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[NPN type, Mini I/O dedicated mode] Mini I/O Pin Assignment

The table below lists the pin assignment of Mini I/O(NPN type) in Mini I/O dedicated mode.

For Safety-I/O-less Version

View from the cable side
Terminal No. (*1) Signal name Port No. Wire color Terminal No. (*1) Signal name Port No.

Wire color
1 Enable Auto (Internal +24V) (input) - Black 35 Enable Auto (input) -

Pink
2 External Emergency Stop 1, b-1 (input) (Internal +24V) - Brown 36 External Emergency Stop 1, b-2 (input) -

Pink
3 External Emergency Stop 2, b-1 (input) (Internal +24V) - Red 37 External Emergency Stop 2, b-2 (input) -

Pink
4 (*2) Protective Stop 1, -1 (input) - Orange 38 (*2) Protective Stop 1, -2 (input) -

Pink
5 (*2) Protective Stop 2, -1 (input) - Yellow 39 (*2) Protective Stop 2, -2 (input) -

Pink
6 Reserved. - Black 40 Reserved. -

White
7 Reserved. - Brown 41 Reserved. -

White
8 Deadman SW 1, -1 (output) [Enable SW 1, -1] (Mini relay) - Red 42 Deadman SW 1, -2 (output) [Enable SW 1, -2] (Mini relay) -

White
9 Deadman SW 2, -1 (output) [Enable SW 2, -1] (Mini relay) - Orange 43 Deadman SW 2, -2 (output) [Enable SW 2, -2] (Mini relay) -

White
10 - - Yellow 44

-

 -

White
11 Step Stop (All tasks) (System input) 0 Green 45 CPU Normal (System output) 16

White
12 Strobe Signal (System input) 1 Blue 46 Robot Running (System output) 17

White
13 Data area bit 0 (System input) 2 Violet 47 Robot Error (System output) 18

White
14 Data area bit 1 (System input) 3 Gray 48 Robot Initialized (System output) 19

White
15 Data area bit 2 (System input) 4 Pink 49 Auto Mode (System output) 20

White
16 Command area bit 0 (System input) 5 Black 50 Operation Preparation Completed (System output) 21

Gray
17 Command area bit 1 (System input) 6 Black 51 Battery Warning (System output) 22

Violet
18 Command area bit 2 (System input) 7 Brown 52 Command Processing Completed (System output) 23

Violet
19 User input 8 Red 53 (*3) User output/ Continue Start Permission (System output) 24

Violet
20 User input 9 Orange 54 User output 25

Violet
21 User input 10 Yellow 55 User output 26

Violet
22 User input 11 Green 56 User output 27

Violet
23 User input 12 Blue 57 User output 28

Violet
24 User input 13 Gray 58 User output 29

Violet
25 User input 14 Pink 59 User output 30

Violet
26 User input 15 Brown 60 User output 31

Gray
27 - - Red 61 - -

Gray
28 (*4) Pendant Emergency Stop 1, b-1 (output) (Dry output) - Orange 62 (*4) Pendant Emergency Stop 1, b-2 (output) (Dry output) -

Gray
29 (*4) Pendant Emergency Stop 2, b-1 (output) (Dry output) - Yellow 63 (*4) Pendant Emergency Stop 2, b-2 (output) (Dry output) -

Gray
30 Reserved. - Green 64 Reserved. -

Gray
31 - - Blue 65 - -

Gray
32

DC power input +24V (when external power source is used)

DC power output +24V (when internal power source is used)

 - Pink 66

DC power input 0V (when external power source is used)

DC power output 0V (when internal power source is used)

 -

Gray
33 - Black 67 -

Blue
34 - Brown 68 -

Blue

 

*1 : The optional I/O cable for the above connector consists of twisted pair wires--pairs of #1 and #35, #2 and #36, #34 and #68.

*2 : If no Protective Stop input signals are needed, short-circuit by terminal connection with jumpers between #4 and #38 and between terminals #5 and #39.

*3 : This item differs depending on "User or System output setting" of I/O parameters. Default setting is user output.

*4 : When emergency stop output signal is used as the replacement from RC7M, separate 28-62 and 29-63 for use.

 

The reserved pins and output pins should be prevented from direct contact with other pins or conductive part. Direct contact could result in a controller failure or damage.

To use Pendant Emergency Stop output signals, be sure to supply 24 V to terminals #28 and #29.

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