Comau C3G Plus, Operation And Maintenance Manual, Page: 139 / 266

The I/O signals are available connecting to the pins indicated in the following table.
Signal allocation for the IOM module is the same both when it is inserted in slot 4 and in slot
6. The IOM module signals of slot 4 are available externally on connector X30, those of the
IOM module of slot 6 on connector X30-2. These are respectively on machine 1 and/or 2.
BASIC IOM MODULE SIGNAL ALLOCATION
ROBOT BASIC IOM MODULE (SLOT 4-6) TRANSFER
SMART S FAMILY
X91
PIN
ALL COMAU ROBOTS
EXCEPT SMART S FAMILY SW. ALLOCATION
X30 (X30-2)
PIN
X90
PIN
X91
PIN
INP/OUT IOM SLOT 4 IOM SLOT 6
C T — INP 1 ($DIN[1]) ($DIN[33]) 91
D U — INP 2 ($DIN[2]) ($DIN[34]) 92
E V — INP 3 ($DIN[3]) ($DIN[35]) 93
F W — INP 4 ($DIN[4]) ($DIN[36]) 94
— X — INP 5 ($DIN[5]) ($DIN[37]) 95
— — C INP 6 ($DIN[6]) ($DIN[38]) 96
— — N INP 7 ($DIN[7]) ($DIN[39]) 97
— — S INP 8 ($DIN[8]) ($DIN[40]) 98
G C — INP 9 ($DIN[9]) ($DIN[41]) 73
H D — INP 10 ($DIN[10]) ($DIN[42]) 74
R E — INP 11 ($DIN[11]) ($DIN[43]) 75
S F — INP 12 ($DIN[12]) ($DIN[44]) 76
— G — INP 13 ($DIN[13]) ($DIN[45]) 77
— — D INP 14 ($DIN[14]) ($DIN[46]) 78
— — P INP 15 ($DIN[15]) ($DIN[47]) 79
— — T INP 16 ($DIN[16]) ($DIN[48]) 80
L H — OUT 1 ($DOUT[17]) ($DOUT[49]) 99
M c — OUT 2 ($DOUT[18]) ($DOUT[50]) 100
N J — OUT 3 ($DOUT[19]) ($DOUT[51]) 101
P Y — OUT 4 ($DOUT[20]) ($DOUT[52]) 102
— Z — OUT 5 ($DOUT[21]) ($DOUT[53]) 103
— — F OUT 6 ($DOUT[22]) ($DOUT[54]) 104
— a — OUT 7 ($DOUT[23]) ($DOUT[55]) 105
— b — OUT 8 ($DOUT[24]) ($DOUT[56]) 106
— M — OUT 9 ($DOUT[25]) ($DOUT[57]) 82
— N — OUT 10 ($DOUT[26]) ($DOUT[58]) 83
— P — OUT 11 ($DOUT[27]) ($DOUT[59]) 84
— R — OUT 12 ($DOUT[28]) ($DOUT[60]) 85
— S — OUT 13 ($DOUT[29]) ($DOUT[61]) 86
— K — OUT 14 ($DOUT[30]) ($DOUT[62]) 87
— L — OUT 15 ($DOUT[31]) ($DOUT[63]) 88
BASIC CONF. IOM POWER SUPPLY (SLOT 4 - SLOT 6)
24 VDC POWER SUPPLY OUTSIDE THE C3G
Plus
24 VDC POWER SUPPLY INSIDE THE C3G
Plus
POSITION:
JP200/SDB3 (SDB3-2) PIN 2-3 - (OUT 1
¸
OUT 8)
JP201/SDB3 (SDB3-2) PIN 2-3 - (OUT 9
¸
OUT 16) JP 200/SDB3 (SDB3-2) PIN 1-2 (OUT 1
¸
8)
JP 201/SDB3 (SDB3-2) PIN 1-2 (OUT 9
¸
16)
CONNECT EXTERNAL POWER SUPPLY:
X30 (X30-2) PIN 107 -> +24 Vdc
PIN 108 -> 0 V (24 Vdc)
C3G
Plus
INTEGRATION GUIDE
01/0498 4-17
PARALLEL
I/O
BASIC
C3G-IOM