Eletrical Troubleshooting RJ

SYSTEM R-J Electrica l
Troubleshooting Manual
MARMMOSHW02301 E
This publication contains proprietary information of FANUC Robotic s

North America, Inc. furnished for customer use only . No other uses are
authorized without the express written permission of FANUC Robotic s
North America, Inc.
FANUC Robotics North America, Inc .
2000 South Adams Road
Auburn Hills, Michigan 48326-2800
Copyright ©1993 by FANUC Robotics North America, Inc .
All Rights Reserved
The information illustrated or contained herein is not to be reproduced ,

copied, translated into another language, or transmitted in whole or in par t
in any way without the prior written consent of the FANUC Robotic s
North America, Inc .
KAREL®, INSIGHT®, PaintWorks® are Registered Trademarks of

FANUC Robotics .
FANUC Robotics reserves all proprietary rights, including but not limite d
to trademark and trade name rights, in the following names :
ACCUFLOW°
ARC Mate°
ARC Mate Sr.°
ArcTool °
IntelliTrak°
LaserTool°
MotionParts°
PALLETMATE °
PalletTool °
PaintTool°
R-Model J Controller°
SOCKETS °
SOFT PARTS °
SpotTool°
SureWeld°
TurboMove°
The descriptions and specifications contained in this manual were in effec t
at the time this manual was approved for printing . FANUC Robotic s
North America, Inc, hereinafter referred to as FANUC Robotics, reserve s
the right to discontinue models at any time or to change specifications o r
design without notice and without incurring obligations .
FANUC Robotics manuals present descriptions, specifications, drawings ,
schematics, bills of material, parts, connections and/or procedures fo r
installing, disassembling, connecting, operating and programming FANU C
Robotics' products and/or systems . Such systems consist of robots ,
extended axes, robot controllers, application software, the KAREL®
programming language, INSIGHT® vision equipment, and special tools .
FANUC Robotics recommends that only persons who have been trained i n
one or more approved FANUC Robotics Training Course(s) be permitte d
to install, operate, use, perform procedures on, repair, and/or maintai n
FANUC Robotics' products and/or systems and their respectiv e
components . Approved training necessitates that the courses selected b e
relevant to the type of system installed and application performed at th e
customer site .
A WARNIN G
This equipment generates, uses, and can radiate radi o
frequency energy and if not installed and used i n
accordance with the instruction manual, may cause
interference to radio communications . As temporaril y
permitted by regulation, it has not been tested fo r
compliance with the limits for Class A computing device s
pursuant to subpart J of Part 15 of FCC Rules, which ar e
designed to provide reasonable protection against such
interference . Operation of the equipment in a residentia l
area is likely to cause interference, in which case the user ,
at his own expense, will be required to take whateve r
measure may be required to correct the interference .
FANUC Robotics conducts courses on its systems and products on a

regularly scheduled basis at the company's world headquarters in Aubur n
Hills, Michigan. For additional information contac t
FANUC Robotics North America, Inc .
Training and Documentation Departmen t
2000 South Adams Road
Auburn Hills, Michigan 48326-280 0
Tel: (313)377-723 4
FAX : (313)377-7367 or (313)377-7362
MARMMOSHWO2301 E Preface vii
Purpose of this Manual The SYSTEM R-J Electrical Troubleshooting Manual provides specific
information regarding FANUC Robotics electrical hardware . The
information contained within the manual has been arranged so that it can
answer specific questions quickly and accurately .
How to Use this Use this table to locate specific information in the manual .
Manual
If you want to Refer to
Find information about a specific topic Table of Contents
Identify the components of the SYSTEM R- J Chapter 1, Overview

controller
Review safety guidelines Chapter 2, Safety
Use diagnostic and controller initializatio n Chapter 3, Diagnosti c

utilities Screen s
View status information on teach pendant Chapter 4, Lights and LED s
screens and using other indicators
Find pin configurations for each cable Chapter 5, Connectors
Find controller connection schematics Chapter 6, Complete Wirin g

Diagram s
Find complete schematics of the controlle r Chapter 7, Prints

circuitry
Find troubleshooting techniques and circui t Chapter 8, Power On

description for the power on circuitry Circuitry
Find troubleshooting techniques and circui t Chapter 9, AC Powe r

description for the AC power distributio n Distribution Circuitry
circuitry
Find troubleshooting techniques and circuit Chapter 10, DC Powe r

description for the DC power distributio n Distribution Circuitry
circuitry
Find troubleshooting techniques and circui t Chapter 11, Emergency Sto p

description for the emergency stop circuitry Circuitry
Find troubleshooting techniques and circui t Chapter 12, Hand Broke n
description for the emergency stop circuitry Circuitry
Find troubleshooting techniques and circui t Chapter 13, Overtrave l
description for the overtravel circuitry Circuitry
Find troubleshooting techniques and circuit Chapter 14, Overheat

description for the overheat circuitry Circuitry
Find troubleshooting techniques and circui t Chapter 15, Brake Circuitry

description for the brake circuitry
Find troubleshooting techniques and circui t Chapter 16, Servo Control

description for the servo control
PREFACE MARMMOSHWO2301 E
If you want to Refer to
Find troubleshooting information abou t Chapter 17, Modular I/O

modular I/O and plant spec ific Circuitry
interconnections to the robot
Find troubleshooting techniques and circuit Chapter 18, Teach Pendant

description for the teach pendant
Find troubleshooting techniques and circuit Chapter 19, CRT/K B

description for the CRT/KB
Find site specific interface drawings Chapter 20, User I/O

Interface
Understand any deviation from the standard Appendix A, Reading Prints

within the electrical prints
Find a quick description of an error code o r Appendix B, Error Codes

message on either the teach pendant or CRT and Recovery
Conventions Used in This manual includes information essential to the safety of personnel ,
this Manual equipment, software, and data . This information is indicated by heading s
and boxes in the text .
A WARNIN G
Information appearing under WARNING concerns the
protection of personnel . It is boxed and in bold type to set
it apart from other text.
A CAUTION
Information appearing under CAUTION concerns the protectio n
of equipment, software, and data . It is boxed to set it apart
from other text .
NOTE Information appearing next to NOTE concerns related information

or useful hints.
8 Table. of Contents ix .
~~""
~~=~"t_ " 1"
OVERVIEW ^,,,,,,,,,,,,,,,,,,,,,,,^^,,,,,,,,,,^^,,,,,, 1_1

1 .1 BACKPLANE 1-5
1 .2 MAIN CPU PC BOARD 1- 6
1 .3 AXIS CONTROL PC BOARD 1-0
1 .4 POWER SUPPLY UNIT PC BOARD 1- 9
1 .5 EMERGENCY STOP CONTROL PC BOARD 1-1 0
1 .6 SERVO AMPLIFIERS 1-1 1
lJI)CR AN[)ZBR UNIT 1-1 3
1 .8DCR AND DM UNIT 1-1 3
1 .9 MULTI-TAP TRANSFORMER 1-1 4
1 .10 INTERFACE DEVICES 1-1 6
1 .10.1 Modular I/O Unit 1-1 7
1 .102 Process I/O Board 1-2 1
1 .10.3 ABRIO and Genius I/O 1-2 2
1 .11 FUSED FLANGE DISCONNECT AND CIRCUIT BREAKER 1-2 3
1 .12 USER TRANSFORMER 1-2 0
1 .13 OPERATOR PANEL 1-2 6
1 .14 TEACH PENDANT ^ 1-2 0
Chapter 2
Chapter 3
DIAGNOSTIC SCREENS ^^,,,,,,,,,,,,,,,,,,, 3-1
3 .1 SAFETY SIGNAL STATUS ~ 3-2
3.2 POSITION STATUS 3-4
3 .3 ROBOT AXES STATUS 3-6
3/4 ALARM L{)(} ~ 3-7
3 .5 VERSION IDENTIFICATION STATUS ~ ~ .~ ~ 3-9
3 .6 MEMORY STATUS 3-1 2
3.7 I/O STATUS ".". ' ".". ' ' ' " .' ' " .". " . ' ". ". ~ ` .. .. 3-13
x TABLE OF CONTENTS MARMMOSHWO2301 E
Chapter 4
LIGHTS AND LEDS 4-1
4 .1 TEACH PENDANT DIAGNOSTIC LEDS 4-2
4 .2 OPERATOR PANEL DIAGNOSTIC LEDS 4-3
4 .3 CIRCUIT BOARD DIAGNOSTIC LEDS 4-4
4 .3 .1 Emergency Control Board (EMG) Diagnostic LEDs : 4-6
4 .3 .2 Power Supply Unit (PSU) Diagnostic LEDs 4-7
8
4 .3 .3 Axis Control Board Diagnostic LEDs : 4-8
4 .3 .4 Main CPU Board Diagnostic LEDs 4-1 2
4 .3 .5 Servo Amplifier Diagnostic LED (7-Segment Display) : 4-1 3
4 .3 .6 Modular I/O LEDs 4-1 4
4 .3 .7 (Optional) Process I/O Board Diagnostic LEDs 4-1 5
4 .3 .8 R-H MAP LEDs 4-1 6
4 .3 .9 R-H ABRIO LEDs : 4-1 7
Chapter 5
CONNECTORS 5-1
5 .1 CABLE LISTINGS : 5-2
5 .1 .1 Numeric Ordered List : 5-3
5 .1 .2 Alphabetic Ordered List 5-5
5 .2 CABLE DIAGRAMS : : . . . 5-9
5 .3 BACKPLANE CONNECTORS : 5-3 1
5 .3 .1 R-J Backplane Connectors : 5-3 1
5 .3 .2 R-H Extended Backplane Connectors 5-4 0
5 .3 .3 Modular I/O Rack Connectors : 5-4 5
Chapter 6
COMPLETE WIRING DIAGRAMS 6-1
Chapter 7
PRINTS 7- 1
Chapter 8
POWER ON CIRCUITRY 8- 1
Chapter 9
AC POWER DISTRIBUTION CIRCUITRY 9-1
MARMMOSHWO2301E TABLE OF CONTENTS xi
Chapter 1 0
DC POWER DISTRIBUTION CIRCUITRY 10-4
Chapter 1 1
EMERGENCY STOP CIRCUITRY 11-1
Chapter 1 2
HAND BROKEN CIRCUITRY 12- 1
Chapter 1 3
OVERTRAVEL CIRCUITRY 13- 1
Chapter 1 4
OVERHEAT CIRCUITRY 14-1
Chapter 1 5
BRAKE CIRCUITRY 15-1
Chapter 1 6
SERVO CONTROL
16-1
16 .1 SERVO LOOP COMPONENTS 16-2
16 .2 AXIS CONTROL BOARD OVERVIEW 16-4
16 .2 .1 Connections 16-5
16 .2.2 Pulse Width Modulated Signals : 16-6
16 .2 .3 Servo Amplifier Overview 16-7
16 .2 .4 Current Feedback . . . : 16-7
16 .2 .5 *MCON & *DRDY 16-8
16 .3 NORMAL OPERATIONS 16-1 0
16 .3 .1 Alarms . . . 16-1 1
16 .4 SERVO ALARMS 16-1 4
Chapter 1 7
MODULAR I/O CIRCUITRY 17- 1
17 .1 MODULAR I/O INPUTS 17-2
17 .2 MODULAR I/O OUTPUTS : 17-6
xii TABLE OF CONTENTS MARMMOSHWO2301 E
Chapter 1 8
TEACH PENDANT 18-1
Chapter 1 9
CRT/KB 19-- 1
Chapter 20
USER I/O INTERFACE 20-1
Appendix A
READING PRINTS A- 1
A .1 PRINTS USED IN THIS MANUAL A-2
A .1 .1 Troubleshooting Schematics A-2
A .1 .2 Total Circuit Diagrams : A-2
A .2 ELECTRICAL PRINTS FORMAT A- 3
A.2.1 Cross-Reference Bar A-3
A.2.2 Relay Cross-Reference A-4
A.2 .3 Relay Contacts A-5
A.2 .4 Terminal Blocks . : A-5
A .2 .5 Plugs or Connectors : . A-6
A .2 .6 Component Location A-7
A .2 .7 Drivers and Receivers : A- 8
A .2 .8 Special Symbols : A-1 0
A .2 .9 Cable Identification A-1 1
A .3 SOLID STATE DEVICES 20-4 2
A .3 SOLID STATE DEVICES . . : 19-1 2
Appendix B
ERROR CODES AND RECOVERY B-1
B .1 ERROR CODES B-2
List of Procedure s
Procedure 3-1 Displaying Safety Signal Status : 3-3
Procedure 3-2 Displaying Position Status 3- 4
Procedure 3-3 Displaying the Axis Status Pulse Screen 3- 6
Procedure 3-4 Displaying the Alarm Log 3- 8
Procedure 3-5 Displaying the Version Identification Status : : 3-9
Procedure 3-6 Displaying Memory Status 3-12
MARMMOSHWO2301E TABLE OF CONTENT S
Procedure 3-7 Displaying I/O Status 3-1 3

Procedure 3-8 Displaying Host Status 3-1 4
List of Figure s
Figure 1-1 . Cabinet Exterior, B-Size Controller 1-2
Figure 1-2. Cabinet Exterior, C-Size Controller ` 1-2
Figure 1-3 . Cabinet Interior, B-Size Controller 1-3
Figure 1-4. Cabinet Interior, C-Size Controller 1-4
Figure 1_5 . Backplane with R-H Style Extended Backplane 1-5
Figure l-0 .Main CPU Board Layout 1-6
Figure l-7 Axis Control Board Layout 1-8
Figure 1-8 . Power Supply Unit PC Board 1-9
Figure Stop Control PC Board 1-1 0
Figure 1-10 . Servo Amplifier ` 1-1 1
Figure 1-11 . Mounting Locations of Servo Amplifiers 1-1 2
Figure 1-12 . Multi-Tap Transformer 1-1 4
Figure 1-13 . Modular I/O 1-1 7
Figure 1-14 . Process I/O Printed Circuit Board 1-2 1
Figure 1-15 . Fused Flange Disconnect 1-24
Figure 1-16 . Circuit Breaker 1-24
Figure 1-17 . User Transformer 1-2 6
Figure 1-18 . Operator Panel, B-Size Controller 1-2 7
Figure 1-19 . Operator Panel, C-Size Controller 1-2 7
Figure 1-20 . Teach Pendant 1-2 9
Figure 1-21 . Heat Exchange System, B-Size Controller 1-3 0
Figure 1-22 . Heat Exchange System, C-Size Controller 1-3 1
Figure 3-1 . Default Power-Up Screen 3- 1
Figure 3-2 Alarm Log ' 3-7
Figure 4-1 . Teach Pendant LEDs 4-2
Figure 4-2 . Operator Panel LEDS 4- 3
Figure 4-3 . Circuit Board Diagnostic LEDs 4-5
Figure 4-4 . Emergency Control Board (EMG) Diagnostic LEDs 4- 6
Figure 4-5 . Power Supply Unit (PSU) Diagnostic LEDs 4-7
Figure 4-8 Axis Control Board Diagnostic LEDs 4- 8
Figure 4-7 . Main CPU Board Diagnostic LEDs 4-1 2
Figure 4-8 . Modular I/O LEDs 4-1 4
Figure 4-9 .R-H MAP LEDs ~ 4-1 0
Figure 4-10 . R-H ABRIO LEDs 4-1 7
Figure 5-1 . Connector Type Symbols ~ 5-1 0
Figure 5-2 K-015 ^ 5-1 1
Figure 5-3 . K-010 5_1 1
Figure 5-4 . IC_021 ' 5_12
xiv TABLE OF CONTENTS MARMMOSHWO2301 E
Figure 5-5 . K-035 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 3

Figure 5-6. K-040 5-1 4
Figure 5-7. K-060 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 5
Figure 5-8 . K-061 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . 5-1 6
Figure 5-9 . K-062 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 7
Figure 5-10 . K-063 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ..... .......... .......... 5-1 8
Figure 5-11 . K-064 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ... ........... 5-1 9
Figure 5-12 . K-065 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...... ......... 5-20
Figure 5-13 . K-070 : 5-2 1
Figure 5-14. K-071 : 5-22
Figure 5-15 . K-072 : : 5-23
Figure 5-16 . K-095 5-24
Figure 5-17 . K-106 through K-109 5-25
Figure 5-18 . K-111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25
Figure 5-19 . K-112 : : 5-2 6
Figure 5-20. K-113 . . . . . . . . . . ........ .. ...... ... . .. . ... ... .. . .. 5-2 6
Figure 5-21 . K-115 5-27
Figure 5-22 . K-115 (Continued) 5-2 8
Figure 5-23 . K-116 5-29
Figure 5-24 . K-169 5-30
Figure 5-25 . R-J Backplane Connectors 5-3 1
Figure 5-26 . JRA0 Emergency Control 5-32
Figure 5-27 . JNP0 Power Unit : 5-33
Figure 5-28 . JRA2 Axis Control : : 5-34
Figure 5-29 . JRA1 Main CPU : . . . . 5-35
Figure 5-30. JNA1 OPTION 1 : . . . 5-3 6
Figure 5-31 . JNA2 OPTION 2 : 5-37
Figure 5-32. JNAT 5-3 8
Figure 5-33 . CA39A, CA39B, CA39C 5-39
Figure 5-34. R-H Extended Backplane Connectors . . . . : : : : : 5-40
Figure 5-35 . CN14 : 5-4 1
Figure 5-36. CN15 5-42
Figure 5-37 CNAV1, CNAV2 Vision Engine Connection . . : 5-43
Figure 5-38 . CNBV1, CNBV2, AND CNB15 Vision Interface 51 1
Figure 5-39 . CNP4 5-44
Figure 5-40 . Modular I/O Rack Connectors . . . . . . . . . 5-45
Figure 6-1 . Internal Connection Diagram - AC Power Supply . . . . 6-2
Figure 6-2 . Internal Connection Diagram - S-420 6-3
Figure 6-3 . Internal Connection Diagram - ARC Mate, ARC Mate Sr ., S-5,and S-10 6-4
Figure 6-4 . Internal Connection Diagram - Operator Panel : . : , . . . 6-5
Figure 6-5 . Internal Connection Diagram (Input Unit, Emergency Stop, Brake Control) 6-6
Figure 6-6 . Internal Connection Diagram - Main CPU, Axis Control Board 6-7
MARMMOSHWO2301E TABLE OF CONTENTS xv
Figure 6-7 . Internal Connection Diagram - Servo Amplifier Connection S-420, ARC Mate ,
ARC Mate SR, S-5, S-10, 6-8
Figure 6-8 . Internal Connection Diagram - Modular I/O 6-9
Figure 6-9. Internal Connection Diagram - Teach Pendant 6-1 0
Figure 6-10 . Internal Connection Diagram - User Transformer 6-1 1
Figure 8-1 . Location of Power On Components 8-9
Figure 9-1 . Heat Exchange System, B-Size Controller : 9-27
Figure 9-2 . Heat Exchange System, C-Size Controller 9-27
Figure 9-3 . Location of Components for AC Power Distribution Circuitry . . . . : 9-28
Figure 10-1 . APC Battery Backup : 10-25
Figure 10-2 . DC Power Distribution Circuitry, Battery Diagram 10-2 6
Figure 10-3 . Location of Components for DC Power Distribution Circuitry : . 10-2 7
Figure 11-1 . Location of Components for Operator Panel Emergency Stop Circuitry :. 11-2 5
Figure 11-2 . Location of Components for Teach Pendant Emergency Stop Circuitry 11-2 6
Figure 11-3 . Component Location 1 Axis 11-27
Figure 12-1 . Location of Components for Hand Broken Circuitry 12-7
Figure 12-2 . Connector D11 : :- 12- 8
Figure 13-1 . Location of Components for Overtravel Circuitry 13-1 1
Figure 13-2 . Teach Pendant : 13-1 2
Figure 13-3 . Connector D11 13-1 3
Figure 14-1 . Location of Components for Overheat Circuitry 14-1 9
Figure 14-2 . Heat Exchange System, B-Size Controller 14-2 0
Figure 14-3 . Heat Exchange System, C-Size Controller 14-2 0
Figure 15-1 . Location of Components for Brake Circuitry . . . . : 15-1 5
Figure 15-2 . Brake Circuit 15-1 6
Figure 16-1 . Servo Components : : 16-3
Figure 16-2 . Basic Digital Servo Loop 16- 4
Figure 16-3 . Servo Loop Block Diagram 16-9
Figure 16-4 . Axis Control Board Status/Alarm Indicators 16-1 3
Figure 16-5 . Component Location 1 Axis 16-50
Figure 16-6 . Component Location 2 Axis 16-5 1
Figure 16-7 . Component Location R-J Controller : 16-52
Figure 16-8 . Axis Control and Main CPU PCBs 16-5 3
Figure 17-1 . Location of Components for Modular I/O Circuitry . : 17-1 7
Figure 18-1 . Teach Pendant Internal/External Connectors : : 18- 4
Figure 18-2 . Location of Components for Teach Pendant Circuitry . : ... . 18-1 5
Figure 19-1 . CRT/KB Component Location . : 19-7
Figure A-1 . Cross-Reference Bar . ..: A-3
Figure A-2 . Relay Cross-Reference : : A- 4
Figure A-3 . Relay Contacts A-5
Figure A-4. Terminal Blocks : A-5
Figure A-5 . Plugs or Connectors . . . . A-6
xvi TABLE OF CONTENTS MARMMOSHWO2301 E
Figure 8-6 Location A- 7

Figure A-7 . Drivers A-8
Figure A-8 . Receivers A-9
Figure A-9 . Special
A-10Symbols
Figure A-10 . Cable
A-11Identification
List of Table s
Table 1-1 . Modules 1- 7

