8
8
7
7
6
6
5
5
4
4
3
3
2
2
1
1
D
D
C
C
B
B
A
A
PCBD #002-3758-01
EXT_IN0
EXT_IN1
EXT_IN2
EXT_IN3
EXT_IN4
EXT_IN5
EXT_IN6
EXT_IN8
EXT_IN7
EXT_IN9
EXT_IN10
EXT_IN11
EXT_IN12
EXT_IN13
EXT_IN14
EXT_IN15
EXT_IN16
EXT_IN17
EXT_IN18
EXT_IN19
EXT_IN21
EXT_IN20
DRV_OUT0
DRV_OUT1
DRV_OUT2
DRV_OUT3
DRV_OUT5
DRV_OUT4
DRV_OUT6
DRV_OUT7
DRV_OUT8
DRV_OUT9
DRV_OUT10
DRV_OUT12
DRV_OUT11
DRV_OUT13
DRV_OUT14
DRV_OUT15
DRV_OUT16
DRV_OUT17
DRV_OUT18
DRV_OUT19
RX232_422RXP
RXA_232
TXA_232
CDM
SIO1
SIO2
MISC. I/O
24VRTN_USER
+24V_USER
TX232_422RXN
422TXN
MAG 7.1 LOW SIDE I/O BOARD
SIO2
SIO1
DISCRETE.
I/O INPUTS
MTR_EMO
DIR1_EXT_INHIBIT
DIR2_EXT_INHIBIT
DIR3_EXT_INHIBIT
DIR4_EXT_INHIBIT
DIR6_EXT_INHIBIT
DIR7_EXT_INHIBIT
DIR8_EXT_INHIBIT
DIR9_EXT_INHIBIT
AC_FAIL
MTR_EMO_SRC
DIR1_EXT_INHIBIT_SRC
DIR2_EXT_INHIBIT_SRC
DIR3_EXT_INHIBIT_SRC
DIR4_EXT_INHIBIT_SRC
DIR5_EXT_INHIBIT_SRC
DIR6_EXT_INHIBIT_SRC
DIR8_EXT_INHIBIT_SRC
DIR9_EXT_INHIBIT_SRC
AC_FAIL_SRC
SPARE
SPARE_1
SPARE_2
RELAY COMMON
SPARE_3
DIR2_GV_CLS_INHIBIT
DIR4_GV_CLS_INHIBIT
DIR6_GV_CLS_INHIBIT
DIR8_GV_CLS_INHIBIT
DIR3_GV_CLS_INHIBIT
DIR5_GV_CLS_INHIBIT
DIR7_GV_CLS_INHIBIT
DIR9_GV_CLS_INHIBIT
DIR1_GV_CLS_INHIBIT
RXB_232
TXB_232
WD-003-1600-00
MJV
10/14/97
WIRING DIAGRAM MAG7.1;
3 -OPTIONS SHOWN
B
D
2
2
MJV
10/21/97
DIR5_EXT_INHIBIT
DIR7_EXT_INHIBIT_SRC
POWER_DOWN
SPARE_4
+24V_ISO
AC_FAIL_UPS
BATT_LOW_UPS
IOINTERUPT
IOPORT_A7
IOPORT_A3
IOPORT_A5
IOPORT_A6
IOPORT_A4
IOPORT_A2
BOARD ID = 0001
OPTIONAL USER SUPPLIED
I/O POWER WITH FULL
ISOATION TO 200V, MUST BE
24V. WARNING! DO NOT
EXCEED MAXIMUM RATINGS
SAFETY
SWITCH
ROBOT
COM
ROBOT
0.5A
MAX
POSSIBLE SAFETY SWITCHES
TYPICAL
INPUT
CIRCUIT
TYPICAL
OUTPUT
CIRCUIT
MISC. I/O
MINIMUM WIRING CONFIGURATION
TYPICAL WIRING CONFIGURATION
002-3756-01
EXT_IN0
EXT_IN1
EXT_IN2
EXT_IN3
EXT_IN4
EXT_IN5
EXT_IN6
EXT_IN8
EXT_IN7
EXT_IN9
EXT_IN10
EXT_IN11
EXT_IN12
EXT_IN13
EXT_IN14
EXT_IN15
EXT_IN16
EXT_IN17
EXT_IN18
EXT_IN19
EXT_IN21
EXT_IN20
DRV_OUT0
DRV_OUT1
DRV_OUT2
