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Motors ON/Dual Run Chain Circuitry
Electrical
Troubleshooting Guide
IRB6400 M94A
5.2.5
Run Chain 1 - Limit (LIM) Circuit
The Limit circuitry:
-
Begins with 24 VDC at XS3/XT3 terminal A10.
-
Then it goes to XS3/XT3 terminal A11 (which is
supplied for the customer to wire into our
Limit
(LIM) circuitry
.)
The customer may use this circuit to stop the robot from
an over travel on external axis or a break-away device
attached to the wrist of the robot or other such circuits.
If this circuit is opened it will stop the robot and generate
a Limit error. By pressing and holding the Motors ON
push button the customer may move the robot off of the
problem and continue running the robot. If this circuit is
not to be used by the customer then it should be jumped
between XS3/XT3 terminals A11 and A12.
-
From terminal A12, 24 VDC goes into a noise
suppressor (Z2) terminal 1 and out terminal 2.
-
Then to the manipulator through XS1 pin D2 to
R1.MP pin D2.
At this point the robot may have the optional axis one
Over Travel Limit switch wired from R1.MP pin D2 to
D4. This switch will open when the robot moves against
the axis 1 hard stop.
If the robot does not have this option then a jumper will
go on R1:MP pin D2 to D4.
-
24 VDC will return to the control on XS1 pin D4.
-
Then to XS22 pin 7.
Then if external axes are present (axis 7-12) the
customer may wire a limit switch to XS7 pin A4 to A5.
Otherwise 24VDC is jumpered from XS22 pin 7 to XS22
pin 10.
-
Then 24 VDC goes through XS/XP18 pin 8 to the
System board (DSQC 256A) AP41:XP1 pin C15.
-
This turns on the
LIM 1 LED
(the left one) on the
System board (DSQC 256A).
Sheet 8, line 10 ............
Fig. 5-5 ............
Fig. 5-8 ............
Sheet 8, line 11 ............
Fig. 5-5 ............
Sheet 13.1, line 16........
Sheet 105, line 14.........
Fig. 5-4 ............
Fig. 5-8 ............
Sheet 13.1, line 16........
Fig. 5-4 ............
Sheet 15, line 16 ..........
Sheet 8, line 16 ............
Fig. 5-1,2,5 ......
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