Table 1-2 . Modules 1- 8
Table 1-3 . Servo Amplifiers 1-3
Table 1-4 . Selecting Transformer Taps 1-1 5
Table 1-5 . Multi-Tap Transformer Part Numbers 1-1 5
Table 1-6 . Digital Input Module Specifications 1-1 9
Table 1-7 . Digital Output Module Specifications 1-1 9
Table 1-8 . I/O Module Part Numbers 1-20
Table 1-9 . Process I/O Board Part Numbers 1-22
Table 1-10 . Circuit Breaker, B-Size Cabinet 1-25
Table 1-11 . Circuit Breaker and Fused Flange Disconnect Switch, C-Size Cabinet 1-25
Table 1-12 . Part Numbers 1-27
Table 1-13 . Teach Pendant Part Numbers 1-29
Table 3-1 . Safety Signals 3-2
Table 3-2 . Axis Status Pulse Screen Items 3- 6
Table 3-3. Version Identification Status Items ~ 3-9
Table 3-4 . Memory Status 3-1 2
Table 4-1 . Teach Pendant Status Indicators 4-2
Table 4-2 . Standard Operator Panel Status Indicators 4-3
Table 4-3 . Emergency Control Board (EMG) Diagnostic LEDs 4-6
Table 4-4. Troubleshooting Axis Control Board Diagnostic LEDs ~ 4-9
Table 4-5 . Troubleshooting Main CPU Board Diagnostic LEDs ~ 4-1 2
Table 4-6 . Servo Amplifier LED Functions 4-1 3
Table 4-7 . Modular I/O LEDs 4-1 4
Table 4-8 . Process I/O Board LEDs 4-1 5
Table 4-9 . R-H MAP LEDs 4-1 6
Table 4-10. R-H ABRIO LED Descriptions ~ 4-1 7
Table 5-1 . Cable Numeric Ordered List 5-3
Table 5-2 . Cable Alphabetic Ordered List 5-5
Table 8-1 . Component Location ~~ ~ 8-3
Table 9-1 . Component Location 9-3
Table 10-1 . Component Location ~ ~ 10-4
MARMMOSHWO2301E TABLE OF CONTENTS xvii

Table 13-1 . Component Location 13- 4
Table 14-1 . Component Location . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . 14-4
Table 16-1 . Servo Amplifier LED Functions 16-1 2
Table 16-3 . Axes Identification Chart 16-49
Table 16-4. Terminal Block Ti 16-49
Table 17-i . Input Modules AID32A and AID32B, Non-isulated : : . 17-2
Table 17-2 . Input Modules AID 16C and AID 16D : 17-3
Table 17-3 . Input Modules AID32E and AID32F 17-4
Table 17-4 . Input Module AIA16G 17-5
Table 17-5 . Output Module AOD32A, Non-isolated : : 17- 6
Table 17-6 . Output Modules AOD08C and AOD08D 17-7
Table 17-7 . (Cont'd) Output Modules AOD16C and AOD16D : 17-8
Table 17-8 . Output Module AOD32C . . . . 17-9
Table 17-9 . Output Module AOD32D : 17-10
Table 17-10 . Output Modules AOA05E and AOA08E 17-11
Table 17-i1 . Output Module AOA12F 17-1 2
Table 17-12 . Output Modules AOR08G and AOR16G 17-1 3
Table 17-13 . Component Location . : : 17-1 4
Table 18-1 . Component Location . . : 18-5
Table 19-1 . Component Location : . . 19-6
OVERVIEW
1-1
The SYSTEM R-J robot and controller consists of software, a robot, an d

the SYSTEM R-J controller . The software runs on the R-J controller . It is
written to perform a specific task .
The System R-J controller contains the computer that operates the robot .
It executes a user-defined program to perform the following functions :
• Supply drive power to the servomotors of an attached robot and, i n

some cases, to motor-driven auxiliary devices to move the robo t
through a series of program motions .
• Send control signals to process devices and other periphera l

equipment .
The controller consists of modular circuit boards and components house d
in a cabinet . The controller is housed in either a B-size or C-size cabinet .
Figure 1-1 illustrates an external view of the B-size cabinet an d
Figure 1-2 illustrates an external view of a C-size cabinet . Figure 1-3
illustrates an internal view of a B-size cabinet and Figure 1-2 illustrates a n
internal view of a C-size cabinet .
1 . OVERVIEW
MARMMOSHW02301E
Figure 1-1 . Cabinet Exterior, B-Size Controlle r
Figure 1-2. Cabinet Exterior, C-Size Controller

1 . OVERVIEW
MARMMOSHW02301E 1-3
Figure 1-3 . Cabinet Interior, B-Size Controller
Servo amplifier 6 Fan 1
Servo amplifier 5
Operator's panel
Servo amplifier 4
Axis control printed

circuit board
Power supply unit
Printed circuit board fo r

emergency stop contro l
Process I/O printed

circuit board or
I/O unit model A
Circuit breake r
Fan 2
Transformer or
line filter unit
1 . OVERVIEW
MARMMOSHW02301 E
1-4
Figure 1-4 . Cabinet Interior, C-Size Controlle r
Operator pane l
Servo amplifier # 1
Servo amplifier # 2 Main CP U

Fuses FL1-3
Servo amplifier #3
Axis control boar d
Power supply unit
Emergency sto p
control board
Option 1 and 2 slots
Multi-tap transformer
1 . OVERVIEW
MARMMOSHW02301E
1-5
1 . 1 The control unit printed circuit boards are mounted on the backplane
printed circuit board . The backplane provides the bus structure for
BACKPLAN E
communication between the various printed circuit boards in the controller.
4-Slot A20B-1004-042 0 A thermostat for sensing the temperature in the controller is mounted on
6-Slot A206-1004-0590 the backplane . If the internal temperature exceeds specifications (65 °C),
the controller will generate a system overheat alarm.
R-H Style Extended The R-H style extended backplane is available for using R-H style PCBs,
Backplane such as MAP 3 .0 and ABRIO . Figure 1-5 shows the backplane with the
R-H style extended backplane attached.
A20B-1004-0510
Figure 1-5 . Backplane with R-H Style Extended Backplan e
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0 o
00
e o
00
L _
- LI 0 0 0 0L 0 0- 01 - 0 0
il
L
0 O 0 0
O O
1 . OVERVIEW
MARMMOSHW02301 E
1-6
1 .2 The main CPU PCB is mounted on the backplane in the slot marke d
MAIN . It contains the CPU and the volatile and non-volatile memor y
MAIN CPU PC BOAR D used by the controller.
Al 6B-2200-0840 to
The Main CPU PCB also acts as the interface between the controller an d
Al 6B-2200-0843
the operator and attached devices, through connections to :
• The I/O unit(s )
• The teach pendant
• One or more general-purpose serial communication port s
• An optional built-in or remote computer terminal (CRT/KB )
• The operator panel lights and pushbuttons
A super capacitor on the Main CPU PC Board maintains voltage to th e
CMOS RAM for short periods of time (less than 1 an hour) if removed
from the backplane . A connector, BAT-VBAT, is supplied to connect the
battery from the Power Supply Unit to the Main CPU PC Board when th e
Power Supply Unit or Main CPU is removed from the controller for a n
extended period of time . This will supply voltage to the CMOS memory
so the stored data is not lost .
Figure 1-6 shows the board layout. Table 1-1 lists the part numbers fo r
the modules attached on the board.
Figure 1-6 . Main CPU Board Layout
NOTE Options are shown in phantom.

1 . OVERVIEW
MARMMOSHW02301E 1-7
Table 1-1 . Module s
Name Part Number Remarks

CMOS RAM module A206-2900-0500,0501
Flash ROM module A2013-2900-0480, 0482
M321 module A2013-2900-045 0 MAIN CPU PC board
SCC module A206-2900-043 0
SLC2 module A2013-2900-0440, 0442
Optional SCC module A206-2900-0490, 0492
NOTE CMOS RAM modules are replaced in pairs (two standard modules
or two optional modules) .
1 . OVERVIE W
MAKMMUNHWUL '301 E
1-8
1,3 The axis control PC board is mounted on the backplane in the slot marked
aXIS . It performs the following functions :
AXIS CONTROL PC
BOARD • Receives command signals from the main CPU board, and receive s
axis position and velocity signals from the serial pulse coders .
Al 6B-2200-0852 to • Compares the command signal with the axis position signal an d
Al 6B-2200-0855 generates pulse-width-modulated axis drive signals . These signal s
switch the drive transistors on the servo amplifiers on and off applyin g
power to the servo motors .
• Monitors the status of the hand breakage and axis overtravel switche s
in the mechanical unit .
• Is the interface for the Robot Input (RI) and Robot Output (RO)I/
signals .
Figure 1-7 shows the axis control board layout. Table 1-2 lists the part
numbers for the modules attached on the board .
Figure 1-7. Axis Control Board Layou t
c o
rD JRA I TEST GM
=,', .uut ' 11}iv ..v.

4`'
. ♦~ .i4 `' ••~4~ ~{.-1~•',Y`{u
Servo ,COntrol module (for axes 5 and 5
C r Servo control module (lor axes 3 and 41 1
Servo rxHwol module for axes 1 and 2
ervo tnlerlace module for axes 6 and 8
interface module for axes 3 and 4H g o interlace nuxbA(for axes 9&-41o)
DOW interlace module (for axes 1 and 2 interface modem (for axes 7 and 8
in
nnn
(twil JVI M W4 JV5 A6 . ..
O :
.,fLEDI C
C
o }n C
NOTE Options are shown in phantom.
Table 1-2. Modules

Name Part Number Remarks
Servo interface module A20B-2900-0380 Axis control PC boar d
Servo control module A20B-2900-0160
1 . OVERVIEW
MARMMOSHW02301E 1-9
1,4 The power supply unit PC board is mounted on the backplane in the slo t
POWER SUPPLY UNIT
marked PSU .
PC BOARD The power supply unit PC board is supplied with 210 VAC from th e
multi-tap transformer and produces the following DC voltages :
4-Slot Backplane • +24V use d
A16B-1212-0471 - For inputs, outputs receivers, drivers, and relays .
6-Slot Backplan e
A1613-1212-0531 As the power source for the teach pendant power supply circuitry .
• +15, -15, +5 used for logic circuitry within the controller .
The power supply unit PC board also contains the ON/OFF logic circuit s
used by the controller.
A CAUTION
The CMOS RAM backup battery is mounted on the power
supply unit PC board . If the board is removed from th e
controller for longer than 30 minutes, all software in th e
controller might be lost .
d oar B PC unIt -Suply rowe . i-u Figure
GI
CP
a 3
2
,®
OO F1 and F2: 19--A O
fuses for AC input CP2 CPS
V811 F5: 0.3A fuse for s
auxiliary ® a O, c2
E power supply
Battery cover
PIL: green LED
fonndicatin
power suppl~r thegC
statu s
z1 S, s,
t21 R2
CCCppp666
Battery
® ,
$° TIE a
CIRIS
0 13 A24 CP4
J ALM: Red LED 9 A
^ El A,o
p INH
m 13 AO
° 13 A15 ®
r_r for indicating
an alarm
p
2 no
1 AL O N
a 13 AO
c 8 cAps
E n SPI
~O6P3 in
F4:6-Afusefor+24E
3
2 OV O v
CPI?
p F3:5-AS slow-blow 0
fusefor+24V
(with battery cover removed)
b 7e64 3 2 1
1 . OVERVIEW
MARMMOSHW02301E
1-10
1 .5 The emergency stop control PC board is mounted on the backplane in th e

EMERGENCY STO P slot marked EMG . It contains the circuits that
CONTROL PC BOARD • Supply 100VAC to the servo amplifiers magnetic control contactor s
A16B-1212-0540 (MCCs) during normal operation .
• Turn off 100VAC for the MCC during fault conditions such as :
- Emergency stop
Axis overtravel
- Safety fence open
- Teach pendant DEADMAN switch
- Hand breakage detection
- Servo alarm generated by the software
• Supply power to the motor brakes to release them during norma l
operation. Brake power is turned off (applying motor brakes) during
major alarm conditions, or when regulated by the software .
Figure 1-9 shows the emergency stop control PC board layout .
Figure 1-9 .Emergency Stop Control PC Board
A EMG =
PCB
[5l®
[~i ®
0H
FUSE
1® NO D
1. OVERVIEW
MARMMOSHW02301 E
1 .6 The servo amplifiers are mounted on the back wall of the controller .
SERVO AMPLIFIERS The servo amplifier amplifies the drive signal from the axis control printe d
circuit board and supplies it to the servomotor.
Refer to Table 1-3 for Servo amplifiers are supplied in single or double axis configurations .
part numbers . Several different models of each configuration are used in various FANU C
robot controllers .
CAUTIO N
While two servo amplifiers might look identical, they might hav e
quite different output power capabilities . If you replace a servo
amplifier, make sure that the new unit has the same par t
number as the old one . Otherwise, the servo amplifier o r
servomotor might be damaged or destroyed .
See Figure 1-10 for a servo amplifier.

Figure 1-10 . Servo Amplifier
1 . OVERVIEW
MARMMOSHW02301 E
1-12
MCC Coi l Each servo amplifier has its own DC power supply, which is supplie d
3-phase 210 VAC from the multi-tap transformer. The power lines
supplying the DC power supply are switched on and off by a magnetic
contactor (relay) called the Magnetic Control Contractor (MCC) .
The MCC coil is energized by 100 VAC from the emergency stop contro l
PC board. The MCC coil voltage is turned off during major fault
conditions or when regulated by the software .
When the MCC is turned off, its normally-closed contacts connect th e

motor power leads together through low-resistance, high-power resistors ,
stopping the motor immediately.
Circuit Breaker The servo amplifier circuitry is protected by a circuit breaker . The rese t
lever for the circuit breaker is visible on the front panel of the serv o
amplifier. Refer to Section 1 .9 for more information on the multi-tap
transformer.
Each servo amplifier has fault detection circuits that detect such condition s
as excessive motor current and servo amplifier power supply failure .
A pair of terminals on the servo amplifier can be connected to a
temperature-sensing switch in the multi-tap transformer . If the switch
opens, the controller will signal a SRVO-0043 DCAL alarm .
Table 1-3 lists the servo amplifiers for several FANUC robots .
Figure 1-11 shows the mounting locations of the servo amplifiers .
Figure 1-11 . Mounting Locations of Servo Amplifiers .
SLOT 4 SLOT 5 SLOT 6
SLOT 1 SLOT 2 SLOT 3

1 . OVERVIEW
MARMMOSHW02301E 1-1 3
NOTE In Table 1-3, the part number of the specific amplifier i s

A06B-6066-HXXX.
Table 1-3. Servo Amplifiers

Machine Type SLOT 1 SLOT 2 SLOT 3 SLOT 4 SLOT 5 SLOT 6
ARC Mate H28 1 H223 H22 3
S-5 Axis 4/Axis 1 Axis 5/Axis 2 Axis 6/Axis 3
ARC Mate Sr. H23 4 H23 4 H233

S-10 Axis 4/Axis 1 Axis 5/Axis 2 Axis 6/Axis 3
S-42 0 H01 1 H00 6 H006 H24 4 H004

(with 2-axis amplifier) Axis 1 Axis 2 Axis 3 Axis 5/Axis 4 Axis 6
S-420 H29 1 H29 1 H29 1 DCR & DB R

(with three 2-axi s Axis 4/Axis 1 Axis 5/Axis 2 Axis 6/Axis 3 Unit
amplifiers)
1 .7 At the loss of either MCON signal from the axis control module to th e
servo amplifier, that amplifier turns off the 100C signal to the DBR and
DCR AND DBR UNI T DCR unit and its associated MCC . This turns off the MCC contactor (one
for each major and minor axis on the DBR and DCR unit) for that
amplifier, and engages the dynamic brakes through the normally close d
contacts of the corresponding MCC .
1 .8 At the loss of either MCON signal from the axis control module to th e
servo amplifier, that amplifier turns off the 100C signal to the DBR and
DCR AND DBR UNIT DCR unit and its associated MCC . This turns off the MCC contactor (one
for each major and minor axis on the DBR and DCR unit) for that
amplifier, and engages the dynamic brakes through the normally closed
contacts of the corresponding MCC .
At the loss of the 100VAC from the emergency stop circuit, all of the
MCC contactors are turned off, engaging all of the dynamic brakes .
When the MCC deenergizes, it opens its normally open contact, relayin g
"no interlock (INTL)
The regenerative discharge resistor and its associated thermal switch, for
each amplifier, is mounted to the back of the DBR and DCR unit.
The thermal switches of transformer TF1, is also connected to the DBR
and DCR unit.
1 . OVERVIEW.
MARMMOSHW02301 E
1-14
1 .9 The multi-tap transformer is located on the floor of the controller on th e

MULTI-TAP right side .
TRANSFORMER The multi-tap transformer is supplied 3-phase AC from the main
disconnect or circuit breaker. This supply voltage can be from 220 - 575
Refer to Table 1-5 for part volts. To accommodate the various levels of supply, tap selections are
numbers . provided on the primary side of the transformer.
The transformer supplies the following output voltages :
• 3-phase 210 VAC for the servo amplifier s
• 1-phase 210 VAC for the backplane-mounted component s
• 1-phase 100 VAC for the brakes and servo amplifier-mounted MCC s
Two series-connected thermostats are mounted on the transformer. They
are connected to fault detection circuitry in servo amplifier 1 . If the
transformer overheats, the controller will signal a SRVO-0043 DCA L
alarm.
Figure 1-12 shows the transformer and Table 1-4 lists the informatio n
necessary for selecting a proper primary tap.
Figure 1-12 . Multi-Tap Transformer
+ 575V 01
550V Oa- -
500V 0-
480V0 -
460V 05
240/415V0 1-
220V/380 V
F4 F 5 F1 F2 F3
5A 5A
OVOs
0 575V 091 0
> > NlAMeT'd'1Aca
> > > > :2 > > > ~tAr> > >
a(o
to
t°0
p
°p io
550V 0 11
500V 0 12
480V0
tpr
2 W?-.' tf
460V 0 13
+ + 240/415V 0 14 20V/38
23
>> c
> >
'- m
>> > >
13~®A1®--- -
ED ED
OV0 1s
31/0® 1 3 ~ # ®~41
>pp >pp N N 575V 017
TrtONIONNOODV'rNr~-N,-o'-vNNNNNO N 550V019
2 4 6 : /42 500V 019
480V 020
® ® ® 460V 021
24 240/415V 022
220V/380V 2
OV Oa4
+
-I O
1 . OVERVIEW
1-1 5
Table 1-4. Selecting Transformer Tap s
Primary Tap
Supply Voltage Connection Type
Li L2 L3 Jumper
220 7 15 23 7-24, 15-8, 23-16
A
240 6 14 22 6-24. 14-8, 22-1 6
380 7 15 23
415 6 14 22
460 5 13 21
480 4 12 20 8-16-24 Y
500 3 11 19
550 2 10 18
575 1 9 17
Table 1-5 . Multi-Tap Transformer Part Number s
Machine Type Part Numbe r

S-420 A80L-0026-0008# A
ARC Mate Sr., S-10 A80L-0024-0009# A
ARC Mate, S-5 A80L-0022-0007#A
1 . OVERVIEW
MARMMOSHW02301 E
The interface between the controller and peripheral devices is provided b y

input and output signals from one or more of the following :
Modular I/O Unit
Process I/O printed circuit boar d
• A printed circuit board specializing in communicating with a logi c

controller, which include s
- ABRIO for communication to an Allen-Bradley PL C
Genius I/O for communication to a GE Fanuc programmabl e
controller
1. OVERVIEW
1 .10 .1 The modular I/O unit provides communication between the SYSTEM R- J
Modular I/O Unit controller and various peripheral devices.
Figure 1-13 . Modular O
Interface Module I/O Modul e

Q PWR QLINK A0123466 7
QBAO
BAI AO 123456 7
AIFOIA L
C•7
JD1B JD1 A
C•7
D
U
CP32 JD2
The modular O unit uses the following communication modes :

• Discrete (On or Off) input and output signal lines at 24VDC or
120VAC . Outputs can be sink or source outputs .
• Analog signal lines, which can vary from 10VDC to +10VD C
The modular O unit consists of the following :
• The base unit
• The interface module
• Various discrete input and output (I/O) module s
The control can use as many as 64 modular I/O modules concatenate d
(daisy-chained) together on multiple racks .
A single modular O unit is referred to as rack 1 . The I/O modules are
located in slots 1 to 5 or 1 - 10, depending on the model used .
Base Unit The base unit is the backplane for the modular I/O unit . The interface
5 I/O Module Slot module and the I/O modules plug into it.
A03B-0807-C002 The base unit has no LEDs, fuses, or electrical connections, except for th e
10 I/O Module Slot
module sockets .
A03B-0807-C001
The first slot to the left (I/F) always contains the interface module . Th
other slots are used for the O modules .
1 . OVERVIEW
MARMMOSHW02301 E
1-18
Interface Module The interface module transfers data between the main CPU and the I/ O
With 1 Rack modules .
A03B-0807-C01 1
For Additional Rac k The interface module is connected to the JD4 connector on the main CP U
A03B-807-C12 PCB through connector JD1B . The interface module is always mounted i n
the I/F (first) slot .
Discrete Input Module s Discrete input modules receive 24VDC or 120VAC signals on thei r
Refer to Table 1-6 an d terminals and relay the data to the interface module .
Table 1-8 for specification s
and part numbers.
Discrete Output Module s Discrete output modules transmit 24VDC or 120VAC signals on their
Refer to Table 1-7 an d terminals under command of the interface module .
Table 1-8 for specifications
and part numbers .
1 . OVERVIEW
MARMMOSHW02301E 1- 1 9
Table 1-6. Digital Input Module Specification s

Module Rated Rated polarity.* Respons e points Externa
Input Type LED Display
Name Voltage Current Time l Con ection
Non-isolated AID32A 24VDC 7 .5 mA Both Maximum 32 Connector Not provide d
DC input 20 ms
AID32B 24VDC 7 .5 mA Both Maximu m 32 Connector Not provide d
2 ms
Optically AID16C 24 VDC 7 .5 mA NEG Maximum 16 Terminal block Provide d
isolate d 20 ms
DC input
AID16D 24VDC 7 .5 mA POS Maximum 16 Terminal block Provide d
20 ms
AID32E 24VDC 7 .5 mA Both Maximum 32 Connector Not provided
20 ms
AID32F 24VDC 7 .5 mA Both Maximu m 32 Connector Not provided
2ms
AC input AIA16G 100- 10.5 mA ON Max 35 ms 16 Terminal block Provide d
120VAC (120VAC) OFF Max 45 ms
* Polarity is defined as follows : Negative: 0 V common (current source type) ; ON when input is at low level .
Positive: 24 V common (current sink type) ; ON when input is at high level .
Table 1-7 . Digital Output Module Specification s

Output Module Rated Maximum polarity* Points Points/ External LED
Type Name Voltage Current Common Fuses
Connection Display
Not fused AOD332A 5- 0 .3A NEG 32 8 Connector Not Not
DC output 24 VDC provided provided
Fused AOD08C 12 - 2A NEG 8 8 Terminal block Provided Provided
DC output 24 VDC (Sink)
AOD08D 2A POS 8 8 Terminal block Provided Provided
(Source)
AOD16C 0 .5 A NEG 16 8 Terminal block Provided Not
(Sink) provided
AOD16D 0 .5 A POS 16 8 Terminal block Provided Not
(Source) provided
AOD32C 0 .3 A NEG 32 8 Connector Not Not
(Sink) provided provided
AOD32D 0 .3 A POS 32 8 Connector Not Not

