Schmtic_NXT_03_.pdf - 第79页
1 7 2 3 m 又麵 I N T E R F A C E B O A R D 1 7 0 I S E R V O B O A R D V I S I O N B O A R D M A R K C A M E R A IEEE 1394 ( J 16 ) _ I / O INTERFACE OPTOA IEEE 1394 G A V P I V P 1 1 7 2 4 1 7 0 2 O P T O B G M V G 1 V G …
心夕
〕
工
-
又基板
INTERFACE
BOARD
心夕
7
工
_
又基板
INTERFACE
BOARD
1
623
I
60
I
□
一
KtjLCPy
卜
□
一
5
LOAD
CELL
CONTROLLER
:
N
5
~
"
RX
EXTENSION
BOARD
EXTENSION
BOARD
EXTENSION
BOARD
□
-
KizJb
LOAD
CELL
UART
chl
-
4
RX
I
DI
/
DO
1
DI
/
DO
2
4
P
GA
10
GA
DI
1
COM
1
DI
2
CONU
1
624
I
602
TX
I
TX
DM
00
X
000
DI
2
00
X
010
CTS
1
SG
DM
01
X
001
DI
2
01
X
01
1
-
5
RTS
X
012
RTS
I
DM
02
X
002
DI
2
02
1
625
I
603
DI
2
03
4
GND
CTS
DM
03
X
003
X
013
-
5
X
014
DM
04
X
004
D
1204
GND
加圧制御
（
才方
3
>
)
0
「
精跏圧制御
（
予約
)
PRESSUR
CONTROL
(
OPTION
)
or
PRECISION
PRESSUR
CONTROL
(
RESERVE
)
RX
—
2
DM
05
X
005
DI
2
05
X
015
1
626
1
604
TX
一
2
DM
06
X
006
DI
2
06
X
016
CTS
2
DM
07
DI
2
07
X
017
X
007
RTS
2
DM
08
X
008
DI
2
08
X
018
1
627
16
0
5
0
X
009
10
X
019
RX
3
DM
09
DI
2
09
DM
10
i
-
11
X
00
A
-
11
X
01
A
TX
3
DI
2
10
：
12
X
00
B
:
«
2
X
01
B
CTS
」
DM
11
DI
2
II
1
628
1 6
0
6
X
00
C
13
RTS
」
DM
12
DI
2
12
X
01
C
末餓
NOT
USED
X
00
D
-
14
X
01
D
DM
13
'
GND
DI
2
13
:
'
5
X
00
E
;
'
5
X
01
E
GND
DM
14
DI
2
14
1
629
I
607
DM
15
:
'
6
X
00
F
-
16
X
01
F
RX
4
DI
2
15
GA
-
17
GA
TX
4
DI
1
COM
0
DI
2
CO
10
18
NC
w
NC
18
NC
NC
1
CTS
4
NC
^
<
,
9
1
630
I
608
RTS
4
NC
NC
NC
1
卜
□
一儿基板
CONVEYOR
CONTROL
BOARD
NC
NC
NC
NC
UART
ch
5
DCD
5
1
丫
000
1
丫
010
DOI
00
D
02
00
$
-
-
23
丫
002
(
NC
)
163
1
I
609
2
丫
001
-
22
丫
011
DOI
01
D
02
01
RXD
5
RXD
-
23
丫
012
DO
彳
02
D
02
02
TXD
5
TXD
一
24
Y
013
DOI
03
丫
003
D
02
03
(
NC
)
DSRB
1632
16
10
:
5
丫
004
DOI
04
D
02
04
丫
014
■
GND
SG
RS
232
C
心 夕 工
-
又
(
NC
)
RS
232
C
INTERFACE
I
、
；
30
Y
009
6
丫
005
6
丫
015
DOI
05
D
02
05
DTR
5
7
Y
01
G
DOI
06
丫
006
D
02
06
RTS
5
RTS
1
633
16
11
8
丫
007
:
8
丫
017
DOI
07
D
02
07
CTS
5
CTS
:
9
丫
018
DOI
08
丫
008
D
02
08
(
NC
)
RI
0
Y
019
DOI
09
D
02
09
■
1
634
1 6 1 2
SHE
1
Y
00
A
1
Y
01
A
DOI
10
D
02
10
HELL
Y
00
C
UART
ch
6
DCD
6
2
Y
00
B
32
Y
01
B
DOI
11
D
02
II
£
八
V
外
2
二外
PALETT
UNIT
：
