IAI America XSEL-S - Manual (Page 145)

Chapter 2 Wiring
2.3.9 W
ring for the
Teaching
137
2.3.9 Wiring for the Teaching
The teaching connector is used to connect an IAI teaching pendant or PC (PC software) so
that the equipment can be operated, set up or otherwise manipulated from the teaching
pendant/PC.
If you are using S/SX/SXD type controller with the mode switch set to AUTO, connect the
supplied dummy plug to the teaching connector.
PC
PC Software Accessory Cable
Teaching
Pendant
CONTROLLER
�
List of Teaching Connector Interface Specifications�
Specification Remarks
Connector DSUB-25 XM3B-2542-502L (by Omron)
Communication Method Asynchronous half
duplex communication
conforming to RS232C
Signal assignments conform to the DTE
terminal layout specified by the RS232C
standard.
Undefined lines, etc., are assigned to a
dedicated control wire.
Baud Rate 115.2 kbps max. The maximum communication speed is
115.2Kbps.
Maximum Connection
Distance
10m At 38.4 kbps
Connected Unit PC or dedicated teaching
pendant
PC, teaching pendant
Power Supply 5 or 24 VDC Each line is fitted with multiple fuses to protect
against short circuit. (These fuses trip at 1.1
to 2.2 A.)
Protocol X-SEL teaching protocol The controller operates according to the
dedicated protocol (protocol B).
Emergency Stop Control Series emergency stop
relay drive (24-V drive)
A line for driving the emergency stop relay is
provided in the interface connector and
connected to other emergency stop contacts
in series. Two independent emergency stop
input circuits are installed to provide
redundancy.
Enable Control Enable switch line (24-V
drive)
An enable switch connection wire is provided
for interlock with operator’s operations. Two
independent enable input circuits are installed
to provide redundancy.
Mode Switch AUTO/MANU switch The AUTO/MANU selector mode switch is
used to specify whether or not a teaching
pendant is used.
A teaching pendant can be connected only in
the MANU mode.