(Source) provided provided
AC output AOA05E 100 - 2A - 5 1 Terminal block Provided Provided
AOA08E 240 VAC
1A - 8 4 Terminal block Provided Provided
AOA12F 100 - 0 .5 A - 12 6 Terminal block Provided Provided
120 VAC
Relay AOR08G Maximum 4A - 8 1 Terminal block Provided Not
output 250 VAC provided
AOR16G /30 VD
2A - 16 4 Terminal block Provided Not
provided
olarity is defined as follows : Negative :0 V common (current sink type) ; output is at low level when ON .
Positive : 24 V common (current source type) ; output is at high level when ON .
1 . OVERVIEW
MARMMOSHW02301 E
Table 1-8. I/O Module Part Numbers

Name Part Numbe r
DC input Non-isolated 32 points AID32A A03B-0807-C101
module 20 ms
32 points AID32B A03B-0807-C102
2ms
Optically 16 points AID16C A03B-0807-C10 3
isolated NE G
16 points AID16D A03B-0807-C10 4
PO S
32 points AID32E A03B-0807-C105
20 ms
32 points AID32F A03B-0807-C106
2 ms
AC input module AIA16G A03B-0807-C10 7
16 points
DC output Not fused 32 points AOD32A A03B-0807-C16 2
module NEG
Fused 8 points AOD08C A03B-0807-C15 1
NEG
8 points AOD08D A03B-0807-C152
POS
16 points AOD16C A03B-0807-C15 3
NE G
16 points AOD16D A03B-0807-C15 4
PO S
32 points AOD32C A03B-0807-C155
NEG
32 points AOD32D AO3B-0807-C15 6
POS
AC output module 5 points, 2 A AOA05E A03B-0807-C157
8 points AOA08E A03B-0807-C158
1 A
12 points AOA12F A03B-0807-C15 9
0 .5 A
Relay output module 8 points AOR08G A03B-0807-C16 0
4A
16 points AOR16G A03B-0807-C16 1
2A
Analog input module AAD04A A03B-0807-C05 1
Analog output module ADA02A A03B-0807-C052
1. OVERVIEW
MARMMOSHW02301E 1-21
1 .10.2 The process I/O printed circuit board provides communication between th e
Process I/O Board R-J controller on various peripheral devices .
Refer to Table 1-9 for The process I/O board uses :
part numbers .
• Discrete input lines - Inputs are 24 volt sensing receivers . Common
voltage can be selected as +24VDC or ground .
• Discrete output lines - Outputs are 24 volt sinking or sourcing

devices .
• Analog input lines - Analog inputs are A - D converters sensing an

analog signal -10VDC to 0V or 0V to +10VDC and providing a
digital signal to the processor.
• Analog output lines - Analog outputs are D - A converters that

output an analog signal -10VDC to 0V or 0V to +10VDC based on a
command from the processor.
Figure 1-14 . Process I/O Printed Circuit Boar d
JNA
Mt PO rmKiercris
1 Eemo F
DV 6
DV5
DVI o DV4
DV9 DV3
DVS DV 2
DV7 DV 1
des+ CRM2B JD4B JD4A
CRM2A
0
0
0
1 . OVERVIEW
MARMMOSHW02301 E
1-22
Table 1-9 . Process I/O Board Part Numbers

Number of I/O
No . Name Part Number Points Remarks
DI DO D/A A/D
1 Process I/O printed circuit board AA A16B-2200-0780 40 40 2 4 Standard (with welding interface )
2 Process I/O printed circuit board AB A16B-2200-0782 40 40 - - Standard (without welding interface)
3 Process I/O printed circuit board BA A16B-2201-051 0 32 32 2 4 Source type DO (with welding
(weld interface) interface )
A20B-2000-0540
4 Process I/O printed circuit board BB A16B-2201-0510 32 32 - - Source type DO (without weldin g
interface )
5 Process I/O printed circuit board CA A16B-2201-0470 40 40 2 4 Backplane installation type (wit h
welding interface)
6 Process I/O printed circuit board CB A16B-2201-0472 40 40 - - Backplane installation type (without
welding interface )
7 Process I/O printed circuit board DA A16B-2201-0480 96 96 - - Backplane installation type (withou t
welding interface)
1.10.3 The ABRIO and Genius I/O printed circuit boards use seria l
ABRIO and Genius I/O communication to interface to a programmable controller. Typically these
printed circuit boards are used for communicating cell control informatio n
ABRIO between the SYSTEM R-J controller and the programmable controller .
R-H style: A16B-2200-0430
R-J style : A05B-2300-J 120 Refer to the following manuals for information on these boards .
• A User's Guide to the FANUC Robotics Remote I/O Interface for a n
Genius I/O Allen-Bradley PL C
A16B-2200-0310 • A User's Guide to the FANUC Robotics Genius Network Interface fo r
GEFanuc (R-H Style Board in R-J Controller)
• A User's Guide to the FANUC Robotics Remote I/O Interface for an
Allen-Bradley PLC (R-H Style Board in R-J Controller)
1 . OVERVIEW
1 .1 1 The SYSTEM R-J controller is supplied with either a fused flang e

FUSED FLANG E disconnect or a circuit breaker.
DISCONNECT AN D
CIRCUIT BREAKE R
Fused Flange Disconnec t The fused flange disconnect provides overcurrent protection suppl y
through three fuses, one, on each leg of the 3-phase supply. See
Figure 1-15 .
Refer to Table 1-11 for fus e
sizes, current rating, and par t
numbers.
Circuit Breake r The circuit breaker provides overcurrent protection to the controller an d
the supply . The circuit breaker is available with or without ground faul t
protection. See Figure 1-16 .
Refer to Table 1-10 an d The fused flange disconnect and the circuit breaker also provide a mean s
Table 1-11 for current rating for shutting off power to the controller and locking the power out .
and part numbers .
A WARNING
Lethal voltage is present in the controller WHENEVER IT I S
CONNECTED to a power source . Be extremely careful to
avoid electrical shock .
Turning the disconnect or circuit breaker to the . OF F

position removes power from the output side of the devic e
only. High voltage is always present at the input sid e
whenever the controller is connected to a power source .
1 . OVERVIE W
MARMMOSHW02301 E
1-24
Figure 1-15. Fused Flange Disconnect
Figure 1-16 . Circuit Breaker

1 . OVERVIEW
Table 1-10. Circuit Breaker, B-Size Cabinet
Input Circuit Breaker Circuit Breaker with Ground

Voltage Fault
Current Part Number Current Part Number
220 A60L-0001-0347
50A 30A A60L-0001-0306 #BA
240 #B030S
38 0
41 6
460 A60L 0001-0347
30A 20A A60L-0001-0306 #AA
480 #B015S
50 0
55 0
575 A60L 0001 -0258
15A Not Availabl e
#SA538-15
Table 1-11 . Circuit Breaker and Fused Flange Disconnect Switch, C-Siz e
Cabinet
Circuit Breaker Circuit Breaker with Groun d Fused Flange Disconnect Switch
Input Fault
Voltage
Current Part Number Current Fus e
Part Number Part Numbe r
Size
220 A60L-0001-0181 #17 5

50A A60L-0001-0308#F050 50A A60L-0001-0306#DA 5A Fuse A60L-0001-004 2
240
#JG2-50
38 0
41 6
460 A60L-0001-0347 A60L-0001-030 7
30A #B030S 30A
480 #B20B3 A60L-0001 0181#175
500 30A Fuse A60L-0001-004 2
550 #JG1-30
575 A60L-0001 0258

20A Not Available
#SA53H-20
1 . OVERVIEW
MARMMOSHWO2301 E
1-26
1 .1 2 An optional user transformer that supplies 120VAC is available . It is

USER TRANSFORME R located on the lower left side of the controller.
A80L-0001-0520
1 .13 Pushbuttons and LEDs on the Operator Panel are used to start the robo t
OPERATOR PANEL and to indicate robot status . The panel has a port for serial interface to an
external device.
Refer to Table 1-12 for part The operator panel can be equipped with one or both of the following :
numbers .
• Remote CRT/KB port for connecting a terminal to the controller .
• DB-25 connector for serial interface (external disk drive, for example )
• Disconnectable teach pendant port with a switch so the robot can b e
operated without the teach pendant connected.
An emergency stop button on the operator panel places the robot into th e
emergency stop condition when pressed.
1 . OVERVIEW
1-2 7
Figure 1-18 shows the operator panel on a B-size controller . Figure 1-1 9
shows the operator panel on a C-size controller .
Figure 1-18 . Operator Panel, B-Size Controlle r
Figure 1-19 . Operator Panel, C-Size Controlle r
Table 1-12. Part Numbers

Controller Without Disconnectabl e With Disconnectable Teac h
Teach Pendant Pendant
B-Size A05B-2302-C020 A05B-2302-C02 1
A05B-2301-C003
C-size with Built-I n A05B-2301-C00 1
CRT/KB
A05B-2301-C002
C-size with A05B-2301-C004
Remote CRT/KB
1 . OVERVIEW
MARMMOSHW02301 E
1-28
1 .1 4 The teach pendant is a hand held device used for operating an d

TEACH PENDANT programming the robot and controller. Keys on the teach pendant are use d
to enter data, jog the robot, and to call up various displays and menus .
Refer to Table 1-13 for The pendant has a liquid crystal display 16 lines long by 40 character s
part numbers . wide. The teach pendant also has an emergency stop button that, when
pressed, places the robot into an emergency stop condition .
A DEADMAN switch mounted on the back of the teach pendant enable s
servo drive power if held with the teach pendant on/off switch turned t o
ON . When the teach pendant switch is turned to OFF, pressing th e
DEADMAN switch is not required to keep servo drive power enabled .
A WARNING
The robot will become fully functional and capable of bein g
started at the operator panel if the teach pendant is turne d
off and the fence circuit is not installed or closed . Whe n
working in the robot envelope, ALWAYS CARRY TH E
TEACH PENDANT and ALWAYS HAVE THE TEAC H
PENDANT ENABLED .
Seven of the keys on the teach pendant provide different function s

depending on the software in the controller . Eleven LEDs display status of
the system . LEDs are different based on software operating in th e
controller.
Refer to Chapter 4, "Lights and LEDs," for an explanation of the LEDs .
1 . OVERVIEW
Figure 1-20. Teach Pendan t
Table 1-13 . Teach Pendant Part Numbers
Application Part Number Comment

Spot Welding A05B-2301-C300 Japanes e
Material Handling A05B-2301-C30 1
Arc Welding A05B-2301-C30 2
Sealing A05B-2301-C30 3
General Use A05B-2301-C30 5
Spot Welding A05B-2301-C310 Englis h
Material Handling A05B-2301-C31 1
Arc Welding A05B-2301-C31 2
Sealing A05B-2301-C31 3
General Use A05B-2301-C315
1 . OVERVIEW
MARMMOSHW02301 E
1-30
1 .15 The temperature in the controller is kept within operating range through
HEAT EXCHANGE AND the use of an air-to-air heat exchange system . The controller is sealed to
prohibit outside air from entering . Internal controller air is circulated by
FANS fans around the inside of the controller and downward through the internal
side of the heat exchange unit . Outside air is circulated upward through
Refer to Figure 1-21 and the external side of the heat exchange unit also by using a fan . This
Figure 1-22 for part numbers process cools the inside air.
Fans are provided on the PCB racks mounted on the backplane to circulat e
air over the printed circuit boards .
Cooling fins connected to the servo amplifiers are within the hea t
exchange unit to keep the heat generated by the servo power circuits out o f
the controller.
Figure 1-21 shows the heat exchange system for a B-size controller.
Figure 1-22 shows the heat exchange system for a C-size controller.
Figure 1-21 . Heat Exchange System, B-Size Controller
FAN 1
Fan Unit
A05B-2302-C90 1
Fan (Alone)
A901-0001-0219 #A
FAN 3 FAN 2
Fan Uni t Fan Uni t
A05B-2302-C90 2 A05B-2302-C900
.,
Fan (Alone ) Fan (Alone )
A90L-0001-0213 #A OUTSIDE AIR IN A90L-0001-0213 #A
1 . OVERVIEW
Figure 1-22. Heat Exchange System, C-Size Controller

FAN 1
Fan Uni t
A05B-2301-C90 1
Fan (Alone)
A90L-0001-0219 #A
FAN 2
Fan Unit
A05B-2302-C90 0
Fan (Alone )
A90L-0001-0213#A
SAFETY
2-1
FANUC Robotics is not and does not represent itself as an expert in safety
systems, safety equipment, or the specific safety aspects of your compan y
and/or its work force . It is the responsibility of the owner, employer, o r
user to take all necessary steps to guarantee the safety of all personnel i n
the workplace .
The appropriate level of safety for your application and installation ca n
best be determined by safety system professionals. FANUC Robotic s
therefore, recommends that each customer consult with such professional s
in order to provide a workplace that allows for the safe application, use ,
and operation of FANUC Robotic systems .
Additionally, as the owner, employer, or user of a robotic system, it is you r
responsibility to arrange for the training of the operator of a robot syste m
to recognize and respond to known hazards associated with your roboti c
system and to be aware of the recommended operating procedures for you r
particular application and robot installation.
FANUC Robotics therefore, recommends that all personnel who intend t o
operate, program, repair, or otherwise use the robotics system be trained i n
an approved FANUC Robotics training course and become familiar wit h
the proper operation of the system . Persons responsible for programming
the system-including the design, implementation, and debugging of
application programs-must be familiar with the recommende d
programming procedures for your application and robot installation .
The following guidelines are provided to emphasize the importance o f
safety in the workplace .
2. SAFETY
MARMMOSHW02301 E
2-2
CONSIDERIN G Safety is essential whenever robots are used. Keep in mind the following
factors with regard to safety :
SAFETY . FOR YOU R
• The safety of people and equipment
. ROBOT • Use of safety enhancing devices
INSTALLATIO N • Techniques for safe teaching and manual operation of the robot(s )
• Techniques for safe automatic operation of the robot(s )
• Regular scheduled inspection of the robot and workcel l
• Proper maintenance of the robo t
Keeping People and The safety of people is always of primary importance in any
Equipment Safe situation. However, equipment must be kept safe, too . When
prioritizing how to apply safety to your robotic system, conside r
• Peopl e
• External device s
• Robot(s)
• Tooling
• Workpiece
Using Safety Always give appropriate attention to the work area that surrounds th e
Enhancing Devices robot. The safety of the work area can be enhanced by the installation o f
some or all of the following devices :
• Safety fences, barriers, or chain s
• Light curtains
• Interlock s
• Pressure mats
• Floor markings
• Warning light s
• Mechanical stops
• EMERGENCY STOP buttons
• DEADMAN switche s
Setting Up a Safe A safe workcell is essential to protect people and equipment . Observe the
Workcell following guidelines to ensure that the workcell is set up safely. Thes e
suggestions are intended to supplement and not replace existing federal ,
state, and local laws, regulations, and guidelines that pertain to safety.
• Sponsor your personnel for training in approved FANUC Robotic s

training course(s) related to your application . Never permit untrained
personnel to operate the robots .
• Install a lockout device that uses an access code to preven t

unauthorized persons from operating the robot.
• Use anti-tie-down logic to prevent the operator from bypassing safet y

measures.
• Arrange the workcell so the operator faces the workcell and can se e
what is going on inside the cell.
2. SAFETY
2-3
• Clearly identify the work envelope of each robot in the system with
floor markings, signs, and special barriers . The work envelope is th e
area defined by the maximum motion range of the robot, including any
tooling attached to the wrist flange that extend this range .
• Position all controllers outside the robot work envelope .
Never rely on software as the primary safety element .
Mount an adequate number of EMERGENCY STOP buttons o r

switches within easy reach of the operator and at critical points insid e
and around the outside of the workcell.
• Install flashing lights and/or audible warning devices that activat e

whenever the robot is operating, that is, whenever power is applied t o
the servo drive system .
• Wherever possible, install safety fences to protect against unauthorize d

entry by personnel into the work envelope .
• Install special guarding that prevents the operator from reaching int o
restricted areas of the work envelope .
Use interlocks .
• Use presence or proximity sensing devices such as light curtains, mats ,

and capacitance and vision systems to enhance safety.
• Periodically check the safety joints or safety clutches that can b e

optionally installed between the robot wrist flange and tooling . If the
tooling strikes an object, these devices dislodge, remove power fro m
the system, and help to minimize damage to the tooling and robot .
• Make sure all external devices are properly filtered, grounded ,

shielded, and suppressed to prevent hazardous motion due to the
effects of electro-magnetic interference (EMI), radio frequenc y
interference (RH), and electro-static discharge (ESD) .
• Make provisions for power lockout/tagout at the controller.
• Eliminate pinch points. Pinch points are areas where personnel coul d
get trapped between a moving robot and other equipment .
• Provide enough room inside the workcell to permit personnel to teac h

the robot and perform maintenance safely .
Program the robot to load and unload material safely .
• If high voltage electrostatics are present, be sure to provide appropriat e

interlocks, warning, and beacons .
• If materials are being applied at dangerously high pressure, provid e

electrical interlocks for lockout of material flow and pressure .
2. SAFETY
MARMMOSHW02301 E
2-4
Staying Safe While Advise all personnel who must teach the robot or otherwise manuall y
Teaching or Manually operate the robot to observe the following rules :
Operating the Robot
• Know whether or not you are using an intrinsically safe teach pendan t
if you are working in a hazardous environment .
• Before teaching, visually inspect the robot and work envelope to make
sure that no potentially hazardous conditions exist . The work
envelope is the area defined by the maximum motion range of th e
robot. These include tooling attached to the wrist flange that extend s
this range.
• The area near the robot must be clean and free of oil, water, or debris .
Immediately report unsafe working conditions to the supervisor o r
safety department.
• FANUC Robotics recommends that no one enter the work envelope o f

a robot that is on . However, if you must enter the work envelope, b e
sure all safeguards are in place, and check the teach pendant
DEADMAN switch for proper operation . Take the teach pendant with
you, turn it on, and be prepared to release the DEADMAN switch .
Only the person with the teach pendant should be in the work
envelope .
• Know the path that can be used to escape from a moving robot ; make
sure the escape path is never blocked .
• Isolate the robot from all remote control signals that can cause motio n
while data is being taught.
• Test any program being run for the first time in the following manner :
A WARNING
Stay outside the robot work envelope whenever a progra m
is being run . Failure to do so can result in injury .
Using a low motion speed, single step the program for at least on e
full cycle .
- Using a low motion speed, test run the program continuously fo r

at least one full cycle .
- Using the programmed speed, test run the program continuousl y

for at least one full cycle .
• Make sure all personnel are outside the work envelope before runnin g
production.
2. SAFETY
MARMMOSHW02301E 2-5
Staying Safe During Advise all personnel who operate the robot during production to observ e
Production Operation the following rules :
• Know the entire workcell area . The workcell includes the robot and it s
work envelope, plus the area occupied by all external devices an d
other equipment with which the robot interacts .
• Understand the complete task the robot is programmed to perfor m

before initiating production operation .
• Make sure all personnel are outside the work envelope before
operating the robot .
• Never enter or allow others to enter the work envelope during

production operation of the robot .
• Know the location and status of all switches, sensors, and control
signals that could cause the robot to move .
• Know where the EMERGENCY STOP buttons are located on both the
robot control and external control devices . Be prepared to press these
buttons in an emergency.
• Never assume that a program is complete if the robot is not moving .

The robot could be waiting for an input signal that will permit it t o
continue activity.
• If the robot is running in a pattern, do not assume it will continue t o

run in the same pattern .
• Never try to stop the robot, or break its motion, with your body . The
only way to stop robot motion immediately is to press a n
EMERGENCY STOP button located on the controller panel, teac h
pendant, or emergency stop stations around the workcell .
Staying Safe During When inspecting the robot, be sure to

Inspection
Turn off power at the controller.
• Lock out and tag out the power source at the controller according t o
the policies of your plant .
Turn off the compressed air source and relieve the air pressure .
• If robot motion is not needed for inspecting the electrical circuits ,

press the EMERGENCY STOP button on the operator panel .
• If power is needed to check the robot motion or electrical circuits, b e

prepared to press the EMERGENCY STOP button, in an emergency.
2. SAFETY
MARMMOSHW02301 E
2-6
Staying Safe During When performing maintenance on your robot system, observe th e
Maintenance following rules:
• Never enter the work envelope while the robot or a program is in

operation.
• Before entering the work envelope, visually inspect the workcell to

make sure no potentially hazardous conditions exist.
• Consider all or any overlapping work envelopes of adjoining robot s

when standing in a work envelope.
• Test the teach pendant for proper operation before entering the wor k
envelope .
• If it is necessary to enter the robot work envelope while power i s

turned on, you must be sure that you are in control of the robot . B e
sure to take the teach pendant with you, press the DEADMAN switch ,
and turn the teach pendant on . Be prepared to release the DEADMA N
switch to turn off servo power to the robot immediately.
• Whenever possible, perform maintenance with the power turned off.

