IAI America ERC - Manual (Page 45)

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[2] When the control board is of the PNP specification [source type]
* In the case of a robot cable, the wire colors change as follows.
Wire color Pin number
Gray (Red 1) 2A
Gray (Black 1) 2B
Gray (Red 2) 7A
Gray (Black 2) 7B
(Note) To release the brake, connect a switch between BKR and 24 V and turn on the switch.
MC
60 mA max
2A EMS1
2B EMS2
4A MPI
4B GND
5A MPI
5B GND
3A 24V
3B BKR
24V
0V
FG
Orange (Red 2)
Orange (Black 2)
*Light blue (Red 2)
*Light blue (Black 2)
White (Red 2)
White (Black 2)
Yellow (Red 2)
Yellow (Black 2)
Pink (Red 2)
Pink (Black 2)
6A
6B
7A
7B
8A
8B
9A
9B
10A
10B
Orange (Red 1)
Orange (Black 1)
1A SGA Serial communication
1B SGB
Drain wire
CN2
FG
EMG signal
Input power supply
(2 A or more)
Brake release
switch
ERC actuator
Contact output for EMG
switch on teaching pendant
Motor drive power supply
Control power supply
OFF when the brake is
controlled by the controller, or
ON when the brake is released
(Applicable to an actuator with
brake)
Host system
Outpu
t
side
Inpu
t
side
(Not used)
CN1
*Light blue (Red 1)
*Light blue (Black 1)
Yellow (Red 1)
Yellow (Black 1)
Pink (Red 1)
Pink (Black 1)
White (Red 1)
White (Black 1)
I/O interface
(Refer to the I/O connections for each
PIO pattern)
(Note)