OM-1461-001_w.pdf - 第64页
61 0712-001-(M867WMM-101 1) Multi-Functional Head M Circuit Diagram (1) 3 M SSG 3 M SSG U SSG U SSG 3 M U 3 M SSG SSG 3 M 3 M -X141P1 -A141 -X1412D -X1412C -X1412A -X1412B -X141 1A -M142 -M141 P5G P5 P48G P48G P48G P48M …
60
0712-001-(M845WC-A1006)
X-Axis (4) Motor Circuit Diagram
3
M
-X12102
-X2102
W
V
L2
L3
CN2
PE
PE
UL1
3φAC200V
AC200V
CN10
-X2410
-X2411
CN11
CN3
-X2103
10B 24B1R
:2
-X12103
:3
:1
:4
:6
:5
-U24
D
C
P
L21
L11
:2
:1
:3
-M21E
:3
:2
-X2100
:1
:1
-M21
-L136
-L236
-L336
-L121
-L221
-U21
-U21
[B-/01/12G]
[B-/01/12G]
[C-/02/7H]
[C-/02/7H]
-X211A
CN1A
-X211B
CN1B
10
10
LG
LG
SD
EMG*
EMG
12
11
14
4
TD*
RD
RD*
TD
2
7
1
17
LG
LG
SD
EMG*
EMG
12
11
14
4
TD*
RD
RD*
TD
2
7
1
17
15
5
LG
LG
15
5
LG
LG
OUT
-
+
-B2101
L
OUT
-
+
-B2102
L
X-Axis
-M21
-A21
Servo Motor AMP
X
[R-/12/6A]
:SD
:15
:8
:10
:12
:4
:2
:5
:13
1
17
7
11
20
6
16
4
14
19
P5
LG
MRR
MR
LG
P5
MD
MDR
MD2
MDR2
SD
BC
6
4
5
3
3
19
20
5
SG
LSP
LSN
COM
SD
6
4
3
5
1
2
6
15
8
10
12
4
2
5
13
/RQ
RQ
FG
0V
/SD
SD
5V
1
7
6
3
5
2
LAR
LA
LZR
LZ
LB
LBR
16
17
7
8
18
6
SIELD
X49401
U94
1 2 3 4 5 6 7 8
A
B
C
D
E
F
S
Y Beam (3) From-X231B
Plate
Robot Cable
X-Axis Limit (+)
X-Axis Limit (-)
Robot Cable
X Beam (4)
To Y Beam (4)-X221A
Main Circuit
Power Source
Control Circuit
Power Source
Converter
5V/Sensor
0V/Sensor
Linear Encoder
Recognition CPU
To Counter Board
" " mark shows that the wiring should be changed between
the servo-motor amplifier -A21-CN3 and the recognition board U94-X19401
in the case that the multi-functional heads are mounted on the Block 4.
