Installation and Commissioning

Connecting SignalsInstallation and Commissioning3.7 Connection to screw terminalSockets with screwed connections for customer I/O, external safety circuits, customersockets on the robot, external supply to electronics.Signal identification Location TerminalsSafeguarded stop Panel unit X1 - X4Digital I/O I/O unit X1 - X4Combi I/O I/O unit X1 - X4, X6Relay I/O I/O unit X1 - X4RIO I/O I/O unit X1, X2SIO 1, SIO 2 Backplane X1, X2CAN1 (internal unit) Panel unit X9CAN 2 (manipulator, I/O units) Backplane X16CAN 3 (external I/O units) Backplane X1024 V supply (2 A fuse) XT31115/230 V AC supply XT21Location of socket terminals are shown below. See also circuit diagram, “View of controlcabinet”, for more details.X1 (SIO1)X2 (SIO2)BackplaneI/O units (x4)X10 (CAN3)X16 (CAN2)alt. D-subWARNINGREMOVE JUMPERS BEFORE CONNECTINGANY EXTERNAL EQUIPMENTPanel unitEN MS NS ES1 ES2 GS1 GS2 AS1 AS2X1 - 4X5 X8 X6 CONTROL PANELXT5, customer signalsXT6, customer powerXT8, position switchXT21 (115/230 V ACsupply)XT31 (24V supply)X9 (CAN1))Figure 29 Screw terminal locations.38 Product Manual IRB 1400