Before you open the controller front panel or enter the work envelope ,
turn off and lock out the 3-phase power source at the controller .
A WARNIN G
Lethal voltage is present in the controller WHENEVER IT I S
CONNECTED to a power source . Be extremely careful t o
avoid electrical shock .
Turning the disconnect or circuit breaker to the OF F

position removes power from the output side of the devic e
only. High voltage is always present at the input sid e
whenever the controller is connected to a power source .
• Release or block all stored energy . Before working on the pneumati c

system, shut off the system air supply and purge the air lines .
• Isolate the robot from all remote control signals . If maintenance mus t
be done when the power is on, make sure the person inside the wor k
envelope has sole control of the robot. The teach pendant must b e
held by this person .
• Make sure personnel cannot get trapped between the moving robot an d
other equipment . Know the path that can be used to escape from a
moving robot . Make sure the escape route is never blocked .
• Use blocks, mechanical stops, and pins to prevent hazardou s

movement by the robot. Make sure that such devices do not create
pinch points that could trap personnel.
2. SAFETY
MARMMOSHW02301E 2-7
A WARNING
Do not try to remove any mechanical component from th e
robot before thoroughly reading and understanding th e
procedures in the appropriate manual . Doing so can resul t
in serious personal injury and component destruction .
• Be aware that when you remove a servomotor or brake, the associate d

axis will fall if it is not supported or resting on a hard stop .
• When replacing or installing components, make sure dirt and debris d o
not enter the system.
• Use only specified parts for replacement . To avoid fires and damage
to parts in the controller, never use nonspecified fuses .
• Before restarting a robot, make sure no one is inside the wor k
envelope ; be sure that the robot and all external devices are operatin g
normally.
KEEPING MACHIN E Certain programming and mechanical measures are useful in keeping th e
machine tools and other external devices safe . These measures are
TOOLS AN D outlined below.
EXTERNA L
DEVICES SAF E
Programming Safety Implement the following programming safety measures to prevent damag e
Precaution s to machine tools and other external devices .
• Back-check limit switches in the workcell to make sure they do no t
fail .
• Implement "failure routines" in programs that will provide appropriat e

robot actions if an external device or another robot in the workcel l
fails .
• Use handshaking protocol to synchronize robot and external devic e

operations .
• Program the robot to check the condition of all external devices durin g
an operating cycle .
Mechanical Safet y Implement the following mechanical safety measures to prevent damage t o
Precautions machine tools and other external devices .
Make sure the workcell is clean and free of oil, water, and debris .
• Use software limits, limit switches, and mechanical hardstops t o
prevent undesired movement of the robot into the work area o f
machine tools and external devices .
2. SAFETY
MARMMOSHW02301 E
2-8
KEEPING TH E Observe the following operating and programming guidelines to preven t

damage to the robot.
ROBOT SAFE
Operating Safety The following measures are designed to prevent damage to the robot
Precautions during operation .
• Use a low override speed to increase your control over the robot when
jogging the robot .
• Visualize the movement the robot will make before you press the jo g
keys on the teach pendant .
Make sure the work envelope is clean and free of oil, water, or debris .
• Use circuit breakers to guard against electrical overload .
Programming Safety The following safety measures are designed to prevent damage to the robo t
Precautions during programming :
• Establish interference zones to prevent collisions when two or more

robots share a work area .
• Make sure that the program ends with the robot near or at the hom e
position.
• Be aware of signals or other operations that could trigger operation o f

tooling resulting in personal injury or equipment damage .
NOTE Any deviation from the methods and safety practices described in
this manual must conform to the approved standards of your company . If
you have questions, see your supervisor.
A WARNIN G
An EMERGENCY STOP will occur if the DEADMAN switc h
is released on a bypassed robot.
A WARNIN G
Observe all safety rules and guidelines to avoid injury.
DIAGNOSTIC SCREENS
MARMMOSHW02301E 3-1
Various built-in diagnostic screens reveal important information regardin g

the status of the SYSTEM R-J Controller . These screens with
explanations of the screen data are presented in this section .
UTILITY Hints JOINT 10

MENUS - Provides a list of all menus .
FCTNS - Provides helpful functions .
SELECT, EDIT, DATA, POSN, I/O, STAT -
Displays menus with those names .
Function keys with [] show mor e
choices .
F1 [ TYPE ] function key lists relate .
screens with a menu .
The UTILITY Hints screen, shown in Figure 3-1, is the first screen t o
appear in the menu structure ; this is the starting level to the rest of th e
diagnostic screens . Most operations begin by pressing MENUS . The Fl ,
[TYPE] function key will show submenus within any shown menu o n
screen .
This chapter contains information about the following diagnostic screens :
• Safety signals
• Position display
e Robot Axes - motion
• Alarm log
• Version ID s
• Memory
3 . DIAGNOSTIC SCREENS
3-2 MARMMOSHW02301 E
3.1 The safety signal screen displays the status of safety-related control signal s
SAFETY SIGNA L coming into the controller.
STATUS The safety signal screen displays the current state (TRUE or FALSE) o f
each safety signal . You cannot change the condition of the safety signa l
using this screen. Table 3-1 lists and describes each safety signal . Use
Procedure 3-1 to display safety signal status .
Table 3-1 . Safety Signal s
SAFETY
SIGNAL DESCRIPTIO N
SOP E-Stop Indicates whether the EMERGENCY STOP button on the operator panel has been pressed . Th e
status is TRUE if the operator panel EMERGENCY STOP button has been pressed .
TP E-Stop Indicates whether the EMERGENCY STOP button on the teach pendant has been pressed . Th e
status is TRUE if the teach pendant EMERGENCY STOP button has been pressed .
Ext E-Stop Indicates whether an external emergency exists . The status is TRUE if the external emergency sto p
contacts are open on the emergency control PCB (EMG) and the following conditions exist :
• SOP E-STOP is FALS E
• TP E-Stop is FALS E
• Hand Broken is FALS E
• Overtravel is FALS E
If any one of these conditions is TRUE, Ext E-Stop is displayed as FALSE even though thes e
contacts could be open .
Fence Open Indicates whether the safety fence switch is open . The status is TRUE if the safety fence contact s
are open on the emergency control (EMG) PCB .
TP Deadman Indicates when either the left or right teach pendant DEADMAN switch is pressed . The status i s
TRUE if either DEADMAN switch is pressed . When released with teach pendant enabled, thi s
alarm shuts off servo power.
TP Enable Indicates whether the teach pendant ON/OFF switch is ON . The status is TRUE when the teac h
pendant ON/OFF switch is ON .
Hand Broken Indicates whether the safety joint switch in the robot hand has been tripped and the hand might b e
damaged . The status is TRUE when the safety joint switch has been tripped . This turns off the han d
broken signal (*HBK) to the axis control PCB . This alarm shuts off servo power.
Overtravel Indicates whether the robot has moved beyond its overtravel limits . The status is TRUE when th e
robot has moved beyond its overtravel limits tripping the overtravel switch . This turns off (*ROT) t o
the axis control PCB . This alarm shuts off servo power.
Low Air Alarm Indicates whether the air pressure has decreased below the acceptable limit . Low Air Alarm i s
usually connected to an air pressure sensing device . The status is TRUE when the air pressure i s
below the acceptable limit . This opens the pressure switch which turns off (*PPABN) to the axi s
control PCB . You must set the $PPABN_ENBL system variable to TRUE to use this signal . Thi s
alarm shuts off servo power .
Belt Broken Indicates whether a robot belt is broken . The status is TRUE when a robot belt is broken . This turn s
RDI7 on or off depending on how your system is set up . You must set the $BELT_ENABLE syste m
variable to TRUE to use this signal . (This might not apply to your system .)
MARMMOSHW02301E
Procedure 3-1 Displaying Safety Signal Statu s
Step 1 Press MENUS .

2 Select STATUS .
3 Press Fl, [TYPE].
4 Select Safety Signl . See the following screen for an example .
3 . DIAGNOSTIC SCREEN S
3-4 MARMMOSHWO2301 E
3z The position screen displays positional information in joint angles o r

Cartesian coordinates. The positional information on this screen i s
POSITION STATUS
updated continuously when the robot moves . You cannot change the
displayed information using this screen .
NOTE El, E2, and E3 indicate extended axis positional information i f

extended axes are installed in your system .
Joint The joint screen displays positional information in degrees for each robo t
axis . This is useful when determining the number or revolutions or the
amount of rotation on an axis, especially between programmed points .
Tool indicates the number of the active tool frame .
User The user screen displays positional information in Cartesian coordinate s

based on the user frame . Tool indicates the number of the active too l
frame. Frame indicates the number of the active user frame .
World The world screen displays positional information in Cartesian coordinate s

based on the world frame . Tool indicates the number of the active too l
frame.
Use Procedure 3-2 to display position status .
Procedure 3-2 Displaying Position Statu s

2 Select POSITION .
3 Select the appropriate coordinate system.
0 For joint, press F2, JNT.
w
V C
C4
O
d
w
can
3 .3 The robot axes status screen displays information for each robot axis . This
information is continually updated . Use this information when you cal l
ROBOT AXES STATUS
the FANUC Robotics Hotline if a problem occurs with your robot .
The Axis Status Pulse screen displays information about axis motion .
Table 3-2 lists and describes each kind of information displayed on thi s
screen.
Use Procedure 3-3 to display the axis status pulse screen .
Table 3-2 . AxIs Status Pulse Screen Items

ITEM DESCRIPTION
Motio n Displays the desired value of the Absolute Pulse Coder (APC) when the robot gets to the positio n
Command commanded by the controller .
Machine Pulse Shows the actual APC count as read by the controller .
Position Error Displays the difference between the commanded APC count versus the actual APC count .
You cannot change any information on this screen except for the grou p
number. Group number only applies if you have multiple groups ;
otherwise, it remains as 1 .
Procedure 3-3 Displaying the Axis Status Pulse Scree n

2 Select STATUS.
3 Press Fl, [TYPE] .
4 Select Axis .
5 Display the status screen you want :
0 For Pulse, press F4, PULSE .
3. DIAGNOSTIC SCREENS
MARMMOSHW02301E 3_7
3.4 The Alarm Log displays a list of the 100 most recent alarms . Figure 3- 2
ALARM LOG
shows an example of the Alarm Log .
Figure 3-2 . Alarm Log

+:.:~;+"~.'•i5iir: x
~~1;::»~»>::iia;•.sss>:,: ..'••;F%i"> ;, :,,, : q:FSyi••74i
:>~~i`~'~.~3.~ì~~i3s~.;%%>£3~i'I~Fi ;~, ,. ,~,, <>:; :><;,. ;:,:%;
St#: '~: fr;
: :
~.•..;' •.>.:.<
JO I
. . :::::::::
. . . .. . . ..
{%
:i%~l:i'.~%S ::/,.iii:~i:ti:%% :.i ~i; ;i /•.;4:.%: iiY iii:, v:/.~..i1% i%
.
.. ..:Y:i4;iiii~~~~ .,
•: /%i::.• :(:ii"
:i
~. . " • .
The areas of the Alarm Log are as follows :
1. This is the most recent alarm message . This message will b e

displayed in this line regardless of the screen you choose .
2. Indicates the program name and line number of program last havin g
been acted upon.
3. Lists all of the alarm messages, up to 100, with the most recent alar m
on the top of the list. When the RESET key is pressed, a RESET i s
logged on the alarm message screen . Refer to APPENDIX B -
ERROR CODES and RECOVERY for an explanation of each alar m
message.
4. Indicates the line number the cursor is on in proportion to how many

lines numbers available .
Use Procedure 3-4 to display the Alarm Log.
MARMMOSHW02301 E
3-8
Procedure 3-4 Displaying the Alarm Lo g
Condition n An error has occurred.

Step 1 Press ALARMS .
2 Press F1, [TYPE] .
3 Select Alarm Log. The alarm log will be displayed. This lists all
errors. See the following screen for an example .
The most recent error is number 1 .

To display the complete message for a message that does not fit on th e
screen, press and hold the SHIFT key and press the right arrow key .
4 To display the motion log, which lists only motion-related errors ,
press F1, [TYPE], and select Motion Log .
5 To display the system log, which displays only system errors, pres s
Fl, [TYPE], and select System Log .
6 To display the application log, which displays only errors, press F1 ,
[TYPE], and select Appl Log .
7 To display more information about an error, move the cursor to the
error and press F5, HELP. The error help screen displays information
specific to the error you selected . When you are finished viewing th e
information, press PREV.
8 To remove all of the error messages displayed on the screen, press
F4, CLEAR .
MARMMOSHW02301E 3_9
$ r
j The version identification status screen displays information specific to
your controller. Use this information when you call the FANUC Robotic s
VERSION
Hotline if a problem occurs with your controller . You cannot change the
IDENTIFICATION information displayed on this screen . Table 3-3 lists and describes the
STATUS version identification status information .
Table 3-3. Version Identification Status Items -
VERSION ID ITEM DESCRIPTION

ApplTool The name of the application package .
Appl/Tool ID The version number of the application package .
Robot Name The robot model name, the torque on the wrist, and the type of wrist .
S/W Serial Number The software order number for the disk set .
Core Name The name of the core software .
Core ID The version number of the core software .
Library Name The name of the robot library.
Library ID The version number of the robot library .
Servo Code ID The version of servo parameters installed .
Mot Param ID The software version for the software that controls motio n
Update #1-10 The name and software version for which a post-release software update has bee n
installed .
Build ID Internal software version information .
Use Procedure 3-5 to display version identification status.
Procedure 3-5 Displaying the Version Identification Statu s

2 Select STATUS .
4 Select Version ID. See the following screen for an example . This i s
the software version status screen .
5 Press the key that corresponds to the version ID status screen you wan t
to display ,
• To display software version information, press F2 ,
SOFTWARE.
• To display motor types for each axis, press F3, MOT ID . Se e
the following screen for an example .
• To display the motor information for each axis, press F4 ,

MOT_INF. See the following screen for an example.
,STATUS Version IDs JOINT 10
• To display the servo parameters for each axis, press F5 ,

SER_PAR . See the following screen for an example .
3. DIAGNOSTIC SCREENS
3.6 The memory status screen displays information about controller memory.
Table 3-4 lists and describes each memory status item . Use
MEMORY STATUS Procedure 3-6 to display memory status .
Table 3-4 . Memory Statu s
MEMORY STATUS DESCRIPTION
User Indicates the amount of memory for user programs : teach pendant programs and KARE L
programs .
• Total indicates the original size of the memory area.
• Free indicates how much memory is available .
• Largest Free indicates the largest contiguous segment of available memory .
System Indicates the amount of memory for system information : F-DICT (dictionary files that
define what is displayed on the screens), F-PROG (application, operating system, and
option files), and C-WORK (temporary memory used for system operations).
• Total indicates the original size of the memory area .
• Free indicates how much memory is available .
• Largest Free indicates the largest contiguous segment .
Hardware Indicates the total amount of memory in FROM and CMOS RAM .
Procedure 3-6 Displaying Memory Status

2 Select STATUS .
4 Select Memory. See the following screen for an example .
3.7 You can view the status of an I/O signal by displaying a status screen . Us e
Procedure 3-7 to display I/O status .
I/O STATUS
Procedure 3-7 Displaying I/O Stsatu
Step 1 Press MENUS.

2 Select I/O .
3 Press Fl, [TYPE].
4 Select the kind of I/O for which you want to display status: spot
welding, digital, analog, group, robot, UOP, or SOP.
For digital outputs for example, you will see a screen similar to th e
following .
5 To change the display between inputs and outputs, press F3 ,

IN/OUT.
6 To view the I/O configuration of the signal, press F2, CONFIG .
3. DIAGNOSTIC SCREEN S
MARMMOSHW02301 E
3-14
3,8 You can display the status of host communication in your system. Use to
display host communication status .
HOST
COMMUNICATIO N
STATUS
Procedure 3-8 Displaying Host Communication Statu s

2 Select SETUP
4 Select Host Comm. See the following screen for an example .
5 Press F4, [SHOW] .

6 Select the host communication information you want to display :
To display protocols, select 1 Protocols.
To display clients, select 2 Clients .
• To display servers, select 3 Servers.
LIGHTS AND LEDS
MARMMOSHW02301E 4-1
This chapter describes the lights and LEDs you can use for diagnostics :
• Teach pendant LED s
• Operator panel LEDs
• Circuit board diagnostic LEDs
4 . LIGHTS AND LEDS
MARMMOSHW02301 E
4-2
4. 1 The teach pendant has several LEDs to assist the user in determining the
status of the controller. Figure 4-1 shows the teach pendant LEDs.
TEACH PENDANT
Table 4-1 lists and describes the teach pendant LEDs . The LEDs whos e
DIAGNOSTIC LED S labels are blank vary depending on the particular application .
Refer to the Setup and Operations Manual for your application for
information on application-specific LEDs .
Figure 4-1 . Teach Pendant LED s
Table 4-1 . Teach Pendant Status Indicator s

INDICATOR DESCRIPTION
FAULT Indicates that a fault condition has occurred .
HOLD Indicates that the robot is in a hold condition . HOLD is not on continuously during a hold condition .
STEP Indicates that the robot is in step mode .
BUSY Indicates that the controller is processing information .
RUNNING Indicates that a program is being executed .
JOINT Indicates that the current jog coordinate system is JOINT.
XYZ Indicates that the current jog coordinate system is CARTESIAN .
XYZ Indicates that the current jog coordinate system is JOG frame or WORLD .
TOOL Indicates that the current jog coordinate system is TOOL .
4 . LIGHTS AND LED S
MARMMOSHW02301E 4-3
4. 2 The operator panel has several LEDs to assist the user in determining th e
status of the controller . Figure 4-2 shows the operator panel LEDs .
OPERATOR PANE L Table 4-2 lists and describes the operator panel LEDs .
DIAGNOSTIC LEDS
Figure 4-2 . Operator Panel LEDS
............................................................................................
C3 M .:START
Table 4-2 . Standard Operator Panel Status Indicator s

INDICATOR DESCRIPTIO N
BATTERY ALARM Indicates that the backup battery voltage is low.
1 . Get a replacement battery.
2 . Turn off controller power and lock out the controller .
3 . Replace the battery
The controller will retain memory for at least a half hour between the time the controller is powere d
down and the new battery is installed .
Note : The battery can be replaced with the power on to make sure that data is not lost .
WARNING : Lethal voltage is present in the controller WHENEVER IT IS CONNECTED to a powe r
source . Be extremely careful to avoid electrical shock.
TEACH PENDAN T Indicates that the teach pendant is enabled and has motion control.
ENABLED
FAULT Indicates a fault condition has occurred .
REMOTE Indicates that the operator panel does not have motion turned off and on by the REMOTE/LOCA L
keyswitch . A PLC or some other remote device has motion control .
USER LED #1 User-defined and accessible from a KAREL program or macros .
USER LED #2 User-defined and accessible from a KAREL program or macros .
4. LIGHTS AND LEDS
MARMMOSHW02301 E
The R-J Controller contains several diagnostic LEDs within the controller.
They are on the circuit boards that plug into the Backplane, on the serv o
amplifiers, and on the Modular 11O unit . Figure 4-3 shows an overview o f
the circuit board diagnostic LEDs . Refer to the sections that follow fo r
descriptions of the following circuit board diagnostic LEDs :
• Emergency control board (EMG )
• Power supply unit (PSU)
• Axis control board
• Main CPU board
• Servo amplifier
• Modular I/O
• Process I/O board (optional)
• R-H MAP Interface (optional)
• ABRIO PCB (optional)
4. LIGHTS AND LED S
MARMMOSHW02301E
4-5
Figure 4-3. Circuit Board Diagnostic LEDs
l
oPWROUN •, 1312345 8
OBAC
012346 6
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era.[ ► w
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OUP [.1
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r
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.ur" 131313 4 13 I w
:re 1,4-4.4
rr[ W.
O O
+ + 1 ~
4. 1 SERVO
Pr: 1: AMPLIFIE R
DIAGNOSTI C
LED (7-SEG )
Section 4 .3 . 5
° Cam] I 11'=3 1
+ [i 1 I;ry ft 1
II
ati i _ii M [ice I -a I t
%' 11=4"1 ;4. . l

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4. LIGHTS AND LEDS
MARMMOSHWO2301 E
4-6
4 .3.1 Figure 4-4 shows the emergency control board (EMG) diagnostic LEDs .
Emergency Contro l Table 4-3 lists and describes each LED .
Board (EMG) Figure 4-4. Emergency Control Board (EMG) Diagnostic LED s
Diagnostic LEDs
Table 4-3 . Emergency Control Board (EMG) Diagnostic LED s

LED Name Descriptio n
SO N Servo on 100 VAC is supplied to the servo amplifiers when
(Green) this LED lights .
BRK 1 * Brake 1 When this LED lights, brake circuit 1 is energized .
(Green) Release
BRK2* Brake 2 When this LED lights, brake circuit 2 is energized .
(Green) Release
(Green) Release
FAL M Fuse alarm o f This LED lights if the 100 VAC Brake Fuse is blown
(red) the brake circuit or a voltage spike has occurred . Refer to Serv o
Alarm SRVO-008 .
(Green) Release
(Green) Release
(Green) Release
* Refer to robot-specific electrical maintenance for brake connections .
4. LIGHTS AND LED S
MARMMOSHW02301E 4-7
4 .3 .2 Figure 4-5 shows each power supply unit (PSU) diagnostic LED .
Power Supply Unit
Figure 4-5 . Power Supply Unit (PSU) Diagnostic LED s
(PSU) Diagnostic LEDs
Power Input LED (PIL) LE D

This LED lights if 200 VAC is being supplied to the PS U
from Transformer TF1 (Main disconnect is on), if fuses
F1, F2, or F5 (on circuit board) are not blown, and th e
power supply internal circuitry is okay.
ALM (Fuse Alarm) LE D

This LED will light if fuse F5 is blown and/or ther e
are any DC power circuit malfunctions .
4 . LIGHTS AND LEDS
MARMMOSHW02301 E
4-8
4.3.3 When the R-J controller power is turned on, the teach pendant will displa y
Axis Control Boar d a diagnostic banner page for an instant and then go blank as syste m
software initializes . The four green status LEDs will also light on the axi s
Diagnostic LEDs
control PCB at power on and then change during software initialization .
See Figure 4-6 .
Figure 4-6 . Axis Control Board Diagnostic LED s
If system software initializes properly, the teach pendant menus should b e

used to operate the robot and troubleshoot any problems . If the syste m
software does not initialize properly and the teach pendant stays blank o r
locks up, use the troubleshooting procedure in Table 4-4.
4. LIGHTS AND LED S
MARMMOSHW02301E 4-9
Table 4-4 . Troubleshooting Axis Control Board Diagnostic LED s

