Installation and Commissioning

Installation and CommissioningCONTENTSPage3 Connecting Signals.......................................................................................................... 313.1 Signal classes.......................................................................................................... 313.2 Selecting cables ...................................................................................................... 313.3 Interference elimination.......................................................................................... 323.4 Connection types .................................................................................................... 323.5 Connections ............................................................................................................ 333.5.1 To screw terminal......................................................................................... 333.5.2 To connectors (option) ................................................................................. 333.6 Customer connections on manipulator ................................................................... 353.7 Connection to screw terminal................................................................................. 383.8 The MOTORS ON / MOTORS OFF circuit .......................................................... 393.9 Connection of safety chains.................................................................................... 403.9.1 Connection of ES1/ES2 on panel unit.......................................................... 413.9.2 Connection to Motor On/Off contactors ...................................................... 423.9.3 Connection to operating mode selector........................................................ 423.9.4 Connection to brake contactor ..................................................................... 423.10 External customer connections............................................................................. 433.11 External safety relay ............................................................................................. 463.12 Safeguarded space stop signals............................................................................. 473.12.1 Delayed safeguarded space stop ................................................................ 473.13 Available voltage .................................................................................................. 473.13.1 24 V I/O supply.......................................................................................... 473.13.2 115/230 V AC supply................................................................................. 483.14 External 24 V supply ............................................................................................ 483.15 Connection of extra equipment to the manipulator .............................................. 493.15.1 Connections on upper arm ......................................................................... 493.15.2 Connection of signal lamp on upper arm (option) ..................................... 503.16 Distributed I/O units ............................................................................................. 503.16.1 General....................................................................................................... 503.16.2 Sensors ....................................................................................................... 513.16.3 Connection and address keying of the CAN-bus....................................... 513.16.4 Digital I/O DSQC 328 (optional)............................................................... 533.16.5 AD Combi I/O DSQC 327 (optional) ........................................................ 563.16.6 Analog I/O DSQC 355 (optional) .............................................................. 593.16.7 Encoder interface unit, DSQC 354 ............................................................ 633.16.8 Relay I/O DSQC 332 ................................................................................. 66Product Manual IRB 1400 2