DRV_OUT3
DRV_OUT5
DRV_OUT4
DRV_OUT6
DRV_OUT7
DRV_OUT8
DRV_OUT9
DRV_OUT10
DRV_OUT12
DRV_OUT11
DRV_OUT13
DRV_OUT14
DRV_OUT15
DRV_OUT16
DRV_OUT17
DRV_OUT18
DRV_OUT19
RX232_422RXP
RXA_232
TXA_232
+24VRTN_USER
+24V_USER
TX232_422RXN
422TXN
MAG 7.1 HIGH SIDE I/O BOARD
RXB_232
TXB_232
+24V_ISO
AC_FAIL_UPS
BATT_LOW_UPS
IOINTERUPT
IOPORT_A7
IOPORT_A3
IOPORT_A5
IOPORT_A6
IOPORT_A4
IOPORT_A2
BOARD ID = 0002
ROBOT
COM
ROBOT
0.5A
MAX
TYPICAL
INPUT
CIRCUIT
TYPICAL
OUTPUT
CIRCUIT
ROBOT
COM
ROBOT
COM
ASSY# 002-4674-06
SIO2
SIO1
IOPORT_A4
MAG 7.1 RELAY I/O BOARD
TX232_422RXN
ROBOT
0.5A
MAX
BOARD ID = 0003
BATT_LOW_UPS
TYPICAL
OUTPUT
CIRCUITS
IOPORT_A3
TXA_232
TXB_232
RX232_422RXP
IOPORT_A6
IOINTERUPT
002-4212-01
422TXN
TYPICAL
INPUT
CIRCUIT
ROBOT
COM
IOPORT_A7
IOPORT_A2
AC_FAIL_UPS
RXB_232
+24V_ISO
RXA_232
IOPORT_A5
ROBOT
COM
DISCRETE.
I/O
OUTPUTS
ROBOT
COM
TO
PERSONALITY
BOARD
TO
PERSONALITY
BOARD
TO
PERSONALITY
BOARD
CDM
SAFETY
SWITCH
CDM
MISC. I/O
OPTIONAL USER SUPPLIED
I/O POWER WITH FULL
ISOATION TO 200V, MUST BE
24V. WARNING! DO NOT
EXCEED MAXIMUM RATINGS
POSSIBLE SAFETY SWITCHES
MISC. I/O
MINIMUM WIRING CONFIGURATION
TYPICAL WIRING CONFIGURATION
MAG 7.1 HIGH SIDE I/O BOARD
MAG 7.1 LOW SIDE I/O BOARD
MAG 7.1 RELAY I/O BOARD
TYPICAL EXTERNAL CONNECTIONS
TYPICAL EXTERNAL CONNECTIONS
ROBOT
BYPASS
BYPASS
NOTICE : PROPRIETARY INFO RMATION
THIS DOCUMENT AND THE INFORMATION ENCLOSED HERE IN
IS CON FIDENTIAL AND PROPRIETARY TO BROOKS AUTOMATION,
INC. IT MAY NOT BE REPRODUCED IN WHOLE OR IN PART,
OR DISCLOSED TO ANY THIRD PARTY, OR USED WITHO UT
THE PRIOR WRITTEN CONSENT OF BROOKS AUTOMATION, INC.
REV
DESCRIPTION
DATE
BY
APP
SEE SHEET 1 FOR REVISION HISTORY
DWG TITLE
SIZE
DRAWN BY
15 ELIZABETH
DRIVE
DATE
CHECKED BY
DATE
APROVED BY
UNLESS OTHERWISE SPECIFIED:
RESISTORS ARE 1/4W VALUES I N OHMS
RESISTOR TOLE RANCES 5%
CAPACITOR VALUES IN uFARADS
CAPACITOR TOLER ANCES 10%
SHEET
OF
REV
BROOKS AUTOMATION,
INC
DATE
CHELMSFORD, MA
01824-4185
DWG NO.
