IAI America RCP2-CF - Manual (Page 42)

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Representative connection examples are explained below.
 Connecting the teaching pendant directly to the controller (Parallel connection with the PLC)
[1] Connecting multiple controllers (8 units or less) using a single power supply
 Short the MPI and MPO terminals using a jumper wire. (The controller is shipped with these terminals
shorted.)
 Connect one end of the EMG signal to the 24-V output of the input power supply and the other end to the S1
terminal.
Then, provide connections by sequentially connecting the S2 terminal of controller 1 to the S1 terminal of
controller 2, the S2 terminal of controller 2 to the S1 terminal of controller 3, and so on, and connect the S2
terminal on the last controller to the EMG terminals on all controllers.
Use a relay terminal block for connection to the EMG terminals.
(Note)
Do not connect two or more wires to one terminal.