LEDs Remarks Procedure
1 2 3 4 Normally, all four green LED s 1 . Replace the axis control board .
STATUS come on when the robot i s
ALARM -~-
t ~ 2. Replace the M321 PCB .
turned on . They then turn off
and come back on as softwar e 3. Test FROM* and CMOS from the BMON screen an d
loads and circuits are tested . replace as necessary.
This procedure should only b e 4. Reload software if a defective FROM or CMOS is found ,
used when the four LED s otherwise replace the main CPU and then reloa d
come on and stay on withou t software .
turning off.
1 2 3 4 Lights go out and initializatio n 1 . Check the power supply output voltages . Replace if
STATUS BM ME PM MP of each PCB begins . necessary.
ALARM
2. Replace the axis control board.
3. Test FROM* and CMOS from the BMON screen an d
replace as necessary.
4. Reload software if a defective FROM or CMOS is found ,
otherwise replace the main CPU and then reloa d
software .
1 2 3 4 Timer initialization 1 . Replace the SCC PCB .
STATUS MP OM =I
ALARM Ead 2. Reload software if a defective FROM or CMOS is found ,
software .
1 2 3 4 Initialization of communication 1 . Replace the SCC PCB .
STATUS
ALARM 2. Reload software if a defective FROM or CMOS is found ,
software .
i 2 3 4 Initialization of software 1 . Test FROM* from the BMON screen and replace a s
STATUS =I gM1 necessary.
ALARM
2 . Reload software if a defective FROM or CMOS is found ,
software.
1 2 3 4 Initialization of software 1 . Test CMOS from the BMON screen and replace as
STATUS MI WS MI necessary.
ALARM gal
software .
1 2 3 4 Initialization of software 1 . Test FROM* and CMOS from the BMON screen an d
STATUS replace as necessary.
ALARM
software .
i 2 3 4 Initialization of software 1 . Test FROM*.
STATUS
ALARM mm mi 2 . Reload software if a defective FROM or CMOS is found ,
software .
2 3 4 Initialization of software 1 . Replace the axis control PCB .
STATUS
ALARM gag
4. LIGHTS AND LEDS
MARMMOSHW02301 E
4-10
Table 4-4 . (Cont'd) Troubleshooting Axis Control Board Diagnostic LED s

1 2 3 4 Initialization of software 1 . Test CMOS from the BMON screen and replace a s
STATUS necessary.
ALARM mil gal ng
software.
1 2 3 4 Communication to teac h 1 . Replace the teach pendant .
LTATUS MEM pendant
SA ARM MS -FM 2 . Replace the teach pendant cable .
3 . Replace the SCC PCB .
4 . Replace the main CPU .
5 . Reload software .
1 2 3 4 Communication to process I/ O Turn off controller power. Disconnect the cable fro m
STATU S or modular I/O connector JD4 of the main CPU and cold start the controller.
ALARM mis lm If the light pattern is normal, replace the device that the cabl e
connects to : process I/O module or modular I/O interface unit .
Otherwise:
1 . Replace the SLC2 PCB .
2 . Replace the I/O connection cable .
STATU S necessary.
ALARM lt=
software .
STATU S necessary.
ALARM
software .
1 2 3 4 Teach pendant banner page 1 . Replace the teach pendant .
STATU S displayed
ALARM
1 2 3 4 Initialization of software 1 . Replace the axis control board .
STATU S
ALARM im, Mg, 2 . Test FROM* from the BMON screen and replace a s
necessary.
software .
1 2 3 4 Robot is working fine
STATU S
ALARM
MARMMOSHWO2301E 4-1 1
Table 4-4. (Cont'd) Troubleshooting Axis Control Board Diagnostic LED s

1 2 3 4 Servo alarm on Axis Control 1 . Replace the Axis Control PCB .
STATUS EMI Eni PCB
ALARM
1 2 3 a (SYSFAIL) 1 . If the controller has an ABRIO board or a MAP board ,
STATUS Voltage level too low on *E N turn off controller power. Remove the two boards an d
ALARM signal cold start the controller . If the light pattern is normal ,
replace the ABRIO or MAP board device that the cabl e
connects to : process I/O module or modular I/O
interface unit .
2. Check the power supply output voltages . Replace if
necessary.
3. Replace the axis control board .
4. Test FROM* and CMOS from the BMON screen an d
replace as necessary.
5. Reload software.
6. Replace the main CPU.
* The Flash ROM test checks for cleared FROM . If you test FROM you must firs t
clear the FROM .
NOTE 1 : After replacing the main CPU PCB, CMOS RAM PCB(s), or SCC PCB ,
you must perform a complete software load .
NOTE 2 : If Axis Control alarm LEDs occur with LEDs on the Main CPU ,
troubleshoot the Main CPU alarm LEDs first .
A CAUTIO N
While working with the power supply unit, Main CPU, and axi s
control modules, be advised of the following :
• There are static-sensitive devices on the Main CPU an d
axis control modules . Wear a grounded wrist strap device s
and observe anti-static safety precautions when handlin g
this equipment .
• When removing the power supply unit or main CPU, the
battery backup is disconnected and must be reconnecte d
within 30 minutes or a loss of memory will occur.
MARMMOSHWO2301 E
4-12
4.3.4 The Main CPU PCB alarm LEDs are shown in Figure 4-7 . Table 4-5
Main CPU Board provides information for troubleshooting problems .
Diagnostic LEDs Figure 4-7. Main CPU Board Diagnostic LED s
Table 4-5. Troubleshooting Main CPU Board Diagnostic LED s

1 2 3 4 Parity alarm on CMO S 1 . Test CMOS from the BMON screen and replace as necessary .
STATUS El MI RAM in the Main CPU .
ALARM 2. Reload software .
3. Replace the main CPU .
2 3 4 The battery voltage that 1 . Get a replacement battery.
STATUS MI MI fA backs up the MAIN CP U
ALARM 2. Turn off controller power and lock out the controller.
CMOS RAM memory i s
low. 3. Replace the battery.
The controller will retain memory for at least a half hour between th e
time the controller is turned off and the new battery is installed .
Note : The battery can be replaced with the power on to make sur e
that data is not lost .
WARNING : Lethal voltage is present in the controller WHENEVE R
IT IS CONNECTED to a power source . Be extremely careful t o
avoid electrical shock.
1 2 3 4 An error is encountered Turn off the controller . Disconnect the cable from connector JD4 of th e
STATUS ®la
m in the serial link. main CPU and cold start the controller. If the light pattern is normal ,
ALARM 0ga
replace the device that the cable connects to : process I/O module o r
modular I/O interface unit .
Otherwise:
1 . Test FROM and CMOS from the BMON screen and replace a s
necessary.
1 2 3 4 Normal status Controller should be operational .
STATUS ~•
ALARM KEE
4. LIGHTS AND LEDS
4.3.5 Table 4-6 shows and describes each servo amplifier diagnostic LED .
Servo Amplifier
Diagnostic LE D
(7-Segment Display)
Table 4-6. Servo Amplifier LED Function s
Name Indication Descriptio n
Overvoltage(HV) An abnormally high DC voltage was detected in the power supply of the main circui t
of the servo amplifier.
Refer to Error code : SRVO-044* for troubleshooting information .

Insufficient voltage of th e An abnormally low voltage was detected in the control power supply of the serv o
control power supply amplifier. (Rating : +5V )
(LV5V)
Insufficient DC lin k An abnormally low DC voltage was detected in the power supply of the main circui t
voltage (LVDC) of the servo amplifier.

Faulty regenerativ e The regenerative energy discharge was too large for a short time . This alarm occurs
control circuit (DCSW) when the regenerative energy discharge circuit is defective .
I
Excessive regenerativ e The average regenerative energy discharge was too large . This alarm occurs whe n
discharge (DCOH) the frequency of acceleration and deceleration exceeds a predetermined value .

Servo amplifier overheat The thermostat in the servo amplifier operated . (Thermostat contact opened )
(OH)
Welded electromagnetic The contact of the electromagnetic contactor in the servo amplifier fused .
contactor (MCC)
Overcurrent (HCL) An overcurrent was detected in the main circuit of the one-axis servo amplifier or th e
= L-axis main circuit of the two-axis servo amplifier .

Overcurrent (HCM) An overcurrent was detected in the M-axis main circuit of the two-axis serv o
amplifie r

Overcurrent (HCLM) An overcurrent was detected in both the L-axis and M-axis main circuit of th e
two-axis servo amplifier.

Servo amplifier not ready _ The MCC contactor in the servo amplifier is turned off . The amplifier is unarmed and
cannot drive the motor. See teach pendant display for error code information .
Servo amplifier ready The MCC contactor in the servo amplifier is turned on . The amplifier is armed an d
can drive the motor.
4. LIGHTS AND LEDS
MARMMOSHW02301 E
4-14
4.3. 6 The LEDs associated with module I/O are on the interface module PC B
Modular I/O LEDs and on each I/O module . Figure 4-8 shows the modular I/O LEDs .
Table 4-7 describes each modular I/O LED .
Figure 4-8 . Modular I/O LED s
Table 4-7. Modular I/O LED s

LED Location Descriptio n
PWR Robot contro l ON : The interface module is supplied with
module 24 VDC power .
Link Robot contro l ON : The I/O Link is operating properly .
module Normally, this LED lights several second s
after the master is turned on .
BA0 Interfac e These LEDs indicate that a fault ha s
module occurred in the modular I/O system .
BA1 Interfac e
module
A0123456 7 I/O Module Indicates if the input or output is on .

601234567
4. LIGHTS AND LED S
4 .3.7 Table 4-8 shows and describes each process I/O board diagnostic LED .
(Optional) Process I/O
Board Diagnostic LEDs Table 4-8 . Process I/O Board LEDs
Process A communication alarm

I/O PCB occurred between th e
main CPU and process
RED input/output . Chec k
z 3 4
cabling from Main CPU to
STATUS =I MA
ALARM Igm I/O board . Replace I/O
STATU S board .
ALARM
Process
I/O PCB A fuse (FUSE 1) in the
process input/output blew.
RED Replace fuse . If fuse
1 2 s a
M1 blows again, replace
STATU S EEN
ALARM ffiNg board .
~.n
Process -
I/O PCB
Indicates the operations
GREEN status of the Process I/O
2 s
Board .
STATUS
S Ing
ALARM Eggl
4 . LIGHTS AND LEDS
MARMMOSHW02301 E
4-16
4.3.8 Figure 4-9 shows each R-H MAP LED . Table 4-9 describes each LED .
R-H MAP LEDs
Figure 4-9 . R-H MAP LED s
Table 4-9. R-H MAP LEDs

LED Meaning Statu s
A System fail This signal is briefly asserted during power up/down by th e
(RED) MIB . This signal is asserted when a system failure ha s
occurred in the MIB or other subsystems in the controller.
Therefore, the problem might not exist with the MIB .
B Not use d
C Not use d
D Not used
4 .3.9 Figure 4-10 shows and Table 4-10 describes the R-H ABRIO LEDs .
R-H ABRIO LEDs Figure 4-10 . R-H ABRIO LEDs
Table 4-10. R-H ABRIO LED Description s

LED On Flashing Off
POWER (green) There is power to the RIO Interface . Not applicable There is no powe r
to the RI O
Interface .
ACTIVE (green) The RIO Interface is communicating with th e • The PLC is in PROGRAM o r In conjunctio n
PLC's remote I/O scanner and the PLC is in ru n TEST mode and the input an d with one of th e
mode . Input and output data in the RI O output data to the interface is other red LED s
Interface is being updated . being updated . being on o r
• A No Update condition i s flashing indicates
indicated by the PLC remote I/ O an interface fault .
scanner. There is n o
Indicates an error in the rac k communicatio n
address setup . Error is possibl y with the PLC' s
an invalid value or an invali d remote I/O
combination of starting modul e scanner.
group and rack size settings .
INTERBOAR D Communication between the ABRIO board an d • An error in communication s Normal operatio n
COMMUNICATIO N the R-J controller has been broken . This might between the ABRIO board an d
FAULT (red) be due to the inability of the ABRIO board t o the R-J controller has occurred .
gain access to the Common RAM or a Communication with the PLC's
checksum error in the R-J output data. remote I/O scanner is stopped .
Communication with the PLC's remote I/O • The ABRIO board did not
scanner is stopped. detect the R-J controller' s
operational code after power u p
or reset.
PC RIO Interface is not communicating properly Not applicable Normal operatio n
COMMUNICATION S with the PLC remote I/O scanner. The remote
FAULT (red) I/O scanner might be faulted or a problem migh t
exist on the serial channel .
PROCESSO R This LED is normally on for 1/2 to 2 seconds This LED flashes along with th e No faults exist
FAULT (red) during initialization to indicate that the RI O ACTIVE LED to indicate that a n with the remote
Interface is performing its power u p invalid rack address has bee n I/O CPU o r
diagnostics . The LED is turned off afte r set up via the DIP switches o n related circuitry.
diagnostics have been completed successfull y the RIO Interface .
and the R-J controller's operation code ha s
been set . If, after initialization, this LED is on ,
this indicates a fault in the RIO Interface
hardware (RAM integrity, EPROM checksum, o r
CPU watchdog timeout) . Communication wit h
the PLC's remote I/O scanner and with the R-J
controller has been stopped . When this LED i s
on, all other LEDs except Power should be off .
CONNECTORS
MARMMOSHW02301E 5-1
This chapter is divided into three sections that contain wiring informatio n
for the controller and robot mechanical unit :
• Cable listings
• Cable diagrams
• Backplane connectors
5. CONNECTORS
MARMMOSHW02301 E
The cable listing is provided to help you quickly locate the connectors o n
each end of a cable . There are two lists . The first lists the cable i n
numeric order starting from K0001 to K169 . The second lists the cable i n
alphabetic order. The lists have six columns that are defined as follows :
• Column 1 - Lists the source component in the controller or robo t

mechanical unit
• Column 2 - Lists the connectors on each componen t
• Column 3 - Lists the cable number (KXXX) attached to each end o f

the cable
• Column 4 - Lists the connectors on the designation equipmen t
• Column 5 - Lists the component connected to the source by means of

the cable
• Column 6 - Lists the figure number in the Total Circuit Diagra m

section where the cable can be found . Note that some figure numbers
are followed by an "A" or "F". This distinguishes the S-420A (angle
mount) from the S-420F (floor mount) robot models where necessary .
5 . CONNECTORS
MARMMOSHW02301E 5-3
5.1 . 1
Numeric Ordered List
Table 5-1 . Cable Numeric Ordered Lis t
Cable Connector TO : Component Name Figure

FROM : Component Name Connector Number
No .
AC POWER SOURCE USER DEFINED K001 TERMINALS DISCONNECT SWITCH 6-1

FUSES FL1,FL2,FL3 TERMINALS K002 SELECTED TAPS MULTI-TAP TRANSFORMER , 6-1
TF1
DISCONNECT SWITCH TERMINALS K003 TERMINALS FUSES FL1, FL2, FL3 6-1
MULTI-TAP TRANSFORMER , SELECTED TAPS K004 SELECTED TAPS USER TRANSFORMER, TF2 6- 1
TF1
MAIN (CPU) JD4 K015 JD1B MODULAR I/O INTERFACE 5-2,6-8
UNIT (#1)
EMG CONTROL PCB CRR4, TERM . 09 & 19 K016 CP32 MODULAR I/O INTERFAC E 5-3,6-8
UNIT(S)
ALC RELAY TERMINALS 2,4,6 K020 Ti, TERM . 2,3,4 SERVO AMPLIFIERS 6-2,6-3
EMG CONTROL PCB CRR3, TERM . 11,13 K021 T1, TERM . 5,6 SERVO AMPLIFIERS 5-4,6-2 ,
6-3
MULTI-TAP TRANSFORMER , T1, TERMINALS 41-42 K021 CRR3 TERM . 1 & 3 EMG MODULE 6-2,6-3
TF1
MULTI-TAP TRANSFORMER , Ti, TERMINALS 43-44 K022 CP1 POWER SUPPLY UNIT (PSU) 6-2,6-3
TF1
POWER SUPPLY UNIT (PSU) CP2 K022 TERMINALS Al ,A2 ALC RELAY 6-2,6-3
POWER SUPPLY UNIT (PSU) CP2 K022 SPADE LUGS CABINET COOLING FANS 6 2,6-3
MULTI-TAP TRANSFORMER , T1, TERMINALS 51-52 K023 T1, TERM . 15-16 SERVO AMPLIFIER #1 ONLY 6-2,6-3
TF1
EMG MODULE CRR3, TERM . 11,13 K031 TERMINALS HOUR METER 6-1 0
MAIN (CPU) JRM5 K035 CN5 OPER . INT. PCB 5-5

EMG CONTROL PCB CRR3, TERM . 02,04 K036 TERMINALS OPERATOR PANEL E-STOP 6-4
MAIN (CPU) JRS1 K040 CN1 TEACH PENDAN T 5-6

(NON-DISCONNECT)
AXIS MODULE JV01 K060 CN1 SERVO AMPLIFIER #1 5-7

AXIS MODULE JV04 K063 CN1 SERVO AMPLIFIER #4 5-1 0


AXIS MODULE CRF1 K070 P1 ROBOT ARM CONN . PANEL 5-1 3
AXIS MODULE CRM1 K070 P1 ROBOT ARM CONN . PANEL 5-1 3

EMG CONTROL PCB CRR5 K071 M1 ROBOT ARM CONN . PANEL 5-1 4
SERVO AMPLIFIER 4 T1, TERM . 9-12 K071 M1 ROBOT ARM CONN . PANEL 5-1 4
SERVO AMPLIFIER 5 Ti, TERM . 20-23 K071 M1 ROBOT ARM CONN . PANEL 5-1 4
SERVO AMPLIFIER 6 T1, TERM . 9-12 K071 Ml ROBOT ARM CONN . PANEL 5-1 4
SERVO AMPLIFIER 1 51, TERM . 9-12 K072 M2 ROBOT ARM CONN PANEL 5-1 5
SERVO AMPLIFIER 2 Ti, TERM . 9-12 K072 M2 ROBOT ARM CONN . PANEL 5-15
5 . CONNECTORS
MARMMOSHW02301 E
5-4
Table 5-1 . (Cont'd) Cable Numeric Ordered Lis t
FROM : Component Name Cabl e Figure

Connector Connector TO: Component Name
No. Number
OPER. INT. P.C.B . CN3 K095 CD4 INTERN . CRT/KB CONTRO L 5-1 6
BD .
ROBOT BATTERY +,- K106 J1B AXIS1 SERVO MOTOR 5-1 7
ROBOT BATTERY +,- K109 J5B AXIS 5 SERVO MOTOR 5-1 7
ROBOT CONNECTOR J2J3LS K111 J2OT AXIS 2 LIMIT SWITCH 5-1 8
ROBOT CONNECTOR J2J3LS K111 J2J3OT ROBOT CONNECTOR 5-1 8
ROBOT CONNECTOR J2J3OT K112 J2J3OT COMBINED AXES 2 & 3 LIMIT 5-1 9
SWITCHES
ROBOT CONNECTOR D11 K113 EE ROBOT CONNECTOR 5-20
ROBOT ARM CONN . PANEL P1 K115 FRAME GROUND ROBOT FRAME 5-21 &22
ROBOT ARM CONN . PANEL P1 K115 D11 ROBOT CONNECTOR 5-21 &22
ROBOT ARM CONN . PANEL P1 K115 J1LS ROBOT CONNECTOR 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J1 P AXIS 1 SERVO MOTOR A.P.C . 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J2P AXIS 2 SERVO MOTOR A.P.C . 5-21 & 22
ROBOT CONNECTOR D11 K115 J2J3LS ROBOT CONNECTOR 5-21&22
ROBOT ARM CONN . PANEL Ml & M2 K116 J1 M AXIS 1 MOTOR 200V 3PH . & 5-23
BRAKE
ROBOT ARM CONN . PANEL Ml & M2 K116 J2M AXIS 2 MOTOR 200V 3PH . & 5-23
BRAKE
ROBOT ARM CONN . PANEL Ml & M2 K116 J3M AXIS 3 MOTOR 200V 3PH . & 5-2 3
BRAKE
BRAKE
BRAKE
BRAKE
ROBOT CONNECTOR J1LS K169 J1OT AXIS 1 LIMIT SWITCH 5-24
5 . CONNECTORS
MARMMOSHW02301E 5-5
5 .1 .2
Alphabetic Ordered
List
Table 5-2 . Cable Alphabetic Ordered List
FROM: Component Name Cabl e Figure

Connector Connector TO : Component Name
No. Numbe r
AC POWER SOURCE USER DEFINED K001 TERMINALS TERMINALS 6-1
ALC RELAY TERMINALS 2,4,6 K020 Ti, TERM . 2,3,4 SERVO AMPLIFIERS 6-2,6-3
ALC RELAY TERMINALS Al ,A2 K022 CP2 POWER SUPPLY UNIT (PSU) 6-2,6-3
AXIS 1 LIMIT SWITCH J1OT K169 J1 LS ROBOT CONNECTOR 5-24
AXIS 1 MOTOR 200V 3PH . & J1 M K116 Ml & M2 ROBOT ARM CONN . PANEL 5-23
BRAKE
AXIS 1 SERVO MOTOR A .P.C. J1 P K115 P1 ROBOT ARM CONN . PANEL 5-21 & 2 2
AXIS 2 LIMIT SWITCH J2OT K111 J2J3LS ROBOT CONNECTOR 5-1 8
AXIS 2 MOTOR 200V 3PH . & J2M K116 M1 & M2 ROBOT ARM CONN . PANEL 5-23
BRAKE
AXIS 2 SERVO MOTOR A.P.C . J2P K115 P1 ROBOT ARM CONN . PANEL 5-21 & 2 2
AXIS 3 LIMIT SWITCH J3OT K111 J2J3LS ROBOT CONNECTOR 5-1 8
AXIS 3 MOTOR 200V 3PH . & J3M K116 Ml & M2 ROBOT ARM CONN . PANEL 5-23
BRAKE
BRAKE
BRAKE
AXIS 5 SERVO MOTOR J5B K109 +,- ROBOT BATTERY 5-1 7
BRAKE
AXIS 6 SERVO MOTOR J6B K109 +,- ROBOT BATTERY 5-1 7
AXIS MODULE CRF1 K070 P1 ROBOT ARM CONN . PANEL 5-1 3
AXIS MODULE CRM1 K070 P1 ROBOT ARM CONN . PANEL 5-1 3
AXIS1 SERVO MOTOR J1B K106 +,- ROBOT BATTERY 5-1 7
AXIS4 SERVO MOTOR J4B K109 +,- ROBOT BATTERY 5-17
5 . CONNECTORS
MARMMOSHW02301 E
5-6
Table 5-2 . (Cont'd) Cable Alphabetic Ordered Lis t