S
Note
61
0712-001-(M867WMM-1011)
Multi-Functional Head M Circuit Diagram (1)
3
M
SSG
3
M
SSG
U
SSG
U
SSG
3
M
U
3
M
SSG
SSG
3
M
3
M
-X141P1
-A141
-X1412D
-X1412C
-X1412A
-X1412B
-X1411A
-M142
-M141
P5G
P5
P48G
P48G
P48G
P48M
P48M
P48M
4
CNP2D
CNP2C
CNP2B
CNP2A CNP1
1
2
3
5
7
6
8
MRR
SHD
P5G
MR
P5
V
E
U
W
W
U
E
V
P5
MR
P5G
SHD
B2
MRR
B1
MRR
SHD
P5G
MR
P5
V
E
U
W
B1
B2
W
U
E
V
P5
MR
P5G
SHD
MRR
B2
B1
-M142
-M141
48D3A
10DA
8
6
7
5
48V
GND
3
2
1
CNP1
4
P48M
P48M
P48M
P48G
P48G
P48G
P5
P5G
-A145
-X145P1
-M142
B1
B2
MRR
SHD
P5G
MR
P5
V
E
U
W
B2
B1
W
U
E
V
P5
MR
P5G
SHD
MRR
B1
MRR
B2
SHD
P5G
MR
P5
V
E
U
W
CNP2B
CNP2C
CNP2D
-X1452B
-X1452C
-X1452D
-M141
W
U
E
V
P5
MR
P5G
SHD
MRR
CNP2A -X1452A
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
11
14
6
CN1A
5
1
3
10
9
2
8
7
-X1451A
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
11
14
6
CN1A
5
1
3
10
9
2
8
7
/EMG
SD
TD
/TD
/RD
EMG
RD
LG
SD
STRE
EMTRE
To -A145
CN1A
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
CN1A
To -A141
:4
:12
:6
:11
:5
:7
:1
:8
:2
:2
:8
:1
:7
:5
:11
:6
:12
:4
:2
:8
:1
:7
:5
:11
:6
:12
:4
HM-G300(1)
U
P5
P5G
GND
48V
10DA
48D3A
[BL/01/12E]
[MM/12/5B]
48V
GND
-X311A
7
8
2
9
10
3
1
5
6
14
11
<Robot Cable>
-X187C1
:9
:1
:4
:7
:12
:10
:2
:15
:SD
:2
:12
:7
:14
:4
:11
-X8301:1
:17
:FG
[F-/13/6A]
-X12507
P5
P5G
[MM/12/5C]
CNP1
To -A145
[MM/11/9A]
[MM/11/3B]
[MM/11/9C]
[MM/11/4G]
Servo Motor AMP Servo Motor AMP
<Robot Cable>
-X12501-X231P1
:1
:2
:5
:6
:15
:14
:18
:16
:19
:21
:20
:17
:22
Nozzle 2 L-Axis
Nozzle 3 Z-Axis
8
7
2
1
3
6
11
12
9
4
4
9
12
11
6
3
1
2
7
8
8
7
2
1
3
6
11
12
9
4
9
10
8
5
3
1
2
6
7
Blue
Blue
Yellow
White
Red
White
Green
Black
Red
Black
Red
Green
Red
Yellow
White
Blue
Blue
White
5
Brown
5
Brown
5
Nozzle 2 Z-Axis
Nozzle 3 L-Axis
DC48V
Main Circuit
Power Source
Nozzle 1 Z-Axis
5
5
5
4
9
12
11
6
3
1
2
7
8
8
7
2
1
3
6
11
12
9
4
4
9
12
11
6
3
1
2
7
8
Nozzle 1 L-Axis
7
6
2
1
3
5
8
10
9
Red
Black
Green
White
Orange
White
Yellow
Gray
Blue
Blue
Yellow
White
Red
White
Green
Black
Red Red
Black
Green
White
Orange
White
Yellow
Gray
Gray
Yellow
White
Orange
White
Green
Black
Red
(Upper Section) (Lower Section)
DC5V
Control Circuit
Power Source
Main Circuit
Power Source
DC48V
-U28(X2B1)
CPU2-L
FB-U83(ID:1)
SSCNET
DC5V
Control Circuit
Power Source
-U28(X2B2)
1
2 3 4 5 6 7 8 9 10 11 12
A
B
C
D
E
F
G
H
Gray
Yellow
White
Orange
White
Green
Black
Red
Gray
Yellow
White
Orange
White
Green
Black
Red
Brown
Gray
Yellow
White
Orange
White
Green
