FANUC机器人控制柜CRMA-15.16接线图（2）

B-82725EN-2/05 CONNECTIONS4. PERIPHERAL DEVICE ANDEND EFFECTOR INTERFACES 4.3INTERFACE FOR PERIPHERAL DEVICES4.3.1

Connection between the Main board (CRMA15, CRMA16) andPeripheral Devices

-2ND

END EFFECTOR INTERFACES

Control unit (peripheral device control interface A1)

+24F

Connector pin No.CRMA15 (49、50)Peripheral device

DI101 DI102 Receiver circuit3.3k

RV CRMA15 (01) CRMA15 (02) DI103

DI104 RV DI105 RV DI106 RV DI107 RV DI108 RV SDICOM1 RV DI109 RV DI110 RV DI111 RV DI112 RV DI113 RVDI114 RV DI115 RV DI116 RV DI117 RV DI118 RV DI119 RV DI120 RV SDICOM2RV

CRMA15 (03) CRMA15 (04) CRMA15 (05) CRMA15 (06) CRMA15 (07) CRMA15 (08) CRMA15 (19) CRMA15 (09)CRMA15 (10) CRMA15 (11) CRMA15 (12) CRMA15 (13) CRMA15 (14) CRMA15 (15) CRMA15 (16) CRMA15 (22)CRMA15 (23) CRMA15 (24) CRMA15 (25) CRMA15 (20)CRMA15 (17、18)0VNOTE

In this diagram, common voltage of input devices is +24V.RVRV

4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES CONNECTIONS B-82725EN-2/05Control unit (peripheral device control interface A1)DOSRC1Connector pin No.CRMA15 (31,32)Driver circuitDVDO101

CRMA15 (33)Peripheral device+24V 0V+24V regulatedpower supplyLOADRELAY

DO102 DO103 DO104 DO105 DO106 DO107 DO108DVDVDV

DVDVDVDV

CRMA15 (34)CRMA15 (35)CRMA15 (36)CRMA15 (37)CRMA15 (38)CRMA15 (39)CRMA15 (40)CRMA15 (17、18)LOADLOADLOADLOADLOADLOADLOAD 0V

A maximum output current per DO point is 0.2 A.

B-82725EN-2/05CONNECTIONS 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACESControl unit (peripheral device control interface A2)+24F Connector pin No.CRMA16 (49、50)Peripheral device

XHOLD RESET Receiver circuit3.3kRV

CRMA16 (01)CRMA16 (02)CRMA16 (03)CRMA16 (04)CRMA16 (05)CRMA16 (06)CRMA16 (07)

CRMA16 (08)CRMA16 (19)CRMA16 (17、18).RVRVRVSTARTRVENBLPNS1PNS2PNS3PNS4SDICOM3RVRVRVRV0 VNOTE

In this diagram, common voltage of input devices is +24V4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES CONNECTIONS B-82725EN-2/05Control unit (peripheral device control interface A2)Connector pin No.Pe ripheral device+24V 0VDriver circuitDO109DVCRMA16 (31、32)CRMA16 (41)+24V regulatedpower supplyLOAD

RELAYDO110DO111DO112DO113DO114DO115DO116DO117DO118DO119

DO120 CMDENBLFAULTBATALMBUSY DVDVDVDVDVDVDVDVDVDVDVDVDVDVDV

CRMA16 (42)CRMA16 (43)CRMA16 (44)CRMA16 (45)CRMA16 (46)CRMA16 (47)

CRMA16 (48)CRMA16 (26)CRMA16 (27)CRMA16 (28)CRMA16 (21)CRMA16 (33)CRMA16 (34)CRMA16 (35)CRMA16 (36)LOADLOADLOADLOADLOADLOADLOADLOADLOADLOADLOADLOADLOADLOADLOAD

CRMA16 (17、18)0V

A maximum output current per DO point is 0.2 A.DOSRC2

B-82725EN-2/05 CONNECTIONS4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES The following shows the connector interface of the optional peripheral device cables on theperipheraldevice side.