+24V
TXB_232
IOPORT_D5
IOPORT_D1
IOPORT_D6
TXD_RAW
TX232_422RXN
MCC_RD-
IOPORT_D0
IOPORT_A0
422TXN
IOSEL0
IOSEL1
422TXP
MCC_WR-
IOPORT_A1
RX232_422RXP
IOPORT_D2
TXC_232
IOPORT_D7
RXD_RAW
IOPORT_D3
IOPORT_D4
RXB_232
RXC_232
IOSEL2
TXA_DRIVEN
RXA_DRIVEN
STOP1
INPUT TO CPU
BYPASS INTERLOCK
+24V
STOP1
INPUT TO CPU
24V=ENABLE
IOPORT_D1
RXB_232
IOSEL1
422TXP
IOPORT_A0
IOSEL2
RXD_RAW
TXD_RAW
IOPORT_A1
MCC_RD-
IOPORT_D3
IOPORT_D7
TXB_232
TXA_DRIVEN
IOPORT_D5
24V=ENABLE
TX232_422RXN
422TXN
IOPORT_D6
RXC_232
RX232_422RXP
RXA_DRIVEN
IOPORT_D2
IOPORT_D0
MCC_WR-
TXC_232
24V=ENABLE
IOPORT_D4
24V=ENABLE
IOSEL0
INPUT TO CPU
IOSEL0
IOPORT_D4
RXA_DRIVEN
RX232_422RXP
MCC_WR-
IOPORT_D5
IOPORT_D2
IOPORT_D1
IOPORT_D0
422TXN
IOPORT_D7
MCC_RD-
TXC_232
TX232_422RXN
TXA_DRIVEN
422TXP
TXB_232
TXD_RAW
RXD_RAW
IOSEL2
IOPORT_A0
24V=ENABLE
IOPORT_D6
RXC_232
IOPORT_D3
RXB_232
IOPORT_A1
IOSEL1
OUTPUT FROM CPU
OUTPUT FROM CPU
OUTPUT FROM CPU
OUTPUT FROM CPU
STOP1
BYPASS INTERLOCK
+VCC
SIO
VCC
+24VDC
SIO
+24V
VCC
+VCC
SIO
+24VDC
SIO
+24V
VCC
VCC
SIO
+24V
+24VDC
+VCC
SIO
VCC
+24V
J1
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
10K
K-n
J1
1
2
3
4
5
6
7
8
ULN2803A
K1
120
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
J3
5
9
4
8
3
7
2
6
1
J2
5
9
4
8
3
7
2
6
1
JUMPER
1 2
J6
1
2
3
4
5
P1
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
A14
B14
A15
B15
A16
B16
C1
C3
C5
C7
C9
C11
C13
C15
C2
C4
C6
C8
C10
C12
C14
C16
J1
1
2
3
4
5
6
7
8
UDN2987A
120
P2
DB50 MALE
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
J7
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
A14
B14
A15
B15
A16
B16
C1
C3
C5
C7
C9
C11
C13
C15
C2
C4
C6
C8
C10
C12
C14
C16
J1
1
2
3
4
5
6
7
8
U1A
TBD
10K
U1A
TBD
J1
1
2
3
4
5
6
7
8
J1
DB25_F
13
25
12
24
11
23
10
22
9
21
8
20
7
19
6
18
5
17
4
16
3
15
2
14
1
J6
1
2
3
4
5
J7
DB15_F
8
15
7
14
6
13
5
12
4
11
3
10
2
9
1
10K
U1A
TBD
P2
DB50 MALE
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
U1A
TBD
J1
1
2
3
4
5
6
7
8
J2
5
9
4
8
3
7
2
6
1
J3
5
9
4
8
3
7
2
6
1
J3
5
9
4
8
3
7
2
6
1
U1A
P3
1
2
3
4
5
J2
5
9
4
8
3
7
2
6
1
P1
A1
B1
A2
B2
A3
B3
A4
B4
A5
B5
A6
B6
A7
B7
A8
B8
A9
B9
A10
B10
A11
B11
A12
B12
A13
B13
A14
B14
A15
B15
A16
B16
C1
C3
C5
C7
C9
C11
C13
C15
C2
C4
C6
C8
C10
C12
C14
C16
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
JUMPER
1 2