Connector No . Connector TO : Component Name Number
CABINET COOLING FANS SPADE LUGS K022 CP2 POWER SUPPLY UNIT (PSU) 6-2,6.-3
COMBINED AXES 2 & 3 LIMI T J2J3OT K112 J2J3OT ROBOT CONNECTOR 5-1 9
SWITCHES
DISCONNECT SWITCH TERMINALS K003 TERMINALS FUSES FL1, FL2, FL3 6-1
EMG CONTROL PCB CRR4, TERM . 09 & 19 K016 CP32 MODULAR I/O INTERFAC E 5-3,6-8
UNIT(S)
EMG CONTROL PCB CRR3, TERM . 11,13 K021 Ti, TERM . 5,6 SERVO AMPLIFIERS 5-4,6-2 ,
6-3
EMG CONTROL PCB CRR3, TERM . 11,13 K030 SCREW TERMINALS SERVO ON RELAY 6-1 0
EMG CONTROL PCB CRR3, TERM . 11, 13 K031 TERMINALS HOUR METER 6-1 0
EMG CONTROL PCB CRR3, TERM . 02,04 K036 TERMINALS OPERATOR PANEL E-STOP 6-4
EMG CONTROL PCB CRR5 K071 Ml ROBOT ARM CONN . PANEL 5-1 4
EMG CONTROL PCB CRR3 TERM . 1 & 3 K021 Ti, TERMINALS 41-42 MULTI-TAP TRANSFORMER , 6-2,6-3
TF1
FUSES FL1,FL2,FL3 TERMINALS K002 SELECTED TAPS MULTI-TAP TRANSFORMER , 6-1
TF1
FUSES FL1, FL2, FL3 TERMINALS K003 TERMINALS DISCONNECT SWITCH 6-1
HOUR METER TERMINALS K031 CRR3, TERM . 11, 13 EMG CONTROL PCB 6-1 0
INTERN . CRT/KB CONTRO L CD4 K095 CN3 OPER . INT. P.C.B . 5-1 6
BD.
MAIN (CPU) JD4 K015 JD1B MODULAR 11O INTERFACE 5-2,6-8
UNIT (#1)
MAIN (CPU) JRM5 K035 CN5 OPER . INT. P.C.B . 5-5
MAIN (CPU) JRS1 K040 CN1 TEACH PENDANT (NON-DIS- 5-6
CONNECT)
MODULAR I/O INTERFAC E JD1B K015 JD4 MAIN (CPU) 5-2,6-8
UNIT (#1)
MODULAR I/O INTERFAC E CP32 K016 CRR4, TERM . 09 & 19 EMG CONTROL PCB 5-3,6-8
UNIT(S)
MULTI-TAP TRANSFORMER , SELECTED TAPS K004 SELECTED TAPS USER TRANSFORMER, TF2 6- 1
TF1
MULTI-TAP TRANSFORMER , Ti, TERMINALS 41-42 K021 CRR3 TERM . 1 & 3 EMG CONTROL PCB 6-2,6-3
TF1
MULTI-TAP TRANSFORMER , Ti, TERMINALS 43-44 K022 CP1 POWER SUPPLY UNIT (PSU) 6-2,6-3
TF1
MULTI-TAP TRANSFORMER , T1, TERMINALS 51-52 K023 T1, TERM . 15-16 SERVO AMPLIFIER #1 ONLY 6-2,6-3
TF1
MULTI-TAP TRANSFORMER , TERMINALS 41-42 K030 SCREW TERMINALS SERVO ON RELAY 6-1 0
TF1
MULTI-TAP TRANSFORMER , SELECTED TAPS K002 TERMINALS FUSES FL1,FL2,FL3 6-1

TF1
OPER . INT. P.C .B. CN3 K095 CD4 INTERN . CRT/KB CONTRO L 5-1 6
BD .
OPER . INT. P.C .B. CN5 K035 JRM5 MAIN (CPU) 5-5
OPERATOR PANEL E-STOP TERMINALS K036 CRR3, TERM . 02,04 EMG CONTROL PCB 6-4
POWER SUPPLY UNIT (PSU) CP2 K022 TERMINALS Al ,A2 ALC RELAY 6-2,6-3
5 . CONNECTOR S
MARMMOSHW02301 E 5- 7
FROM : Component Name Cabl e Figur e

Connector No . Connector TO : Component Name Number
POWER SUPPLY UNIT (PSU) CP2 K022 SPADE LUGS CABINET COOLING FANS 6-2,6-3
POWER SUPPLY UNIT (PSU) CP1 K022 Ti, TERMINALS 43-44 MULTI-TAP TRANSFORMER , 6-2,6-.3
TF1
ROBOT ARM CONN . PANEL P1 K115 FRAME GROUND ROBOT FRAME 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 D11 ROBOT CONNECTOR 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J1 LS ROBOT CONNECTOR 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J1 P AXIS 1 SERVO MOTOR A .P.C . 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J2P AXIS 2 SERVO MOTOR A .P.C . 5-21 & 22
ROBOT ARM CONN . PANEL P1 K115 J6P AXIS 6 SERVO MOTOR A .P.C . 5 21 & 22
ROBOT ARM CONN . PANEL Ml & M2 K116 J1 M AXIS 1 MOTOR 200V 3PH . & 5-2 3
BRAKE
BRAKE
BRAKE
BRAKE
BRAKE
ROBOT ARM CONN . PANEL M1 & M2 K116 J6M AXIS 6 MOTOR 200V 3PH . & 5-2 3
BRAKE
ROBOT ARM CONN . PANEL P1 K070 CRF1 AXIS MODULE 5-1 3
ROBOT ARM CONN . PANEL P1 K070 CRM1 AXIS MODULE 5-1 3
ROBOT ARM CONN. PANEL M1 K071 CRR5 EMG CONTROL PCB 5-1 4
ROBOT ARM CONN . PANEL M1 K071 Ti, TERM . 9-12 SERVO AMPLIFIER 4 5-1 4
ROBOT ARM CONN . PANEL Ml K071 Ti, TERM . 20-23 SERVO AMPLIFIER 5 5-1 4
ROBOT ARM CONN . PANEL Ml K071 T1, TERM . 9-12 SERVO AMPLIFIER 6 5-1 4
ROBOT CONNECTOR J2J3OT
J2J3LS K111 ROBOT CONNECTOR 5-18
5 . CONNECTORS
MARMMOSHW02301 E
5-8

Connector No . Connector TO : Component Name Numbe r
ROBOT CONNECTOR J2J3OT K112 J2J3OT COMBINED AXES 2 & 3 LIMIT 5-1 9
SWITCHES
ROBOT CONNECTOR D11 K113 EE ROBOT CONNECTOR 5-20
ROBOT CONNECTOR D11 K115 J2J3LS ROBOT CONNECTOR 5-21 &22
ROBOT CONNECTOR J1 LS K169 J1OT AXIS 1 LIMIT SWITCH 5-24
ROBOT CONNECTOR J2J3OT K111 J2J3LS ROBOT CONNECTOR 5-1 8
ROBOT CONNECTOR EE K113 D11 ROBOT CONNECTOR 5-20
ROBOT CONNECTOR D11 K115 P1 ROBOT ARM CONN . PANEL 5-21 &22
ROBOT CONNECTOR J1 LS K115 P1 ROBOT ARM CONN . PANEL 5-21 & 22
ROBOT CONNECTOR J2J3LS K115 D11 ROBOT CONNECTOR 5-21 & 22
ROBOT FRAME FRAME GROUND K115 P1 ROBOT ARM CONN . PANEL 5-21 & 22
SERVO AMPLIFIER #1 CN1 K060 JV01 AXIS MODULE 5-7
SERVO AMPLIFIER #1 ONLY T1, TERM . 15-16 K023 T1, TERMINALS 51-52 MULTI-TAP TRANSFORMER , 6-2,6-3
TF1
SERVO AMPLIFIER #4 CN1 K063 JV04 AXIS MODULE 5-1 0
SERVO AMPLIFIERS Ti, TERM . 2,3,4 K020 TERMINALS 2,4,6 ALC RELAY 6-2,6-3
SERVO AMPLIFIERS Ti, TERM . 5,6 K021 CRR3, TERM . 11,13 EMG CONTROL PCB 5-4,6-2,
6-3
SERVO ON LAMP SCREW TERMINALS K030 SCREW TERMINALS SERVO ON RELAY 6-1 0
SERVO ON RELAY SCREW TERMINALS K030 SCREW TERMINALS SERVO ON LAMP 6-1 0
SERVO ON RELAY SCREW TERMINALS K030 CRR3, TERM . 11,13 EMG CONTROL PCB 6-1 0
SERVO ON RELAY SCREW TERMINALS K030 TERMINALS 41-42 MULTI-TAP TRANSFORMER , 6-1 0
TF1
TEACH PENDANT (NON-DIS - CN1 K040 JRS1 MAIN (CPU) 5- 6
CONNECT)
USER TRANSFORMER, TF2 SELECTED TAPS K004 SELECTED TAPS MULTI-TAP TRANSFORMER , 6-13
TF1
5. CONNECTORS
5-9
The cable diagrams are organized numerically according to cable number .

Each cable diagram shows the connector identification label, defines th e
connector pins, shows whether the connector is male or female, and th e
type of connector.
Figure 5-1 shows the symbols used to identify the connector type and an
example of each type of connector used in the R-J system .
NOTE All connectors will be shown in female unless otherwise noted .

5. CONNECTOR S
MARMMOSHW02301 E
5-10
Figure 5-1 . Connector Type Symbol s
1
000000 0 1 000000 0 1
000000 0 000000 0 0 2
000000 0 000000 0 0 3
000000 0 000000 0
000000 0 000000 0
000000 0 000000 0 CP32
000000 0 42 000000 0
000000 0
000000 0
000000 0
000000 0 M1
71 0000000
17 B1 M2
(ooooaooooo00000000 1
P1 ooooonoooooooooon o 1 AMPHENO L
17 Al
FEMALE MALE
IDC PLUG
q0
50
oUo
50 q0
q
ooo0 qq
ooo
000 0
0
q0
ooo
ooo AMP
0ooo
000
000
o a
0 0
50 PIN HONDA 10
16
HIROSE
12
[3 13 13
aaL L
1
4 7 10
AMPHENOL AMPHENOL DB-25 14 AMP
5 . CONNECTOR S
Figure 5-2.K-01 5
OV ZERO VOLTS - GROUND ENSLC ENABLE SERIAL LINK

+5V 5 VOLT POWER SUPPLY TO MOTOR APC'S TXSLCA TRANSMIT SERIAL DATA +
+15V +15 VDC FROM POWER SUPPLY MODULE (PSU) *TXSLCA TRANSMIT SERIAL DATA -
-15V -15 VDC FROM POWER SUPPLY MODULE (PSU) RXSLCA RECEIVE SERIAL DATA +
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWER *RXSLCA RECEIVE SERIAL DATA -
SIN1 SEE RXSLCA
SOUT1 SEE TXSLCA
Figure 5-3.K-01 6
EMG CRR4 Screw Terminal

1 10OUT3
2 EMGOUT2
3 100OUT4
5 FENCE 1 4 EMGOUTC
7 FENCE 2 6 EMGOUT1
8 EX-ON
11 OV 10 EX-CO M
13 +5 V 12 EX-OFF
14 DIL1
15 +15V
17 -15V 16 DIL2
18 EMGB 1
20 EMGB 2
MODULAR I/O
OV
0 VOLTS-GROUND CP32
+24 V +24 VDC USED FOR INTERNA L 3
CONTROLLER POWER OVI N 24VI N
5 . CONNECTOR S
MARMMOSHW02301 E
5-12
Figure 5-4 .K-02 1
T1
SERVO AMP #1
EMG CRR3 Screw Terminal Screw Termina l
1 100IN1 2 OP1 13 L1 C
3 100IN 2
5 100IN 3 4 OP2 1
3 L2C
7 100IN 4 6 EMGIN 1 15 TH 1
8 . EMGIN C 16 TH2 4 L3(T)
9
'1 10 EMGIN2 17 RC
iY:Y Y.fi 12 100UT1 18 RI
14 100UT2 19 RE 7 MC1
15 BKP4
16 BKM 4 8 MC2
17 BKP 5
BKP6 18 BKM 5 9 U
19 10 V
, 20 BKM6
11 W
12 G
T1
SERVO AMP #2
Screw Terminal
1 PE(G)
13 L1C
14 L2C 2 L1(R)
15 TH1 3 L2(S)
4 ) L3(T
16 TH2
17 RC
18 RI %10(31`•.:̀»:;
19 RE 7 MC I
8 MC2
9 U
10 V
11 W
12 G
T1 T1
SERVO AMP #4 & 5 T1
SERVO AMP #6 SERVO AMP #3
Screw Terminal Screw Termina l Screw Terminal
1 PE(G) 1 PE(G)
13 L1C 13 L1 C 13 L1 C
14 L2C L1(R) 14 2 2
J L2C 14 L2 C
15 TH1 3 L2(S) 15 TH 1 3 15 TH 1 3
16 TH2 L3 16 TH2 16 TH 2
17 RC 17 RC 17 RC.
18 RI 18 RI 18 RI
19 RE MC 1 19 RE 7 19 RE
8 MC2 8 MC2 8 MC2
9 U 9 U 9 U
10 10 10 V
11 W 11 W 11 W
12 12 12
1000UT1 100VDC POWER OUTPU T

100OUT2 FOR SERVO AMPLIFIE R
100A 100 VAC

100B FROM EMG MODULE
5 . CONNECTOR S
Figure 5-5 . K-035
JRM5 MAIN (CPU) HONDA High Density

26 OV 1 OV
27 CTS B 2 RTS B
28 OV 3 OV
29 DSR B 4 DTK B
30 OV 5 OV
31 RXD B 5 TXD B
33 32 OV 8 7 OV
CTS C RIS C
34 OV 9 OV
35 DSR C 10 DTRC
36 OV 11 0V
37 RXD C 12 TXD C
38 ON 1 13 OFF 1
39 ON2 14 OFF2
40 PDl 1 15 PDO 1
41 PDI 2 16 PDO 2
42 PDI 3 17 PDO3
43 PDI 4 18 PDO 4
44 PDI 5 19 PDO5
45 PDI6 ' 20 PDO 5
46 PDI 7 21 PDO7
47 PDI 8 22 PDO 8
48 23 +24 V
49 +24 E 24 +24 E
i 50 +24E 25 +24 E
CN 5
INTERFACE P.C.B.
01 RTS B IDC Plu g 33 RTS C
02 OV 34 OV
19 RXD B
03 DTRB 35 DTRC
04 DSR B 20 OV
36 DSR C
05 CTS B 21 TXD B
37 CTS C
22 OV
06 38 OV
07 *START 23 RXD C
39 *REMOTE
08 PDI8 24 OV 40 TP EN B
09 *RESE T 25 TXD C
41 *BUS Y
10 *HOLD 26 OV 42 *BATAL
11 27 ON 1 43 *FAULT
12 *REMOTE 28 ON 2
44 *HOLD
13 *USER 1 29 OFF 1 45 *USER1
30 OFF2
14 *USER2 46 *USER2
15 *EMGO P 31 OV
47 +24V
32 OV
16 +24 E 48
17 +24 E 49
18 50
TXDB TRANSMITTING DATA SERIAL DATA LINK +24 V +24 VDC USED FOR INTERNAL CONTROLLER POWE R
RXDB RECEIVING DATA FROM MAIN (CPU) TO RS-232-C *EMGOP DC CONNECTION OF OPER . PANEL E-STOP P.B.
RTSB REQUEST TO SEND DATA (24VDC=ESTOP )
CTSB CLEAR TO SEND DATA *RESET FAULT RESET PUSHBUTTON ON THE OPER . PANEL
DSRB DATA SET READY *REMOTE REMOTE P.B . ON THE OPER . PANEL
DTRB DATA TERMINAL READY *HOLD HOLD P.B. ON THE OPER . PANEL
*USER1 USER1 P.B. ON THE OPER . PANE L
TXDC TRANSMITTING DATA SERIAL DATA LINK *USER2 USER2 P.B. ON THE OPER . PANE L
RXDC RECEIVING DATA FROM MAIN (CPU) TO *START CYCLE START P.B. ON THE OPER . PANE L
RISC REQUEST TO SEND DATA CRT/KB *REMOTE REMOTE LE D
CTSC CLEAR TO SEND DATA *BATAL BATTERY ALARM LED
DSRC DATA SET READY *BUSY CYCLE START LED
DTRC DATA TERMINAL READY TP ENB TEACH PENDANT ENABLED LE D
+24 E +24 VDC POWER FOR EXTERNAL USE (IE: ROBOT, ON1 FROM THE ON P.B . OF THE OPER . PANE L
MODULAR I/O) ON2 TO THE MAIN (CPU) MODULE
OV 0 VOLTS-GROUND
OFF1 FROM THE OFF P.B . OF THE OPER . PANEL
PDI PANEL DIGITAL INPUT OFF2 TO THE MAIN (CPU) MODULE
PDO PANEL DIGITAL OUTPUT
5. CONNECTORS
MARMMOSHW02301E
5-14
Figure 5-6 . K-04 0
JRS1 MAIN (RS422/TEACH PENDANT) HONDA High Density
TPDSC 10 +24T
9
8 EMGB2 VIII
7 EMGB1
6 OV
5
4 *TXTP
TXTP
2 *RXTP
1 RXTP
4 3 2 1
*RXTP RXTP *TXTP TXT P
10 9 8 7 6
+24T +24T
16 15 14 13 12
EMGB2 EMGB1 EMGEN EMGDM EMGTP
20 19 18 17
OV OV TPDS C
Teach Pendant
External Connector CN 1
Male HIROS E
TPDSC LO (OVDC) FROM TEACH PENDANT TO MAIN (CPU) AN D

EMG MODULE
EMGB1 DRY CONTACT OF THE TEACH PENDANT ESTOP P.B. TO

EMGB2 CRR4 OF EMG MODULE
TXTP SERIAL DATA TRANSMITTED FROM THE TEACH PENDAN T

*TXTP TO THE MAIN (CPU)
RXTP SERIAL DATA REQUEST FROM THE MAIN CP U

*Ma TO THE TEACH PENDANT
OV 0 VOLTS - GROUND
+24T +24 VDC(24E) FROM EMG MODULE SWITCHED ON BY
RELAY RL1 5
EMGTP 24VDC POWER TO EMERGENCY CIRCUIT ON THE TEACH

PENDANT
EMGDM SIGNAL FROM TEACH PENDANT DEAD MAN SWITC H

(24VDC=EITHER SWITCH IS HELD) TO EMG MODULE
EMGEN SIGNAL FROM THE ON/OFF ENABLE SWITCH (24VDC=OFF)

ON THE TEACH PENDANT
5 . CONNECTOR S
Figure 5-7. K-06 0

JV1 Axis Control HONDA High Densit y
10 *MCON1 20 *DRDY 1
8 OV 19 18 OV
7 *PWMC1 17 *PWMF1
6 OV 16 OV
5 *PWMB1 15 *PWME1
4 OV 14 OV
3 *PWMA1 13 *PWMD 1
2 GNDR1 12 GNDS 1
1 IR1 11 IS 1
CN1 SERVO AMP #1 HONDA High Density

12 GNDS 11 IS 02 GNDR 01 IR
14 COMD 13 PWMD 04 COMA 03 *PWMA _
16 COME 15 *PWME 06 COMB 05 *PWM B
18 COMF 17 PWMF 08 COMC 07 *PWM C
20 *DRDY 19 NC 10 *MCON 09 NC
PWM-A PULSE WIDTH MODULATED SIGNAL A (INCLUDES ALM-0)
COMA COMMON A
PWM-B PULSE WIDTH MODULATED SIGNAL B (INCLUDES ALM-1 ) NOTE : ALARM SIGNALS ARE
COMB COMMON B TRANSMITTED BACK TO THE AXI S
PWM-C PULSE WIDTH MODULATED SIGNAL C (INCLUDES ALM-2) MODULE ALONG THE SAME LINE S
COMC COMMON C AS THAT OF PWM A THROUGH D
PWM-D PULSE WIDTH MODULATED SIGNAL D (INCLUDES ALM-3)
COMD COMMON D
PWM-E PULSE WIDTH MODULATED SIGNAL E
COME COMMON E
PWM-F PULSE WIDTH MODULATED SIGNAL F
COMF COMMON F
IS
GNDS % PHASE-S
I CURRENT FEEDBACK OF DRIVE MOTO R
RI TO AXIS CONTROL MODUL E
GND f PHASE-R
*MCON MCC CONTRO L

OV 0 VOLTS - GROUND
*DRDY DRIVE READY SIGNAL TO THE SERVO AMPLIFIER TO THE AXIS MODUL E
JS
NC NOt Connected
5 . CONNECTORS
MARMMOSHW02301 E
5-16
Figure 5-8 . K-06 1
JV2 Axis Control HONDA High Density

10 *MCON1 20 *DRDY1
9 19
8 OV 18 OV
7- *PWMC1 17 *PWMF1
OV 16 OV
5 *PWMB1 15 *PWME1
4 OV
13 *PWMD 1 14 OV
3 *PWMA1 2 GNDR1 12 GNDS1
1 1R1 11 IS 1
12 GNDS 11 IS 02 01 IR
GNDR
14 13 *PWMD 03 *PWMA
COMD 04 COMA
16 15 *PWME 05 *PWM B
COME 06 COMB
18 COMF 17 *PWMF 07 *PWM C
08 COM C
20 *DRDY 19 NC 09 NC
10 *MCON

COMA COMMON A
PWM-B PULSE WIDTH MODULATED SIGNAL B (INCLUDES ALM-1 ) NOTE : ALARM SIGNALS AR E
COM B COMMON B TRANSMITTED BACK TO THE AXIS
PWM-C PULSE WIDTH MODULATED SIGNAL C (INCLUDES ALM-2 ) MODULE ALONG THE SAME LINE S
COMMON C AS THAT OF PWM A THROUGH D
COM C
PWM-D PULSE WIDTH MODULATED SIGNAL D (INCLUDES ALM-3) /
COM D COMMON D
COM E COMMON E
COMF COMMON F
IS
GND S PHASE-S
} CURRENT FEEDBACK OF DRIVE MOTO R
IR I TO AXIS CONTROL MODUL E
PHASE-R
GNDR
*MCON MCC CONTRO L

OV 0 VOLTS-GROUN D
*DRDY DRIVE READY SIGNAL TO THE . SERVO AMPLIFIER TO THE AXIS MODUL E
JS
NC NotConectd
5 . CONNECTORS
Figure 5-9. K-062

10 *MCON 1 20 *DRDY1
9 19
8 OV 18 OV
7 *PWMC1 17 *PWMF1
6 OV 16 OV
5 *PWMB 1 15 *PWME 1
OV 14 OV
3 *PWMA 1 13 *PWMD 1
GNDR1 IS1 12 GNDS1
1 1R1 11
12 11
GND S 13 IS 01 IR
02 GNDR
14 COMD _ *PWM D 03 *PWMA
04 COM A
16 COM E 15 *PWM E 05 *PWM B
06 COMB
18 COM F 17 *PWMF 07 *PWMC
08 COMC
20 *DRDY 19 NC 10 09 NC
*MCON

