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3.10 User Signal and Voltage Lines
User signal and voltage lines are available at connectors located on the
Tower printed circuit assembly (PCA). The Tower PCA is mounted to
the top of the Joint 3 housing (refer to Figure 3-7). For the location of the
connectors on the Tower PCA, including the location of pin 1 for each
connector, see Figure 3-11. The pin-out (wire list) for each connector is
shown in Table 3-1.
USR1 Through USR5
USR1 through USR5 line pairs provide the User with a convenient wiring
run from the robot Tower PCA to the controller. These lines terminate at
connector J9 (User) on the Tower PCA and can be used to connect limit
switches or similar digital devices to the binary interface of the controller.
Refer to Table 3-1 for the pin configuration of J9. Refer to your controller
User's Guide for further information on termination of these lines within
the controller. Use of these lines should be limited to a maximum of 12
VDC at 2 Amps.
WARNING
USR1 through USR5 lines are routed through the robot
harness in close proximity to robot control signals. In
order to ensure long life, these lines are constructed from
28 AWG high-strand-count wires and are not designed to
carry high current or high voltage. These lines should be
limited to a maximum of 12 VDC at 2 Amps. To minimize
coupling with the robot control signals in adjacent
harnesses, the User should minimize voltage transients
and maintain a current balance in each +/- pair.
Exceeding these recommendations could couple noise
onto the robot control lines and cause robot motion errors.