CONNECTIONS B-82725EN-2/054. PERIPHERAL DEVICE ANDEND EFFECTOR INTERFACES 4.3.2

Connection between the Process I/O Board MA andPeripheral Devices

NOTE

1 The peripheral device connection cable is optional.2 The DOSRC

3 pin of CRMA52A and CRMA52B supply power to the drivers (connect all pins).

B-82725EN-2/05CONNECTIONS 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACESControl unit +24F Connector pin No.Peripheral device （Peripheral device controlinterface:B1）DI121RVDI122RVDI123RVDI124RVDI125RVDI126RVDI127RVDI128RV

DI129RVDI130RVCOM1RV

+24E B Common-level change-over setting pin (ICOM1) ACRMA52A (49、50)CRMA52A (01)CRMA52A (02)CRMA52A (03)CRMA52A (04)CRMA52A (05)CRMA52A (06)CRMA52A (07)CRMA52A (08)CRMA52A (09)

CRMA52A (10) CRMA52A (17、18)0V0V

(This common voltage is for 24V.)DOSRC3Driver circuitDVDO121

Connector pin No.CRMA52A (31、32)CRMA52A (33)EXT24V+24V0V+24V regulatedpower supplyLOADRELAY

DO122 DO123 DO124 DO125 DO126 DO127 DO128DVDVDVDV

DVDVDV

CRMA52A (34)CRMA52A (35)CRMA52A (36)CRMA52A (37)CRMA52A (38)CRMA52A (39)CRMA52A (40)CRMA52A (29、30)0VLOADLOADLOADLOADLOADLOADLOADEXT0VNOTE

In this diagram, common voltage of input device is 24V.4. PERIPHERAL DEVICE AND

END EFFECTOR INTERFACES CONNECTIONS B-82725EN-2/05 Control unit +24F Connector pin No.Peripheral device（Peripheral device control interface:B2）DI131RVDI132RVDI133RVDI134RVDI135RVDI136RVDI137RVDI138RVDI139RVDI140RV

COM1RV+24E B A

CRMA52B (49、50)CRMA52B (01)CRMA52B (02)CRMA52B (03)CRMA52B (04)CRMA52B (05)CRMA52B (06)CRMA52B (07)CRMA52B (08)CRMA52B (09)

CRMA52B (10) CRMA52B (17、18)0V

Common-level change-over setting pin (ICOM2)(This common voltage isfor 24V.)DOSRC30VConnector pin No.EXT24V+24V0VDriver circuitDO129DV

CRMA52B (31、32)CRMA52B (33)+24V regulatedpower supplyLOADRELAY

DO130 DO131 DO132 DO133 DO134 DO135 DO136DVDVDVDVDVDV

DV

CRMA52B (34)CRMA52B (35)CRMA52B (36)CRMA52B (37)CRMA52B (38)CRMA52B (39)CRMA52B (40)CRMA52B (29、30)0VLOADLOADLOADLOADLOADLOADLOADEXT0VNOTE

In this diagram, common voltage of input device is 24V.

CONNECTIONS 4. PERIPHERAL DEVICE AND END EFFECTOR INTERFACES

The following shows the connector interface of the optional peripheral device cables on the peripheral device side.ControllerCRMA 52A 010203040506070809101112

131415161718DI 121DI 122DI 123DI 124DI 125DI 126DI 127DI 128DI 129DI 1300V0V19202122232425262728293031320V0VDOSRC3

DOSRC3

Peripheral device A133 DO 12134 DO 12235 DO 12336 DO 12437 DO 12538 DO 12639 DO 12740 DO 128414243444546474849 24F50 24FCRMA 52B 010203040506070809101112131415

161718DI 131DI 132DI 133DI 134DI 135DI 136DI 137DI 1380V0V19202122232425262728293031320V0VDOSRC3DOSRC3

Peripheral device A233 DO 12934 DO 13035 DO 131

36 DO 13237383940414243444546474849 24F50 24FDI 139DI 140DO 134DO 133DO 135DO 136