COMA COMMON A
COMB COMMON B TRANSMITTED BACK TO THE AXIS
MODULE ALONG THE SAME LINE S
PWM-C
COMC
PWM-D
PULSE WIDTH MODULATED SIGNAL C
COMMON C
PULSE WIDTH MODULATED SIGNAL D
(INCLUDES ALM-2 )
(INCLUDES ALM-3)
I AS THAT OF PWM A THROUGH D
COMD COMMON D /
COM
COMMON
E E
COMF COMMON F
IS
GNDS PHASE-S \
IR j TO AXIS CONTROL MODULE
PHASE-R
GNDR
*MCON MCC CONTROL

OV 0 VOLTS - GROUN D
*DRDY DRIVE READY SIGNAL TO THE SERVO AMPLIFIER TO THE AXIS MODULE
JS
NC Not Connected
5. CONNECTORS
MARMMOSHW02301 E
5-18
Figure 5-10 . K-06 3

10 *MCON 1 20 *DRDY1
9 8 OV 19
18 OV
7 *PWMC1 17 *PWMF1
6 OV 16 OV
4 OV 14 OV
3 *PWMA 1 13 *PWMD1
GNDR1 12 GNDS 1
1R1 11 'S1
12 GNDS 1 1 IS 02 GNDR 01 IR
14 COM D 13 *PWMD_ 03 *PWM A
04 COM A
16 COM E 15 *PWM E 05 *PWMB
06 COM B
18 COM F 17 *PWMF 07 *PWMC
08 COMC
20 *DRDY .1 9 NC 10 09 NC
*MCON
PWM-A PULSE WIDTH MODULATED SIGNAL A (INCLUDES ALM-0) \

COMA COMMON A
PWM- B PULSE WIDTH MODULATED SIGNAL B (INCLUDES ALM-1 ) NOTE: ALARM SIGNALS AR E
COM B COMMON B TRANSMITTED BACK TO THE AXIS
PWM-C PULSE WIDTH MODULATED SIGNAL C (INCLUDES ALM-2) MODULE ALONG THE SAME LINE S
COM C COMMON C i AS THAT OF PWM A THROUGH D
PWM- D PULSE WIDTH MODULATED SIGNAL D (INCLUDES ALM-3) l
COM D COMMON D
PWM- E PULSE WIDTH MODULATED SIGNAL E
COM E COMMON E
PWM- F PULSE WIDTH MODULATED SIGNAL F
COMF COMMON F
IS
GNDS J PHASE-S
IR j TO AXIS CONTROL MODULE
PHASE-R I
GNDR
*MCO N MCC CONTRO L

JS
NC Not Connected
5 . CONNECTORS
MARMMOSHW02301E
5-1 9
Figure 5-11 . K-064
JV5 Axis Control

HONDA High Density
10 *MCON1 20 *DRDY 1
19
8 OV 18 OV
7 *PWMC 1 17 *PWMF 1
6 OV 16 OV
4 OV 14 OV
13 *PWMD 1
GNDR1 12 GNDS1
11 IS1
12 GNDS 11 IS 01 IR
02 GND R
14 COM D 13 *PWMD 03 *PWMA
04 COMA
16 COME 15 *PWME 06 05 *PWMB
COMB
18 COM F 17 *PWMF 08 07 *PWMC
COMC
20 *DRD Y 19 NC 10 *MCON 09 NC

COMA COMMON A
PWM-B PULSE WIDTH MODULATED SIGNAL B (INCLUDES ALM-1 ) NOTE : ALARM SIGNALS ARE
PWM-C PULSE WIDTH MODULATED SIGNAL C (INCLUDES ALM-2 ) MODULE ALONG THE SAME LINES
COMC COMMON C AS THAT OF PWM A THROUGH D
PWM-D PULSE WIDTH MODULATED SIGNAL D (INCLUDES ALM-3) j
COMD COMMON D
COME COMMON E
COME COMMON F
IS
GNDS PHASE-S
CURRENT FEEDBACK OF DRIVE MOTO R
IR PHASE- R j TO AXIS CONTROL MODULE
GNDR %
*MCON MCC CONTRO L

JS
NC Not Connected
5 . CONNECTORS
MARMMOSHW02301 E
5-20
Figure 5-12 . K-06 5

10 *MCON1 20 DRDY 1
9 19
8 OV 18 OV
7 *PWMC 1 17 *PWMF 1
6 OV
*PWME1_ 16 OV
5 *PWMB 1 15
4 OV 14 0V
3 *PWMA1 13 *PWMD 1
2 GNDR 1 IS1 12 GNDS1
1R1 11
12 GND S 11 IS 01 IR
02 GNDR _
14 COM D 13 PWM D 04 COMA 03 *PWM A
16 15 *PWM E 05 *PWMB _
COM E 06 COMB _
18 17 *PWM F 07 *PWMC
COM F 08 COM C
20 *DRDY 19 NC 09 NC
10 *MCON

COMA COMMON A
PWM-C PULSE WIDTH MODULATED SIGNAL C MODULE ALONG THE SAME LINE S
(INCLUDES ALM-2) AS THAT OF PWM A THROUGH D
COMC COMMON C
PWM-D PULSE WIDTH MODULATED SIGNAL D (INCLUDES ALM-3) %
COMD COMMON D
COME
COMMON E
COMF COMMON F
IS
GNDS PHASE-S
CURRENT FEEDBACK OF DRIVE MOTOR
IR I TO AXIS CONTROL MODUL E
PHASE-R
GNDR
*MCON MCC CONTROL

*DRDY DRIVE READY SIGNAL TO THE SERVO AMPLIFIER TO THE AXIS MODULE
JS
NC Not Connected
5 . CONNECTORS
Figure 5-13 . K-070
CRM 1 CRF1
AXIS - Robot DI/DO I/ F Axis Robot Feedback I/ F
Male HONDA HONDA
01 RDI0 1 33 RDO01 33 PD5
02 RDI02 34 RDO02 34 *PD5
19 *ROT RDO03 PD3
03 RDI03 35 35 PROS
RDI04 20 *HBK *PD3
04 36 RDO04 36 *PRQ5
21 *PPABN PRQ3
05 RDI0 5 37 RDO05 37 PD 6 05 PD2
22 *PRQ3
06 RDI0 6 38 RDO06 38 *PD6 06 *PD2
07 RDI0 7 23 +5 39 PRQ 6 PD 4
39 RDO07
08 RDI08 +5 V *PD4
40 RDO08 40 *PRQ 6
09 RDI09 25 +5 V 41 RDO09 41 +5V PRQ 4 09 OV
26 +5V RDO10 *PRQ4
10 RDI1 0 42 42 +5V 10 OV
0V
11 RDI1 1 27 43 RDO1 1 43 +5V OV 11 OV
12 RDI1 2 28 OV 44 RDO1 2 44 +5V OV 12 OV
13 RDI1 3 29 0V 45 RDO1 3 45 +5 V OV
30 OV +5V
14 RDI1 4 46 RDO1 4 46 +5 V 14 OV
31 +24 V +5V
15 RDI1 5 47 RDO1 5 47 +5 V 15 OV
16 RDI1 6 32 +24 V +5V
48 RDO1 6 48 +5 V 16 OV
17 0V 49 +24 E 49 +5V 17 OV
18 0V 50 +24 E 50 +5V 18 OV
P1
(Robot - Pulse Coder & RDI/RDO)
1 RDI1 13 RDI2 25 RDI3 37 RDI4 49 RDI5 61 RDI6
2 RDI7 14 RDI8 26 +24E 38 +24E 50 +24E 62 OV
3 RDO1 15 RDO2 27 RDO3 39 RDO4 51 RDO5 63 RDO6
4 RDO7 16 RDO8 28 *ROT 40 *HBK 52 *PPABN 64
5 +5V 17 +5V 29 +5V 41 OV 53 OV 65 OV
6 +5V 18 +5V 30 +5V 42 . OV 54 OV 66 OV
7 +5V 19 +5V 31 +5V 43 OV 55 OV 67 OV
8 +5V 20 +5V 32 . +5V 44 OV 56 OV 68 OV
9 PD1 21 PD2 33 PD3 45 PD4 57 PD5 69 PD 6
10 *PD1 22 *PD2 34 *PD3 46 *PD4 58 *PD5 70 *PD6
11 PRQ1 23 PRQ2 35 PRQ3 47 PRQ4 59 PRQ5 71 PRQ6
12 *PRQ1 24 *PRQ2 36 *PRQ3 48 *PRQ4 60 *PRQ5 72 *PRQ6
RDI'X' ? ROBOT DIGITAL INPUT LINE

RDO'X' J ROBOT DIGITAL OUTPUT LIN E
+5V 5 VOLT POWER SUPPLY TO MOTOR APC' S
PD'X' SERIAL DATA LINE FROM THE APC OF MOTOR 'X '
*PD'X' f TO THE MAIN (CPU)
+24 E +24 VDC POWER FOR EXTERNAL USE (IE : ROBOT, MODULAR I/O)
PRQ'X' SERIAL DATA REQUEST FROM THE MAIN (CPU) TO TH E

*PRQ'X' ~ APC OF MOTOR 'X'
*HBK HAND BROKEN SIGNAL FROM THE ROBOT HAND TO AXIS MODUL E
`ROT ROBOT OVERTRAVEL SIGNAL
OV 0 VOLTS - GROUND
*PPABN PNEUMATIC PRESSURE ABNORMAL (USER SPECIFIC )
5 . CONNECTORS
MARMMOSHW02301 E
5-22
Figure 5-14 . K-071

T1 CRR5
SERVO AMP #6 Screw Terminal EMG AM P
1D 2D 3D
BKM3 BKM3 BKM3
1C 2C 3C
BKP3 BKP3 BKP3
1B 2B 3B
BKM1 BKM2 BKM2
1A 2A 3A
BKP1 BKP2 BKP2
1 BKPJ1 8 BKMJ1 15 J41A 22 J42A 29 J43A 36 J4GA

2 BKPJ2 9 BKMJ2 16 J41B 23 J42B 30 J43B 37 J4GB
4 BKPJ4 11 BKMJ4 18 J51B 25 J52B 32 J53B 39 J5G B
7 14 21 28 35 42
J41A SERVO AMPLIFIER #4, PHASE U, WIRE 1 OF 2 BKP1 1ST BRAKE CONTROL OUTPU T
J41B SERVO AMPLIFIER #4, PHASE U, WIRE 2 OF 2 BKM1 (AXIS #1 )
J42A SERVO AMPLIFIER #4, PHASE V. WIRE 1 OF 2 BKP2 2ND BRAKE CONTROL OUTPU T
J42B SERVO AMPLIFIER #4, PHASE V. WIRE 2 OF 2 BKM2 (AXIS #2 AND 3 )
J43A SERVO AMPLIFIER #4, PHASE W, WIRE 1 OF 2 BKP3 3RD BRAKE CONTROL OUTPU T
J43B SERVO AMPLIFIER #4, PHASE W, WIRE 2 OF 2 BKM3 (AXIS #4, 5, AND 6 )
J51A SERVO AMPLIFIER #5, PHASE U, WIRE 1 OF 2

J51B SERVO AMPLIFIER #5, PHASE U, WIRE 2 OF 2
J52A SERVO AMPLIFIER #5, PHASE V. WIRE 1 OF 2
J52B SERVO AMPLIFIER #5, PHASE V, WIRE 2 OF 2
J53A SERVO AMPLIFIER #5, PHASE W, WIRE 1 OF 2
J53B SERVO AMPLIFIER #5, PHASE W, WIRE 2 OF 2
J61A SERVO AMPLIFIER #6, PHASE U, WIRE 1 OF 2

J61B SERVO AMPLIFIER #6, PHASE U, WIRE 2 OF 2
J62A SERVO AMPLIFIER #6, PHASE V, WIRE 1 OF 2
J62B SERVO AMPLIFIER #6, PHASE V, WIRE 2 OF 2
J63A SERVO AMPLIFIER #6, PHASE W, WIRE 1 OF 2
J63B SERVO AMPLIFIER #6, PHASE W, WIRE 2 OF 2
5 . CONNECTORS
Figure 5-15 . K-07 2
T1
(Servo Amplifier #1 )
Screw Termina l
1 PE(G)
13 L1C
14 L2C 2 L1(R)
3 L2(S) M2
15 TH1 (Robot Motor Power)
16 TH2 4 L3(T)
17 RC 5 100A 1 J2 1
3 J31
18 RI 6 100B J22
5 J12 J32
19 RE 7 MC1 8 J13 7 J23
8 MC2 J33
10 J2G
11 J1G 12 J3G
T1
(Servo Amplifier #2)
Screw Termina l
1 PE(G) J11 SERVO AMPLIFIER #1, PHASE U
13 L1C J12 SERVO AMPLIFIER #1, PHASE V
2 L1(R)
14 L2C J13 SERVOAMPLIFIER #1, PHASE W
15 TH1 3 L2(S)
4 L3(T) J21 SERVO AMPLIFIER #2, PHASE U
16 TH2
17 RC 5 100A J22 SERVO AMPLIFIER #2, PHASE V
6 100B J23 SERVO AMPLIFIER #2, PHASE W
18 RI
19 RE 7 MC 1 R#3, PHASE U
J3 1 SERV O AMPLIFI E
MC2 J32 SERVO AMPLIFIE R #3, PHASE V
J33 SERVO AMPLIFIE R #3, PHASE W
T1
(Servo Amplifier #3)
Screw Terminal
13 L1 C
14 L2C
15 TH 1
16 TH 2
17 RC
18 RI
19 RE
5 . CONNECTORS
MARMMOSHW02301 E
5-24
Figure 5-16.K-09 5
CN3 (OPERATOR INTERFACE PCB) HONDA

01 FG
14
02 TXDB
15
03 RXDB
16
04 RTSB
05 CTSB 17
06 DSRB 18
07 0V 19
08 20 DTRB
09 21
10 22
11 23
12 24
13 25 +24 E
CD4 (KB Control Board)

HOND A
14 +24 E
TXD B
2 15
9 RXD
3 16
10
4 17 0V
11
5 18 DTR B
12
6 19 RTSB
13
20
FG FRAME GROUND (OVDC)
TXDB TRANSMITTING DATA
RXDB RECEIVING DATA SERIAL DATA LINK
RTSB REQUEST TO SEND DATA FROM MAIN (CPU) TO
CTSB CLEAR TO SEND DATA RS-232-C
DSRB DATA SET READY
DTRB DATA TERMINAL READY
OV ZERO VOLTS - GROUN D

ON CONNECTIONS FOR POWER

5 . CONNECTORS
Figure 5-17 . K-106 through K-109
K106 J1 B (Robot APC) AMPHENO L

I A I +6V I B I OV
K107 J2 B (Robot APC) AMPHENO L

I A I +6V I B I
+
10 0
ROBOT
BATTERY
0 K108 J3 B (Robot APC) AMPHENO L
I OVA I +6V I B I
K109
Screw Terminals
101 J4 B (Robot APC) AMPHENO L
0 A I +6V
~J5 B (Robot APC) AMPHENO L

IBI OV
A I +6V I B I OV
+6V SIX VOLTS D .C .
OV ZERO VOLTS - GROUND
J6 B (Robot APC) AM PHENO L

I A1 +6V I B I 0V I
Figure 5-18. K-11 1

J2J3LS (ROBOT) AM P
* ROT1 *ROT3
*ROT3 +24V
J2J3OT (ROBOT) AM P
I AI *ROT1 I b I *24E
*ROT ROBOT OVERTRAVEL SIGNA L

+24 E +24 VDC POWER FOR EXTERNAL US E
(IE: ROBOT, MODULAR I/O)
J2OT J3OT
Screw Terminal Screw Terminal
5 CONNECTORS
MARMMOSHW02301E
5-26
Figure 5-19. K-11 2
J2J3OT (ROBOT) AM P

(IE: ROBOT, MODULAR I/O)
Figure 5-20 . K-11 3
D11 (ROBOT) Male AMPHENO L

1 RDO 1 9 RDI 1 17 +24V
2 RDO 2 10 RDI 2 18 +24V
3 RDO 3 11 RDI 3 19 +24V
4 RDO 4 12 RDI 4 20 +24V
5 RDO 5 13 RDI 5 21 RDO 7
6 RDO 6 14 *PPABN 22 RDO 8
? *HBK 15 RDI5 23 *ROT1
8 OV 16 RDI6 24 RDI 7
END EFFECTOR INTERFACE EE (ROBOT) AMPHENO L
1 RDO 1 9 RDI 1 17 +24V

2 RDO 2 10 RDI 2 18 +24V
3 RDO 3 11 RDI 3 19 +24V
4 RDO 4 12 RDI 4 20 +24V
5 RDO 5 13 RDI 5 21 RDO 7
7 *HBK 15 RDI5 23
8 0V 16 RDI 6 24 RDI 7
RDO'X' ROBOT DIGITAL OUTPUT LINE

RDI'X' ROBOT DIGITAL INPUT LIN E
*PPABN PNEUMATIC PRESSURE ABNORMAL (USER SPECIFIC)
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWE R
5. CONNECTOR S
MARMMOSHW02301E
5-2 7
Figure 5-2 1 . K-11 5
P1
(Robot Pulse Coder & RDI/RDO )
1 RDI1 13 RDI2 25 . RDI3 37 . RDI4 49 RDI5 61 RDI 6
2 RDI7 14 RDI8 26 +24E 38 +24E 50 +24E 62 OV
3 RDO1 15 RDO2 27 RDO3 39 RDO4 51 RDO5 63 RDO 6

4 RDO7 16 RDO8 28 *ROT 40 *HBK 52 *PPABN 64
5 +5V 17 +5V 29 +5V 41 0V 53 0V 65 0V
6 +5V 18 +5V 30 +5V 42 OV 54 OV 66 OV
7 +5V 19 +5V 31 .. +5V 43 0V 55 . 0V 67 0V
8 +5V 20 +5V 32 +5V 44 0V 56 0V 68 0V
9 PD1 21 PD2 33 PD3 45 PD4 57 PD5 69 PD6
10 . *PD1 22 *PD2 34 *PD3 . 46 *PD4 58 *PD5 70- *PD 6
11 PRQ1 23 PRQ2 35 .PRQ3 47 PRQ4 59 PRQ5 71 -PRQ 6
12 *PRQ1 24 *PRQ2 36 *PRQ3 48 *PRQ4 60 *PROS 72 *PRQ6
JILS (ROBOT) AM P
Al *ROT1 1 BI *24E
D11 (ROBOT)
AMPHENOL
1 RDO1 9 RDI 1 17 +24 V
2 RDO 2 10 RDI 2 18 +24 V
RDO 3 11 RDI 3 19 +24 V
4 RDO 4 12 RDI 4 20 +24 V
5 RDO 5 13 RDI 5 21 RDO 7
*HBK 15 RDI 8
OV I 16 1 RDI6 I 24 RDI 7
J2J3LS (ROBOT) AM P
1 *ROT1 I .3 *ROT3
2 *ROT3 4 +24V
*ROT ROBOT OVERTRAVEL SIGNAL
RDI'X' ROBOT DIGITAL INPUT LIN E

RDO'X' ROBOT DIGITAL OUTPUT LIN E
*PPABN PNEUMATIC PRESSURE ABNORMAL (USER SPECIFIC )
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWE R Continued i n
OV BATTERY BACK-UP (SAME STYLE CONNECTOR AS BAT+/-) Figure 5-22
5 . CONNECTORS
MARMMOSHW02301 E
5-28
Figure 5-22. K-115 (Continued )
Continued from J1 P (ROBOT MOTOR) AMPHENO L

Figure 5-21 A PD J1 'H R
B *PD J1 J S
C T +6VA
D L +5V U OVA
PRQ J1 M 0V V
*PRQ J1 SG
J2 P (ROBOT MOTOR) AMPHENOL

PD J1 H R
B *PD J1 J
C K T +6VA
D L +5V U OVA
E PRQ J1 M OV
F *PRO J1 SG
G
J3 P (ROBOT MOTOR) AMPHENO L

PD J1 H
B *PD J1 J
C K +6VA
D L +5V U OVA
E PRQ J1 M OV
*PRQ J1 N SG
G

PD J1 R
B *PD J1 J S
C K T +6VA
D L +5V U OVA
E PRQ J1 M OV
F *PRO J1 SG
G P

A PD J1 H R
B *PD J1 S
C K T +6VA
D +5V U OVA
E PRQ J1 M OV V
F *PRQ J1 SG
G

PD J1 R
B *PD J1 J S
SG SHIELD GROUND C K T +6VA
D L +5V U OVA
PD'X' SERIAL DATA LINE FROM THE APC O FMOTR R 'X' PRQ J 1 M OV V
*PD'X' TO THE MAIN (CPU) F *PRQ J 1 N SG
G P
PRQ'X' SERIAL DATA REQUEST FROM THE MAIN (CPU U) TO THE
'PRQ'X' APC OF MOTOR 'X '
OV ZERO VOLTS - GROUN D

+5V 5 VOLT POWER SUPPLY TO MOTOR APC' S
+6VA SECONDARY 6V BATTERY CONNECTION
5 . CONNECTORS
Figure 5-23 . K-11 6
M1
(Motor Power & Brake)

3 BKPJ3 10 BKMJ3 17 J51A 24 J52A 31 J53A 38 J5G A
7 14 21 28 35 42
M2
(Robot Motor Power)
a
1 J21
2 J11 3 J3 1
J22
5 J12 6 J32
8 J13 J23
9 J3 3
10 J2G
11 J1 G 12 J3G
J1M
J1 1 E J1 3
B BKPJ 1 F
J12 J1 G
BKMJ1
J2 M
A J21 E J2 3
B BKP J2 F
C J22 G J2G
D BKM J 2
J3 M
A J31 E J33
B BKP J3 F
C J32 G J3 G
D BKMJ 3
J6M J5 M J4M
J61 J63 J51 E J5 3 A J41 E J43

BKP J6 B BKPJ5 F B BKP J4 F
C J52 G J5G C J42 G J4 G
C J62 J6G
D BKMJ6 D BKM J5 D _ BKMJ 4
MARMMOSHW02301E
5-30
Figure 5-24. K-169
ROBOT OVERTRAVEL SIGNA L