3
Y
01
C
RXD
6
DPI
12
DQ
2
12
1
B
35
1 6 1 3
Y
00
D
弘
Y
01
D
TXD
6
DOI
13
D
02
13
M
6
5
Y
00
E
35
Y
01
E
DSR
6
DOI
14
D
02
14
GND
i
DPI
15
3
i
6
Y
00
F
：
6
Y
01
F
DQ
2
15
•
-
38
+
24
VB
1
1
636
I
6
U
7
NC
37
NC
38
+
24
VBI
DTR
6
NC NC
RTS
6
DPI
COM
,
1
D
02
C
0
NU
fP
$
I
-
A
^
39
+
24
VA
1
9
+
24
VB
1
CTS
6
DO
1
COM
0
DO
2
CO
10
1
637
1 6 1 5
40
RI
DCD
7
U t
-
h
1
/
0 2
REMOTE
I
/
O
2
1
638
1 6 1 6
RXD
7
/
(
u
外
]
二外
PALET
UNIT
TXD
7
才力
3
力石
-
卜
1
/
0
OPTION
REMOTE
I
/
O
^
CNI
-
I
CT
+
DSR
7
1
G
39
1 6 1 7
A
予約
G N D
t
CUnet
j
「
CU
NET
CU
-
A
CT
+
RESERVE
A
A
DTR
7
SHIELD
CU
-
B
CT
-
RTS
7
TB
3
1
640
1 6 1 8
F G
SHIELD
CNI
-
2
CT
+
CTS
7
TVtn
?
L
_
_
B
2
_
RI
CT
-
工 酬
]
夕
INDUSTRIAL
COMPUTER
2
SHIELD
1
641
1 6 1 9
r
-
Jt
：
UART
ch
8
DCD
8
Li
JS
232
C
PCD
CUnet
1
开
-
卜
1
/
01
REMOTE
I
/
O
1
RXD
8
RXD
>
o
\
1
642
I
620
TXD
8
TXD
-
3
DSR
8
DTR
H
CT
+
^
4
K
GND
SG
1
G
43
才 卜 場 合
JCPUBOX
'
接 続
1
62
1
DTR
8
DSR
SHIELD
When
there
is
opt
ion
remote
I
/
O
,
it
connects
w i t h
CPU
BOX
.
RTS
8
RTS
H
AD
UNIT
>
o
\
1000
CTS
8
CTS
CN
-
H
3
a
1
-
2
CT
+
1
644
1
622
A
-
8
RI RI
CT
-
-
9
SHELL
SHIELD
CASE
1 6 4 5
儿 回
_
MODULE
CIRCUIT
DIAGRAM
NAME
PAGE
%
TITLE
TYPE
CPU
BOX
CPU
BOX
NXT
DRAWING
No
.
K
RE
01783
1723
m
又麵
INTERFACE
BOARD
170
I
SERVO
BOARD
VISION
BOARD
MARK
CAMERA
IEEE
1394
(
J
16
)
_
I
/
O
INTERFACE
OPTOA
IEEE
1394
GA
VPI
VP
1
1724
1702
OPTOB
GM
VG
1
VG
1
OPTOC
GA
TPB
1
-
TPB
1
-
OPTOD
GA
TPB
1
+
TPB
1
+
1725
1703
OPTOE
GA
TPA
1
-
TPA
1
-
OPTOF
+
24
VA
1
TPA
14
-
TPA
1
+
6
ESTOP
GA
FG
1726
1
704
GND
l
GND
FG
<
7
TRIGER
〆
TRIGER
+
TRIGER
-
zS
OPTOA
OPTOA
_
RTN
1
PARTS
2
i
IEEE
1394
(
J
17
)
!
OPTOB
_
RTN
OPTOB
1727
1705
:
:
OPTOC
_
RTN
OPTOC
.
RTN
VPI
E
11
OPTOD
_
RTN
OPTOD
RTN
VG
1
-
12
2
OPTOE
_
RTN
OPTOE
RTN
TPB
1
-
予約
1728
1706
-
13
OPTOF
_
RTN
K
106
TPB
1
+
RESERVE
-
u
TPA
1
-
ESTOP
TPA
1
+
1729
1707
-
15
FG
FG
PARTS
CAME RA
(
I
)
PARTS
1
IEEE
1394
(
J
18
)
1730
1708
IEEE
1394
VPI
VPI
VG
1
DMDtMr
刀
DMD
SERVO
AMP
VGI
TPB
1
-
1731
1709
TPB
1
-
Synq
net
J
1
TD
+
TPB
1
+
•
CN
3
A
CONN
RDl
+
TPB
1
+
TPA
1
-
TPA
1
-
1
NCH
RD
1
COMM
TPA
1
+
1732
17
10
GND
EARTHGND
OUT
TPA
1
+
?
