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ID : 11052

How to Wire I/Os

Type of I/O

MC9 series equips the following I/Os as standard items.

Safety I/O
Safety-related I/O signals, such as external emergency stop input, protective stop input. This I/O connection is required. Robot does not move unless this I/O connects.
Therefore, you must purchase the cable for this I/O at any time.
Digital I/O
You can start a program from an external device (such as a PLC) through this Digital I/O, not from the field network. To use this I/O, you need to connect a user power.
The cable for this I/O is an option part.
Hand I/O
This I/O is used to control an end-effector tool mounted in the robot flange (such as a robot gripper). To use this I/O, you need to connect a user power.
The cable for this I/O is an option part.
STO (connector)
This connector is used to synchronize the STO state and the operation mode of the MC9 series controller and the RC8 series robot controller when an RC8 series controller is connected.
The cable is an option part.
User Power (connector)
When you use the Digital I/O and Hand I/O, you need to prepare the power source for that signals (hereafter, "I/O power source"). User Power is a connector to supply power to I/Os.
For the I/O power source, you can select either the power source fro/m the MC9 series controller (internal power supply) or an external power source.
When purchase an MC9 series, a connector that enables to use the internal power source (hereafter, "User Power Internal power source connector") is shipped as a standard item. Therefore, if you use the internal power source, insert the User Power internal power source connector to the User Power connector to enable the Digital I/O and Hand I/O. If you use an external power source, arrange the wiring of the User Power internal power source connector to an external power source, and then insert it to the User Power connector.

Details

For more information about the pin assignment and cable wiring of each I/O, refer to the following links.

Item

(link destination)

 Overview
Safety I/O Wiring Describes the connector pin assignment, cable color, and circuit diagram of safety I/O.
Digital I/O Wiring Describes the connector pin assignment, cable color, and circuit diagram of digital I/O.
STO Wiring Describes the connector pin assignment, cable color, and circuit diagram of STO.
Hand I/O Wiring Describes the connector pin assignment, cable color, and circuit diagram of hand I/O.
User Power Wiring Describes the connector pin assignment, cable color, and circuit diagram of User Power.

If You Make a Cable by Yourself

Use an Optional Connector

These connectors are available as individual options. Prepare by yourself a cable that meets the standards listed below to assemble the cable.

Connector name Optional part number Cable standards

Safety I/O

(D-sub 44-pin 3-row)

414880-097*

UL2789 (With shield)
Equivalent to

AWG28 × 25P

Digital I/O

(D-sub 37-pin 2-row)

414880-095*

UL2789 (With shield)
Equivalent to

AWG28 × 20P

STO

(D-sub 15-pin 2-row)

 414880-098*

UL2789 (With shield)
Equivalent to

AWG28 × 5P

Hand I/O

(D-sub 26-pin 3-row)

 414880-096*

UL20276 (With shield)
Equivalent to

AWG24 × 15P

User Power

(D-sub 9-pin 2-row)

 414880-099*

UL20276 (With shield)
Equivalent to

AWG22 × 5P

Use a Recommended Connector

If you do not use the optional connectors listed above, use the recommended connectors and cables listed below.

Connector name Connector model/manufacturer Cable standards

Safety I/O

(D-sub 44-pin 3-row)

Plug: 163A16619X
Cover: 165X17329X　　　
Manufacturer name: CONEC

UL2789 (With shield)
Equivalent to

AWG28 × 25P

Digital I/O

(D-sub 37-pin 2-row)

Plug: 163A11099X
Cover: 165X17339X　　　
Manufacturer name: CONEC

UL2789 (With shield)
Equivalent to

AWG28 × 20P

STO

(D-sub 15-pin 2-row)

Plug: 163A11079X
Cover: 165X17319X　　　
Manufacturer name: CONEC

UL2789 (With shield)
Equivalent to

AWG28 × 5P

Hand I/O

(D-sub 26-pin 3-row)

 Plug: 163A16609X
Cover: 165X17319X　　　
Manufacturer name: CONEC

UL20276 (With shield)
Equivalent to

AWG24 × 15P

User Power

(D-sub 9-pin 2-row)

Plug: 163A11069X
Cover: 165X17309X　　　
Manufacturer name: CONEC

UL20276 (With shield)
Equivalent to

AWG22 × 5P

Modify the Shielding Wire (Example)

Be sure to modify the shielding wire at the end of the cable to be used, as shown below. Without this modification, the robot may malfunction due to noise.

1

Prepare I/O cables.

2

Stripe the cable jacket from the I/O cable end.

3

Fold back the braided shield, and then cut it to the proper length.

4

Wrap copper tape around the braided shield.

5

Position the portion of wrapped copper tape with cable clamp, so as to be tightened, and then fix it with screws.

 

ID : 11052

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