Motoman EA1900N, Manual

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8.2 Internal Connections
8-3
HW0482170
HW0482170
Fig. 19 (a) Internal Connection Diagram
LB3 LB3
LA2 LB2 LB2
LA2
LB2
LA2
LA3
P
LB1
LB1
LA1
LB1
LA1
LA2
PG
B-Axis
PG
T-Axis
PG
PG
R-Axis
U-Axis
BAT
0V
+5V
OBT
-3
-2
-4
-2
15CN-1
No.14CN
14CN-1
FG6
0V
OBT
+5V
BAT
-2
-3
-2
-4
-3
17CN-1
16CN-1
No.16CN
FG5 -3
OBT
DATA-6
DATA+6
OBT
BAT
DATA-5
DATA+5
A
BAT
OBT
+5V
BAT
DATA+1
DATA-1
BAT
FG1
OBT
DATA+2
0V
-5
-4
-6
-2
-7
-9
S-Axis
PG
P
P
P P
P
P
No.21CN
21CN-1
No.20CN
20CN-1
DATA+3
DATA-3
OBT
0V
FG3
OBT
+5V
OBT
BAT
BAT
DATA-4
DATA+4
BAT
-2
22CN-1
No.22CN
-9
-7
-5
-4
-4
-2
-3
No.23CN
23CN-1
-6
0V
BAT
OBT
FG4 -3
-2
+5V 24CN-1
FG2
0V
BAT
OBT
+5V
DATA-2
OBT
BAT
-7
-9
-6
-4
-5
-2
P
P
P
P
P
L-Axis
PG
A
for Lamp (Optional)
V
U
P
P
P
0V
+5V
BAT
OBT
DATA-5
DATA+5
-9
-3
-7
-2
-8
-1
DATA-6
DATA+6
FG6
0V
+5V
-10
-4
-6
-11
-5
P
No.7CN
P
P
P
P
P
P
P
P
P
P
P
P
P
P
P
19
21
18
17
20
1
2
31
23
30
32
28
29
25
26
27
24
22
5
8
7
6
3
4
13
14
15
12
11
10
9
16
2
4
3
1
PG0V3
PG5V6
PG0V5
PG0V6
PG5V5
PG5V4
PG0V4
PG5V3
PG0V1
PG0V2
PG5V2
PG5V1
0BAT4
BAT4
BAT1
0BAT1
0BAT2
BAT2
0BAT3
BAT3
0BAT11
BAT12
BAT11
1
0BT
BAT
BAT
0BT
3
4
2
BAT21
BAT22
0BT
BAT
0BT
1
BAT
3
4
2
8
6
5
7
P
P
P
P
7
8
5
6
0V
0V
+24V
+24V
FG1
SPG+1
SPG-1
SPG+2
CN1-1
P
P
P
CN1-6
CN1-3
CN1-2
CN1-9
CN1-10
CN1-4
1BC(10X4)
CN1-5
0BAT22
0BAT21
0BAT12
LA1
FG2
SPG-3
SPG+3
SPG-2
FG3
SPG-4
SPG+4
FG4
SPG+5
SPG-5
FG6
SPG+6
SPG-6
FG5
P
P
P
P
P
CN3-8
CN3-7
CN3-6
CN3-3
CN2-8
CN3-2
CN3-1
CN2-7
CN2-6
CN2-3
CN2-2
CN2-1
CN1-8
CN1-7
LB1
BC2
SS2
AL2
AL1
+24V
0V
+5V
0V
+5V
+5V
0V
+5V
0V
SPG+7
E
FG7
SPG-7
P
P
P
P
P
P
P
P
CN4-8
CN4-6
CN4-7
CN4-3
CN4-2
CN4-1
CN2-5
CN2-4
CN2-10
CN2-9
CN4-5
CN4-4
CN3-5
CN3-4
CN4-9
CN3-9
CN3-10
NX100
CN1-6
CN1-3
CN1-10
CN1-9
CN1-1
CN1-2
CN1-5
CN1-4
1BC (10X4)
CN3-8
CN3-6
CN3-7
CN3-3
CN2-8
CN3-1
CN3-2
CN2-6
CN2-7
CN2-3
CN2-1
CN2-2
CN1-7
CN1-8
CN4-8
CN4-6
CN4-2
CN4-3
CN4-7
CN4-1
CN2-5
CN2-4
CN2-10
CN2-9
CN4-5
CN4-4
CN3-5
CN3-4
CN4-9
CN3-9
CN3-10
E
Wire Harness in L-Axis Wire Harness in BT-Axes
S-Axis Overrun Limit Switch
L-Axis Overrun Limit Switch
SLU-Axes with Limit Switch Specification
LU-Axes Interference Limit Switch
Manipulator Cable Wire Harness in S-Axis
Encoder Power Circuit Board