>
7
>
NC
2
+
TD
1
COMM
FG
TRIGER
CONN
—
TDH
RD
+
FG
TRIGER
+
■
1733
zK
17
11
CONN
一
RD
1
-
TD
-
TRIGER
-
NC
1
-
RD
1
COMM
NC
2
-
TD
1
COMM
[
_
CASE
1734
1712
CQNN
TD
1
-
RD
-
TRIGGER
INPUT
J
13
TRIG
INI
O
夕
-
〕
工
-
；
(
麵
INTERFACE
BOARD
「
CN
20
Y
AXIS
SERVO
AMP
GND
1735
TRIG
1
N
2
l
Y
01
A
Y
01
B
Synq
net
J
2
RD
+
、
「
CN
6
B
CONN
—
TD
0
+
GND
TRIG
IN
3
t
NC
1
+
TD
0
COMM
Y
01
C
r
卜
1736
GND
2
EARTHGND
.
IN
GND
Y
01
D
NC
2
+
RD
0
COMM
TRIG
IN
4
GA
1
TD
+
{
CONN
RD
0
+
+
24
VB
1
1737
CONN
—
TD
0
-
NCI
-
TD
0
COMM
NC
2
-
RD
0
一
COMM
1738
TD
-
CONN
—
RD
0
-
TRIGGER
INPUT
J
14
GND
1739
TRIG
0
UT
2
GND
TRIG
OUT
3
1
1740
GND
TRIG
0
UT
4
GND
17 41
GND
GND
1742
I
720
1743
I
72
1
1744
I
722
1745
儿回
_
MODULE
CIRCUIT
DIAGRAM
NAME
PAGE
%
TITLE
TYPE
CPU
BOX
NXT
CPU
BOX
DRAWING
No
.
RE
01783
SLKVG
BOX
X
軸 石
-
夕
X
AXIS
MOTOR
xm
-
t
：
yyy
X
AXIS
SERVO
AMP
(
11
SA
1
)
N
1
/
1 1
1823
180
I
f
J
2
R
3
'
MOTOR
1 1
U
1
LI
V
W
<
>
動力福
POWER
SOURCE
MCBCNI
5
(
HMD
S
3
1
1
V
1
L
2
1824
1802
-
3
T
3
1 1
W
1
M
-
B
1
-
2
㊉
<
>
-
B
2
1
825
制御看源
CONTROL
POWER
1803
M
1
/
11
Ji
R
1
-
5
L
1
C
100
W
-
6
SI
L
2
C
PS
CN
2
-
2
ENCODER
MCBCN
17
A
a
八
1826
1804
-
5
/
PS
O
®
-
D
：
-
6
BAT
(
+
)
PG
BAT
(
-
)
-
3
丄
-
3
61
/
+
1827
1805
PG
5
V
B
2
PG
0
V
5
-
2
1828
1806
CN
6
A
C
0
NN
—
RD
1
+
CASE CASE
BACKUP
BAT
.
RD
1
C
0
MM
EARTHGND
OUT
2
1829
18 07
-
3
TD
1
—
C
0
MM
Dm
^
-
ir
：
7
yy
DMD
SERVO
AMP
C
0
NN
TD
1
+
ENCA
一
AUX
0
+
CN
4
C
0
NN
RD
1
-
i
1830
18 08
RD
1
C
0
MM
ENCB
AUX
0
+
CN
3
B
TDUCOMM
ENCI
AUX
0
+
XCVRA
+
-
3
C
0
NN
—
TD
1
183
1
18 09
XCVRB
+
XCVRC
+
CN
6
B
CONN
_
TD
0
+
18 32
18
10
TD
0
COMM
ENCA
AUX
0
-
EARTHGND
IN
ENCB
AUX
0
-
\
ms
\
-
3
ENCI
_
AUX
0
-
'
i
RD
0
—
COMM
18 33
丫軸
UZPt
-
夕
Y
AXIS
LINEAR
MOTOR
18
11
-
4
XCVRA
-
-
10
CONN
RD
0
+
-
5
XCVRB
-
-
l
上
CONN
—
TD
0
-
-
6
XCVRC
-
TD
0
COMM
12
M
1
12
U
1
18 34
18 12
U
?
