YASKAWA Motoman NX100 Manual

Also see for motoman NX100: Instruction manual Instruction manual Instructions Instructions Installation manual

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YASKAWA Motoman NX100 Manual Manual pdf 82 page image

7.3 CPU Unit7-12" Major Axes Control Circuit Board (SGDR-AXA01A)The major axes control circuit board (SGDR-AXB01A) controls the servomotors of themanipulatorís six axes. It also controls the converter, the PWM amplifiers, and the powersupply contactor sequence circuit board of the power supply contactor unit. Mounting anexternal axes control circuit board of an option (SGDR-AXF01A) control the servomotor ofnine axes, including the robot axes." Robot I/F Unit (JZNC-NIF01)The robot I/F unit (JZNC-NIF01) consists of the robot I/F circuit board (JANCD-NIF01) and I/Ocircuit board (JANCD-NIO01).ï Robot I/F Circuit Board (JANCD-NIF01)The robot I/F circuit board controls the entire robotic system. It is connected to the controlcircuit board (JANCD-NCP01) with a PCI bus interface on the backboard, and to the majoraxes control circuit board (SGDR-AXA01A) with a NIO01 board interface for high-speed serialtransmissions.And, dual circuits are built in for use with the signals for safety-related functions.ï I/O Circuit Board (JANCD-NIO01)Four digital I/O connectors for the robot user I/O are provided: 40 inputs and 40 outputs. The I/Os are divided into two types: user I/O and system I/O. The I/O assignment differs dependingon the application. System I/O is a signal in which the part is decided in advance. System I/Ois used when the external operation equipment such as positioner controller and centralizedcontroller control the manipulator and related equipment as a system. User I/O are mainlyused as timing signals for the manipulator and peripheral devices in jobs that require robotmotion.Refer to "7.6 User I/O Signal Assignment" for more details on signal allocation.For the connection of the robotís user I/O signal connectors, and the I/O signal related to startand stop, refer to "Connection wire with User I/O (CN07, 08, 09, 10)" and "System I/O SignalRelated to Start and Stop."