	CN5-7	ME3
	CN5-8	ME3
	CN5-8
	CN1-1	MU4
	CN1-2	MU4
	CN1-3	MV4
	CN1-4	MV4
	CN1-5	MW4
	CN1-6	MW4
	CN1-7	ME4
	CN1-8	ME4
	CN6-1	BA4
	CN6-2	BB4
	CN2-1	MU5
	CN2-1	MU5
	CN2-2	MU5
	CN2-2
	CN2-3	MV5
	CN2-3	MV5
	CN2-4	MV5
	CN2-4
	CN2-5	MW5
	CN2-5	MW5
	CN2-6	MW5
	CN2-6
	CN2-7	ME5
	CN2-7	ME5
	CN2-8	ME5
	CN2-8
	CN6-3	BA5
	CN6-3
	CN3-1	MU6
	CN3-2	MU6
	CN3-3	MV6
	CN3-4	MV6
	CN3-5	MW6
	CN3-6	MW6

	CN3-7	ME6
	CN3-7	ME6
	CN3-8	ME6
	CN3-8
	CN6-4	BA6
	CN6-4

2BC(8×6)

CN2-1 MU1 CN2-2 MU1 CN2-3 MU1 CN2-4 MU1

CN2-5 MV1 CN2-6 MV1 CN2-7 MV1 CN2-8 MV1

CN3-1 MW1 CN3-2 MW1 CN3-3 MW1 CN3-4 MW1

CN1-5 ME1 CN1-6 ME1 CN1-7 ME1 CN1-8 ME1 CN1-1 BA1 CN1-2 BB1

CN3-5 MU2 CN3-6 MU2 CN3-7 MU2 CN3-8 MU2 CN4-1 MV2 CN4-2 MV2 CN4-3 MV2 CN4-4 MV2 CN4-5 MW2 CN4-6 MW2 CN4-7 MW2 CN4-8 MW2 CN5-1 ME2 CN5-2 ME2 CN5-3 ME2 CN5-4 ME2 CN1-3 BA2

CN5-5 MU3 CN5-6 MU3 CN5-7 MU3 CN5-8 MU3

CN6-1 MV3 CN6-2 MV3 CN6-3 MV3 CN6-4 MV3

CN6-5 MW3 CN6-6 MW3 CN6-7 MW3 CN6-8 MW3

CN1-4 BA3

3BC(8×6)

CN5-5 ME3

CN5-6 ME3

CN5-7 ME3

CN5-8 ME3

CN1-1 MU4 CN1-2 MU4

CN1-3 MV4 CN1-4 MV4

CN1-5 MW4 CN1-6 MW4

CN1-7 ME4 CN1-8 ME4

CN6-1 BA4 CN6-2 BB4

CN2-1 MU5 CN2-2 MU5

CN2-3 MV5 CN2-4 MV5

CN2-5 MW5 CN2-6 MW5

CN2-7 ME5 CN2-8 ME5

CN6-3 BA5

CN3-1 MU6 CN3-2 MU6

CN3-3 MV6 CN3-4 MV6

CN3-5 MW6 CN3-6 MW6

CN3-7 ME6 CN3-8 ME6

CN6-4 BA6

Fig. 16 (b) Internal Connection Diagram

No.10CN	MU1
10CN-A	MU1
-B	MV1	SM S-axis
-D	ME1	SM S-axis
-C	MW1
-E	BA1	YB
-F	BB1	YB

No.11CN	MU2
11CN-A	MU2
-B	MV2	SM L-axis
-D	ME2	SM L-axis
-C	MW2
No.12CN
12CN-A	BA2	YB
-B	BB2	YB
No.13CN	MU3
13CN-A	MU3
-B	MV3	SM U-axis
-C	MW3	SM U-axis
-D	ME3
No.14CN
14CN-A	BA3	YB
-B	BB3	YB

No.4CN
CN4-A	MU4
-B	MV4
-C	MW4	SM	R-axis
-D	ME4
-E	BA4	YB
-F	BB4	YB
No.5CN
CN5-A	MU5
-B	MV5
-C	MW5	SM	B-axis
-D	ME5
-E	BA5	YB
-F	BB5

No.6CN
CN6-A	MU6
-B	MV6
-C	MW6	SM	T-axis
-D	ME6
-E	BA6	YB
-F	BB6	YB

8-3

34/73

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