-
7
FG
-
13
RD
0
COMM
12
V
1
V
$
-
14
-
8
CONN
—
RD
0
-
v
CASE
12
W
1
W
-
9
18 35
㊉
^
18 13
丫 軸 石
-
夕
Y
AXIS
MOTOR
1
KW
ym
-
jKyyy
Y
AXIS
SERVO
AMP
(
12
SA
1
)
N
1
/
12
丫 軸
u
二 儿
Y
AXIS
LINEAR
SCALE
f
'
MOTOR
12
U
1
18 36
I
8
U
LI
v
w
<
>
㊉
c
>
(
I
2
LIS
1
)
PS
CN
2
；
Y
SCALE
12
V
1
S
L
2
-
3
12
W
1
/
PS
S
/
-
2
vcc
18 37
18 15
GN D
-
5
-
9
PG
5
V
VCC
L
1
C
-
6
PG
0
V
GND
18 38
18 16
L
2
C
PS
CN
2
ENCODER
+
TEST
A
A
-
5
-
5
CA
/
PS
-
TEST
々
㊉
-
6
-
6
BATC
+
)
SHIELD
18 39
18 17
3
C
PG
-
3
BAT
(
-
)
CASE
-
臟卸麵
LI NE AR
SCALE
CONTROL
BOARD
B
2
PG
0
V
1
840
1818
丫赃
-
夕
S
)
l
碼
S
Y
AXIS
TEMPERATURE
CHECK
(
Rl
)
NEXT
PAGE
-
2
Hwi
~
l
CN
6
A
CONN
一
RD
1
+
CASE CASE
BACKUP
BAT
.
$
廿
-
$
又夕
黥検出
：
90
°
C
黥賴
：
8
S
#
C
)
(
TEMPERATURE
CHECK
ALARM
:
96
TC
ALARM
0
FF
:
87
C
】
丫 軸 夕 離 碼
S
,
2
T
1
Y
AXIS
TEMPERATURE
CHECK
K
型熱電対
(
75
-
AI
^
U
0
°
C
)
THERMOCOUPLE
TYPE
K
(
ALARM
SET
140
*
0
THERMISTOR
RD
1
C
0
MM
1841
1819
-
2
EARTHGND
OUT
SGDS
-
10
A
71
A
2
回生抵抗
REGENERATING
RESISTANCE
50
Q
120
W
-
3
TD
1
C
0
MM
Y
AXIS
SERVO
AMP
-
4
C
0
NN
TD
1
+
1
842
I
820
-
5
ENCA
_
AUX
0
+
CN
4
SGDZ
-
BS
HK
|
CONN
.
RDI
-
>
12
B
1
Bl
/
吟
-
6
RD
1
C
0
MM
ENCB
AUX
0
+
Y
AXIS
SERVO
AMP
Rl
㈣
2
B
2
ENCI
_
AUX
0
+
-
2
TDUCOMM
1843
1
82
1
50
Q
120
W
FAN
I
-
8
XCVRA
+
-
3
C
0
NN
TD
1
回生抵抗
REGENERATING
RESISTANCE
50
Q
120
W
{
FAN
)
-
廿
-
纖
SERVO
BOARD
CN
4
+
24
VAA
丫 軸 夕 冷 却
〕
Y
AXIS
FAN
1
R
2
-
9
-
4
XCVRB
+
GA
50
Q
120
W
XCVRC
+
-
5
EV
1844
1
822
Synq
net
J
2
•
CN
1
I
+
24
VAA
^
REGI
CN
6
B
CONN
_
TD
0
+
GND
-
6
RD
+
R
3
Rl
-
Bi
-
3
REG
3
GA
FAN
2
NC
1
+
TD
0
COMM
ENCA
AUX
0
-
(
FAN
)
-
50
Q
120
W
-
B
3
丫軸芒
-
夕冷印
〕
7
>
2
Y
AXIS
FAN
2
-
8
GND
I
-
2
EARTHGNDJN
ENCB
AUX
0
-
1845
R
4
-
3
-
9
NC
2
+
RD
0
—
COMM
ENCI
AUX
0
-
EV
•
6
TD
+
1
XCVRA
-
CONN
RD
0
+
-
5
CONN
—
TD
0
-
XCVRB
-
-
6
NC I
-
TD
0
—
COMM
=
Ey
：
i
_
儿回
_
MODULE
CIRCUIT
DIAGRAM
NAME
PAGE
NC
2
-
RD
0
—
COMM
%
：
8
CONN
_
RD
0
-
-
14
TD
-
TITLE
TYPE
廿
-
#
BOX
SERVO
BOX
-
9
NXT
DRAWING
No
.
%
RE
01794