System overview
Control units
SD-/SQ series
2 - 13
2.3.4 CR1QA
components
The CR1QA control unit is comprised of the robot CPU Q172DRCPU and the DU1A drive unit.
Please use installing the attached ferrite core.
R001788E
Fig. 2-11:
Rear of DU1A drive unit
No.
Name
Function
Connection fro servo power supply
cable (CN1)
Robot power supply
Connection for signal cable (CN2)
Robot control cable
Input for EMERGENCY-STOP
pushbutton (EMGIN)
Connection for EMERGENCY-STOP pushbutton or circuit
Output for EMERGENCY-STOP state
(EMGOUT)
Output of current EMERGENCY-STOP state
Slot for hand interface card (HND)
Slot for installing the interface card for the pneumatically operated
gripper hand
Additional stop input (SKIP)
Additional robot stop
OPT1A
CPU connections
CON3
DCOUT
CNDISP
Grounding terminal (3 places)
The screw for grounding of the cable
Tab. 2-5:
Components on the rear of the DU1A drive unit
For connection to
the robot CPU
Summary of Contents for MELFA RH-12SDH Series
Page 2: ......
Page 4: ......
Page 6: ......
Page 16: ...Contents X ...
Page 22: ...Performance Level PL compliant with EN ISO 13849 1 Introduction 1 6 ...
Page 44: ...Teaching Box System overview 2 22 ...
Page 74: ...Grounding the robot system Installation 3 30 ...
Page 88: ...Teaching Box connection Connection 4 14 ...
Page 98: ...Calibrate the robot system Startup 5 10 ...
Page 114: ...Instructions on maintenance Troubleshooting and maintenance instructions 7 6 ...
Page 134: ...Dimensions Annex A 20 ...
Page 136: ...A 22 Index Annex ...
Page 137: ......
Page 138: ......
Page 139: ......
Page 140: ......
Page 141: ......
Page 142: ......
Page 143: ......
Page 144: ......
Page 145: ......
Page 146: ......
Page 147: ......
Page 148: ......
Page 149: ......
Page 150: ......
Page 151: ......
Page 152: ......
Page 153: ......
Page 154: ......
Page 155: ......
Page 156: ......
Page 157: ......
Page 158: ......
Page 159: ......
Page 160: ......
Page 161: ......
Page 162: ......
Page 163: ......
Page 164: ......
Page 165: ......
Page 166: ......
Page 167: ......
Page 168: ......
Page 169: ......
Page 170: ......
Page 171: ......
Page 172: ......
Page 173: ......
Page 174: ......
Page 175: ......
Page 176: ......
Page 177: ......
Page 178: ......
Page 179: ......
Page 180: ......
Page 181: ......
Page 182: ......
Page 183: ......
Page 184: ......
Page 185: ......