Black
Red
62
0712-001-(M867WMM-1021)
Multi-Functional Head M Circuit Diagram (2)
3
M
SSG
3
M
SSG
U
SSG
U
SSG
3
M
U
3
M
SSG
SSG
3
M
3
M
-X141P1
-A141
-X1412D
-X1412C
-X1412A
-X1412B
-M142
-M141
P5G
P5
P48G
P48G
P48G
P48M
P48M
P48M
4
CNP2D
CNP2C
CNP2B
CNP2A CNP1
1
2
3
5
7
6
8
MRR
SHD
P5G
MR
P5
V
E
U
W
W
U
E
V
P5
MR
P5G
SHD
B2
MRR
B1
MRR
SHD
P5G
MR
P5
V
E
U
W
B1
B2
W
U
E
V
P5
MR
P5G
SHD
MRR
B2
B1
-M142
-M141
48D3B
10DB
8
6
7
5
48V
GND
3
2
1
CNP1
4
P48M
P48M
P48M
P48G
P48G
P48G
P5
P5G
-A145
-X145P1
-M142
B1
B2
MRR
SHD
P5G
MR
P5
V
E
U
W
B2
B1
W
U
E
V
P5
MR
P5G
SHD
MRR
B1
MRR
B2
SHD
P5G
MR
P5
V
E
U
W
CNP2B
CNP2C
CNP2D
-X1452B
-X1452C
-X1452D
-M141
W
U
E
V
P5
MR
P5G
SHD
MRR
CNP2A -X1452A
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
11
14
6
CN1A
5
1
3
10
9
2
8
7
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
11
14
6
CN1A
5
1
3
10
9
2
8
7
/EMG
SD
TD
/TD
/RD
EMG
RD
LG
SD
STRE
EMTRE
To -A145
CN1A
EMTRE
STRE
SD
LG
RD
EMG
/RD
/TD
TD
SD
/EMG
CN1A
To -A141
:4
:12
:6
:11
:5
:7
:1
:8
:2
:2
:8
:1
:7
:5
:11
:6
:12
:4
:2
:8
:1
:7
:5
:11
:6
:12
:4
HM-G300(2)
U
P5
P5G
GND
48V
10DB
48D3B
[BL/01/12E]
[MM/22/5B]
48V
GND
-X311A
7
8
2
9
10
3
1
5
6
14
11
<Robot Cable>
-X187C1
:9
:1
:4
:7
:12
:10
:2
:15
:SD
-X12507
P5
P5G
[MM/22/5C]
CNP1
To -A145
[MM/21/9A]
[MM/21/3B]
[MM/21/9C]
[MM/21/4G]
Servo Motor AMP Servo Motor AMP
:3
:13
:8
:16
:6
:11
-X8301:1
:18
:FG
[F-/13/6B]
<Robot Cable>
-X12501-X231P1
:1
:2
:5
:6
:15
:14
:18
:16
:19
:21
:20
:17
:22
-X1411A
-X1451A
8
7
2
1
3
6
11
12
9
4
4
9
12
11
6
3
1
2
7
8
8
7
2
1
3
6
11
12
9
4
9
10
8
5
3
1
2
6
7
5
5
5
DC48V
5
5
5
4
9
12
11
6
3
1
2
7
8
8
7
2
1
3
6
11
12
9
4
4
9
12
11
6
3
1
2
7
8
7
6
2
1
3
5
8
10
9
DC5V
Control Circuit
Power Source
DC48V
-U28(X2B1)
CPU2-L
FB-U83(ID:1)
SSCNET
DC5V
-U28(X2B2)
1
2 3 4 5 6 7 8 9 10 11 12
A
B
C
D
E
F
G
H
Nozzle 2 L-Axis
Nozzle 3 Z-Axis
Blue
Blue
Yellow
White
Red
White
Green
Black
Red
Black
Red
Green
Red
Yellow
White
Blue
Blue
White
Brown
Brown
Nozzle 2 Z-Axis
Nozzle 3 L-Axis
Main Circuit
Power Source
Nozzle 1 Z-Axis
Nozzle 1 L-Axis
Red
Black
Green
White
Orange
White
Yellow
Gray
Blue
Blue
Yellow
White
Red
White
Green
Black
Red Red
Black
Green
White
Orange
White
Yellow
Gray
Gray
Yellow
White
Orange
White
Green
Black
Red
(Upper Section) (Lower Section)
Main Circuit
Power Source
Control Circuit
Power Source
Gray
Yellow
White
Orange
White
Green
Black
Red
Gray
Yellow
White
Orange
White
Green
Black
Red
Brown
Gray
Yellow
White
Orange
White
Green
Black
Red