IAI America RCS-E - Manual (Page 30)

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2.2.3 Pin Assignments of the Communication Ports
 Pin assignments of the SIO connector
Pin No. Signal name Function
1 (+5V) (5-VDC power output) or (preliminary signal terminal)
2 SGA Positive logic side of the line transceiver I/O
3 GND Communication ground
4 SGB Negative logic side of the line transceiver I/O
5 GND Communication ground
6 (+5V) 5-VDC power output
 Pin assignments of the main communication port
Pin No. Signal name Function
1 SGA Serial communication
2 SGB Serial communication
3 5V 5-V power output
4 EMGS Emergency-stop status
5 EMGA *1
6 24V 24-V power output
7 GND Ground
8 ENGB *1
*1 Used to actuate an emergency stop (contact b).
Short these pins to cancel an emergency stop.
 Motor connector [Molex 5569-04A1]
Pin No. Signal name Connected wire
1 U Motor phase U
2 V Motor phase V
3 W Motor phase W
4 (-)