+24 VDC POWER FOR EXTERNAL US E
(IE : ROBOT, MODULAR I/O)
5 . CONNECTORS
5 .3 This sections lists all of the connectors found on

BACKPLAN E • The R-J backplane
CONNECTORS • The R-H extended backplane
• The modular I/O rack
5 .3.1
R-JBackplne
Connectors
Figure 5-25 . R-J Backplane Connectors
100F 100F 120F 120F 120F 100 F

0 O o O. O o 0 O o
0
CA39C
0
CA39B
0
CA39A
g
z
O o o O 0 ......
JNAT JRAO- EM G JNPO-PS U

JNA1 -OPTION 1 JRA2 - AXI S
JNA2 - OPTION 2 JRA1 - MAIN
12 0 60
CA39
00 0
3 2 1
61
FEMALE
MALE
5 . CONNECTORS
MARMMOSHW02301 E
5-32
Figure 5-26. JRA0 Emergency Contro l
50 ON 49 ON 1 100 +5 V 99 0V
48 OF F 47 ON 2 98 +5 V 97 0V
46 COM 96 +5 V
45 OFF 1 95 0V
44 94 +5 V
43 OFF 2 93 0V
42 41 92 91 0V
40 +15 V 39 +15 V 90 89 OV
38 37 88 87 0V
36 15V 35 -15 V 86 85 0V
34 33 84 83 0V
32 +24 V 31 +24 V 82 81 0V
30 80 +24 V
29 79
28 78
27 77
26 SOF F 76
25 75
24 *FENC E 74
23 *EMG 73
22 EMGT P 21 TPDISC 72 71
20 EMGB 2 19 EMGE N 70 69
18 EMGB1 17 EMGD M 68 67
16 *FALM 66
15 EMGO P 65
14 OTRE L 64
13 *ESPT P 63
12 TPREL 11 62
*HBK D 61
10 *BRK E 9 *ROT 60 59
8 BRK3 7 BRK6 58 57
6 BRK2 5 BRK5 56 +24E 55
4 BRK 1 54 +24 E
3 BRK4 53 +24T
2 10VBK1 52 +24E
T 1 10VBK2 51 +24T
ON CONNECTION BETWEEN EMG AND PSU FOR POWER *EMG * EMERGENCY SIGNA L
OFF ON/OFF CIRCUIT EMGB1 DRY CONTACT OF THE TEACH PENDANT E-STOP P .B .
COM EMGB2 TO CRR4 OF EMG CONTROL PCB
EMGTP 24VDC POWER TO EMERGENCY CIRCUIT IN TH E
ON1 FROM THE ON P.B . OF THE OPER . PANEL TEACH PENDANT
ON2 TO THE MAIN (CPU) MODULE EMGDM SIGNAL FROM TEACH PENDANT DEAD MAN SWITC H
OFF1 FROM THE OFF P.B . OF THE OPER . PANEL (24VDC=EITHERSWITCH IS HELD) TO EMG CONTRO L
OFF2 TO THE MAIN (CPU) MODULE PC B
THROUGH THE MAIN (CPU)
SOFF SERVO OFF EMGEN SIGNAL FROM THE ON/OFF ENABLE SWITC H
*FENCE A LO (0VDC) INDICATES AN ERROR FROM THE GATE (24VDC=OFF) ON THE TEACH PENDAN T
SWITCH OF THE PROTECTIVE FENCE EMGOP OPERATOR PANEL EMERGENCY STOP DETECTED
*HBKD * HAND BROKEN DETECTED SIGNAL SIGNAL
*FALM * FUSE ALARM OF THE BRAKE CONTROL CIRCUI T
OTREL OVERTRAVEL RELEASE SIGNAL 0V GROUND
TPREL TEACH PENDANT RELEASED +15V +15 VDC FROM POWER SUPPLY MODULE (PSU )
TPDISC LO (0VDC) FROM TEACH PENDANT TO MAIN (CPU) -15V -15 VDC FROM POWER SUPPLY MODULE (PSU )
AND EMG CONTROL PCB INDICATING TEACH +24 E +24 VDC POWER FOR EXTERNAL US E
PENDANT (IE : ROBOT, MODULAR I/O )
DISCONNECTED +24T +24 VDC(24E) FROM EMG CONTROL PCB SWITCHE D
*ROT * ROBOT OVERTRAVEL SIGNAL ON
BY RELAY RL1 5
*BRKE BRAKE ENABLE +24 V +24 VDC USED FOR INTERNAL CONTROLLER POWE R
BRK1 MOTOR BRAKE OFF SIGNAL FET #1 (AXIS #1 )
BRK2 MOTOR BRAKE OFF SIGNAL FET #2 (AXIS #2 & 3 )
BRK3 MOTOR BRAKE OFF SIGNAL FET #3 (AXIS #4, 5, & 6)
BRK4 MOTOR BRAKE OFF SIGNAL FET #4 (EXTENDED AXIS )
BRK5 MOTOR BRAKE OFF SIGNAL FET #5 (EXTENDED AXIS)
BRK6 MOTOR BRAKE OFF SIGNAL FET #6 (EXTENDED AXIS )
10VBK1 0 VDC SUPPLIED BY EMG CONTROL PCB FOR AXI S
SUPPLIED SIGNALS BRK1-3
10VBK2 10 VDC SUPPLIED BY EMG CONTROL PCB FOR AXIS
SI IPPI IFI~ SI(INAI S RRK4-6
Figure 5-27 . JNP0 Power Unit
60 HI
59 EN
120 ON
58 , TEST P 11 8 OF F 119
57 117
56 LO 11 6 CO M
55 +5 V 11b +5V
54 +5V 11 4 +5V
53 +5V •
52 +5V 11 2 +5V
51 +5 V
50 +5V 11 0 +5V
49 +5V •
48 +5V 10 8 +5V
47 +5V
46 +5V 10 6 +5V
45 +5 V
44 +5V 10 4 +5 V
43 +5V
42 +5V 102 +5 V
41 +5V
40 +5 V 10 0 +5 V
39 +5V
38 +5 V 98 +5V
37 +5V
36 +5 V 96 +5 V
35 0V
34 OV 94 0V
33 0V
32 OV 92 0V
31 0V
30 OV 90 0V
29 0V
28 OV 88 0V
27 0V
26 OV 86 0V
25 0V 84
24 OV 0V
23 0V
22 +15 V 82 0V
21 +15V
20 OV 80 0V
19 0V
18 -15V 78 0V
17 -15 V
16 0V 76 OV
15 0V 74
14 +24 V 0V
13 +24V
12 +24 V 72 0V
11 +24V
10 0V 70 0V
9 0V
8 +24 E 68 +24E
7 +24E
6 +24 E 66 +24E
5 +24E
4 0V 64 0V
3 0V
2 BAT+ 62 0V
1 BAT-
+5V +5 VOLT POWER FROM POWER SUPPLY MODULE (PSU)

0V GROUN D
+15V +15 VDC FROM POWER SUPPLY MODULE (PSU )
-15V -15 VDC FROM POWER SUPPLY MODULE (PSU )
(IE : ROBOT, MODULAR I/O)
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWE R
TESTP COMMON FOR JUMPER TO EITHER LO OR H I

LO JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 4 .5 VDC
HI JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 5 .5 VDC
5 . CONNECTORS
MARMMOSHW02301 E
5-34
Figure 5-28 . JRA2 Axis Contro l

60
58
VBAT1
SYSCLK2
59I VBAT2
12 0
11 8
0V
SYSCLK 1
119 +5 V
57 AM 2 117 +5 V
56 A1 3 11 6 0V
55 AM 1 115 +5 V
54 A1 2 11 4 0V
53 AM 0 113 +5V
52 Al l 11 2 0V
51 SLP3 111 +5V
50 A10 11 0 SD I
49 SLP2 109 +5V
48 A09 10 8 SD O
47 SLP 1 107 +5V
46 A08 10 6 TEST 1
45 SLP0 105 +5V
44 A07 10 4 TEST2
43 A1 9 103 +5V
42 A06 102 *AS
40 41 A1 8 101 0V
A05 10 0 *UD S
39 A1 7 99 0V
38 A04 98 *LDS
37 A1 6 97 +15 V
36 A03 96 R/W
35 A1 5 95 0V
34 A02 94 *XPA
33 A1 4 93 0V
32 A01 92 *XAC K
31 *TEST 91 -15 V
30 D07 90 *BER R 89
29 D1 5 0V
28 D06 88 *E N
27 D1 4 87 0V
26 D05 86 *SYSCL R
25 D1 3 85 +24V
24 D04 84 *SYSFAIL
23 D1 2 83 +24V
22 D03 82 *SYSTM R
21 D1 1 81 +24E
20 D02 80 *IT P
19 D1 0 79 +24E
18 D01 78 *SYSEMG
D00 17 D09 77 0V
16 76 *BRQ0
15 D08 75 0V
14 *O H 74 *BRQ 1
13 AL M 73 0V
12 *BGOUTA 72 *BBSY
11 EN 1 71 0V
10 *BRKE 9 70
8 69
BRK3 68 *RO T
7 BRK6 67 SOF F
6 BRK2 66 *HBKD
5 BRK5 65 *FALM
4 BRK1 64 *ESPT P
3 BRK4 63 OTRE L
2 10VBK 1 62 *FENC E
ov GROUND 1 1 10VBRK2 61 *EM G
+15V +15 VDC FROM POWER SUPPLY MODULE (PSU) R/W READ/WRITE
-15V -15 VDC FROM POWER SUPPLY MODULE (PSU )
+24 E +24 VDC POWER FOR EXTERNAL USE *XACK * TRANSFER ACKNOWLEDGED
(IE : ROBOT, MODULAR I/O) *XPA
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWER
*BBSY * BUS BUSY
AM0-2
ADDRESS MODIFIERS 0-2 *BERR * BUS ERRO R
A01-A19 ADDRESS BUS *BRQ0 *BUS REQUEST 0
D00-D15 DATA BUS *BRQ1 *BUS REQUEST 1
*BRKE BRAKE ENABLE *EN * POWER ENABLE D

BRK1 MOTOR BRAKE OFF SIGNAL FET #1 (AXIS #1 )
BRK2 MOTOR BRAKE OFF SIGNAL FET #2 (AXIS #2 & 3) *ITP INTERPOLATION START
BRK3 MOTOR BRAKE OFF SIGNAL FET #3 (AXIS #4, 5, & 6)
BRK4 MOTOR BRAKE OFF SIGNAL FET #4 (EXTENDED AXIS) SYCLK2 SYSTEM CLOCK 2
BRK5 MOTOR BRAKE OFF SIGNAL FET #5 (EXTENDED AXIS) *SYSCLR *SYSTEM CLEAR
BRK6 MOTOR BRAKE OFF SIGNAL FET#6(EXTENDED AXIS) *SYSFAIL * SYSTEM FAI L
10VBK1 0 VDC SUPPLIED BY EMG CONTROL PCB FOR AXIS *SYSTMR * SYSTEM TIME R
SUPPLIED SIGNALS BRK1-3 *SYSEMG * SYSTEM EMERGENC Y
10VBK2 10 VDC SUPPLIED BY EMG CONTROL PCB FOR AXI S
SUPPLIED SIGNALS BRK4-6 *BGOUT1 * BUS GRANT OUT 1
*BGOUT2 * BUS GRANT OUT 2
*BGIOP1 * BUS GRANT IN OPTION SLOT 1 *BRQ0 *BUS REQUEST 0
*BGOOP1 * BUS GRANT OUT OPTION SLOT 1 *BRQ1 *BUS REQUEST 1
VBAT2 BATTERY BACKUP VOLTAGE, - CONNECTION *ESPTP * EMERGENCY STOP PRESENT AT TEACH PENDANT
*FALM * FUSE ALARM OF THE BRAKE CONTROL CIRCUI T
*USEDP1 MODULE IN OPTION 1 SLOT *FENCE A LO (0VDC) INDICATES AN ERROR FROM THE GAT E
SWITCH OF THE PROTECTIVE FENC E
SYCLK2 SYSTEM CLOCK 2 *ROT * ROBOT OVERTRAVEL SIGNA L
OTREL OVERTRAVEL RELEASE SIGNA L
TEST1 TEST 1 SOFF SERVO OFF
TEST2 TEST 2 SDI SIGNAL DATA INPUT
SDO SIGNAL DATA OUTPUT
*AS * ADDRESS STROBE
*LDS LOWER DATA STROBE *EMG * EMERGENCY SIGNAL
*UDS UPPER DATA STROBE
5 . CONNECTORS
MARMMOSHWO2301E 5-3 5
Figure 5-29 . JRA1 Main CP U

60 VBAT 1 120 0V
59 VBAT2 119 +5 V
58 118 SYSCLK1
57 AM2 117 +5 V
56 A1 3 116 0V
55 AM 1 115 5V
54 A1 2 114 0V
53 AM0 113 +5 V
52 Al l 112 0V
51 SLP 3 111 +5
50 A1 0 110 SD I
49 SLP 2 109 +5 V
48 A0 9 108 SDO
47 SLP 1 107 +5 V
46 A0 8 106 TEST1
45 SLP 0 105 +5 V
44 A0 7 104 TEST2
42 43 A1 9 103 +5V
A0 6 102 *AS
41 A1 8 01 0V
40 A0 5 100 *UDS
39 A1 7 99 0V
38 A0 4 98 *LD S
37 A1 6 R/W 97 +15v
36 A03 96
35 A1 5 95 0V
34 A02 94 *XPA
33 A1 4 93 0V
32 A0 1 92 *XAC K
31 *TEST 91 -15V
30 D07 90 *BER R
29 D1 5 89 0V
28 D06 88 *EN
27 D1 4 87 0
26 D0 5 86 *SYSCL R
24 D0 4 25 D1 3 85 +
84 "SYSFAI L
23 D1 2 83 +24 V
22 D0 3 82 *SYSTM R
21 D1 1 81 +24 E
20 D0 2 80 *ITP
19 D1 0 79 +24 E
18 D0 1 78 *SYSEM G
17 D09 77 0V
16 D0 0 76 *BRQ0
15 D08 75 0V
14 *IDSTB 74 *BRQ 1
12 *BGOUT M 13 73 0V
72 *BBSY
11 *BGIN M 71 0V
10 EMGOP 70 OFF 1
9 ON 1 69
8 TPREL 68 OFF2
7 ON 2 67
6 EMGTP 66
5 65
4 EMGE N 64 EMGB 2
3 63 +24T
2 EMGDM 62 EMGB 1
1 TPDISC 61 +24T
0V GROUND
+15V +15 VDC FROM POWER SUPPLY MODULE (PSU ) R/W READ/WRITE
-15V -15 VDC FROM POWER SUPPLY MODULE (PSU ) *XACK * TRANSFER ACKNOWLEDGE D
+24 E +24 VDC POWER FOR EXTERNAL US E *XPA
(IE : ROBOT, MODULAR 1/O ) *BBSY * BUS BUSY
+24 V +24 VDC USED FOR INTERNALCONTROLLER POWE R *BERR * BUS ERROR
AM0-2
ADDRESS MODIFIERS 0-2 *BUS REQUEST 0
A01-A19 ADDRESS BU S "BRQ1 *BUS REQUEST 1
D00-D15 DATA BU S *EN * POWER ENABLED
*BRKE BRAKE ENABLE *ITP INTERPOLATION STAR T
BRK1 MOTOR BRAKE OFF SIGNAL FET #1 (AXIS #1 ) SYCLK2 SYSTEM CLOCK 2
BRK2 MOTOR BRAKE OFF SIGNAL FET #2 (AXIS #2 & 3 ) *SYSCLR *SYSTEM CLEAR
BRK3 MOTOR BRAKE OFF SIGNAL FET #3 (AXIS #4,5, & 6 ) *SYSFAIL * SYSTEM FAI L
BRK4 MOTOR BRAKE OFF SIGNAL FET #4 (EXTENDED AXIS) *SYSTMR * SYSTEM TIME R
BRK5 MOTOR BRAKE OFF SIGNAL FET #5 (EXTENDED AXIS) *SYSEMG * SYSTEM EMERGENC Y
BRK6 MOTOR BRAKE OFF SIGNAL FET #6 (EXTENDED AXIS) *BGOUT1 * BUS GRANT OUT 1
10VBK1 0 VDC SUPPLIED BY EMG CONTROL PCB FOR AXI S *BGOUT2 * BUS GRANT OUT 2
SUPPLIED SIGNALS BRK1-3 *BUS REQUEST 0
10VBK2 10 VDC SUPPLIED BY EMG CONTROL FOR AXI S *BRQ1 *BUS REQUEST 1
SUPPLIED SIGNALS BRK4- 6 *ESPTP * EMERGENCY STOP PRESENT AT TEACH PENDANT
*BGIOP1 * BUS GRANT IN OPTION SLOT 1 *FALM * FUSE ALARM OF THE BRAKE CONTROL CIRCUIT
*BGOOP1 * BUS GRANT OUT OPTION SLOT 1 *FENCE A LO (0VDC) INDICATES AN ERROR FROM THE GAT E
VBAT1 BATTERY BACKUP VOLTAGE, + CONNECTIO N SWITCH OF THE PROTECTIVE FENC E
*USEDP1 MODULE IN OPTION 1 SLO T *HBKD * HAND BROKEN DETECTED SIGNAL
SYCLK2 SYSTEM CLOCK 2 SDI SIGNAL DATA INPUT
TEST1 TEST 1 SDO SIGNAL DATA OUTPUT
TEST2 TEST 2 *ROT * ROBOT OVERTRAVEL SIGNA L
*AS * ADDRESS STROBE OTREL OVERTRAVEL RELEASE SIGNA L
*LDS LOWER DATA STROBE SOFF SERVO OFF
*UDS UPPER DATA STROB E *EMG * EMERGENCY SIGNAL
*BGIN1 * BUS GRANT IN 1 TPDISC LO (0VDC) FROM TEACH PENDANT TO MAIN (CPU) AN D
*BGIN2 * BUS GRANT IN 2 EMG CONTROL PCB INDICATING TEACH PENDAN T
*BGOUT1 * BUS GRANT OUT 1 DISCONNECTE D
*BGOUT2 * BUS GRANT OUT 2 ON1 FROM THE ON P.B . OF THE OPER . PANEL
*EMG * EMERGENCY SIGNAL ON2 TO THE MAIN (CPU) MODUL E
EMGB1 DRY CONTACT OF THE TEACH PENDANT E-STOP P .B . OFF1 FROM THE OFF P.B . OF THE OPER. PANE L
EMGB2 TO CRR4 OF EMG CONTROL PC B OFF2 TO THE MAIN (CPU) MODUL E
EMGDM SIGNAL FROM TEACH PENDANT DEAD MAN SWITC H
(24VDC=EITHER SWITCH IS HELD) TO EMG CONTRO L
PC B
THROUGH THE MAIN (CPU )
EMGEN SIGNAL FROM THE ON/OFF ENABLE SWITCH
(24VDC=OFF) ON THE TEACH PENDANT
EMGOP OPERATOR PANEL EMERGENCY STOP DETECTE D
i~IG`PIl11
re b-JU . JNA1 UI' I IUN 1
--~Lloo Ov
98 SYSCLK1 5
97 1 +5V
Ov
95 1 +5v
94 vv __ I - j
22 1 0 * _
21 *TEST 71
20 D07 * BER R
1 40 19 D15 *
006 68
17 D14 *
D05 66
15 D13 *
D04 64
13 D12 *
D03 62
11 D11 1 -~.P4 F
D02 ITP 60 - 6
0
D01
4 B 9* 5 *DOB 54 *BR 1
F; OV
* 0 1 BG10P 1 51 ov
0V GROUND R/W READ/WRIT E

-15V * XACK * TRANSFER ACKNOWLEDGED
-15 VDC FROM POWER SUPPLY MODULE (PSU)
+24 E * XPA
+24 VDC POWER FOR EXTERNAL USE
(IE : ROBOT, MODULAR 1/O)
* BBSY * BUS BUSY
+24V +24 VDC USED FOR INTERNALCONTROLLER POWER
*BERR 'BUS ERROR
AM0-AM2 ADDRESS MODIFIERS 0-2 RQ0 *B *BUS REQUEST 0
A01-A19 ADDRESS BUS *BRQ1 *BUS REQUEST 1
D00-D15 DATA BUS
*EN * POWER ENABLE D
*IDSTB * IDENTIFIER STROBE
*ITP INTERPOLATION START
*BGIOP1 * BUS GRANT IN OPTION SLOT 1
SYCLK2 SYSTEM CLOCK 2
*BGOOP1 * BUS GRANT OUT OPTION SLOT 1
*SYSCLR *SYSTEM CLEAR
VBAT2 BATTERY BACKUP VOLTAGE, - CONNECTION *SYSFAIL * SYSTEM FAI L
*SYSTMR * SYSTEM TIME R
*USEDP1 MODULE IN OPTION 1 SLOT *SYSEMG * SYSTEM EMERGENC Y
SYCLK1 SYSTEM CLOCK 1
TEST1 TEST 1
TEST2 TEST 2
*AS * ADDRESS STROB E

*LDS LOWER DATA STROB E
50 VBAT 1
49 VBAT2
48
47 AM 2
46 A1 3 45 AM 1
4 A1 2 43 A M0
42 Al l 41 SLP3
40 A1 0
39 SLP2
38 09
3 SLP1
36 A08
35 SLP0
34 A07
33 A1 9
32 A06
31 A1 8
30 A05 29 A1 7
28 A04 27 16
26 A03 25 A1 5
24 A02
23 14
22 A0 1
21 *TEST
20 D07
19 D1 5
18 D06
17 D1 4
16 D05 -
15 D1 3
14 D04 13 D1 2
12 D0 3 11 D1 1
10 D0 2
9 D1 0
8 D0 1
7 D0 9
6 D0 0
5 D0 8
4 *IDSTB2
3 *USEDP2
2 *BG00P2 1 BG10P2
0V GROUND R/W READ/WRIT E

-15V *XACK * TRANSFER ACKNOWLEDGE D
-15 VDC FROM POWER SUPPLY MODULE (PSU)
+24 E +24 VDC POWER FOR EXTERNAL USE *XPA
(IE : ROBOT, MODULAR 1/O)
*BBSY * BUS BUSY
+24V +24 VDC USED FOR INTERNALCONTROLLER POWER
*BER R *BUS ERROR
AM0-AM2 ADDRESS MODIFIERS 0-2 * BRQ0 *BUS REQUEST 0

A01-A19 ADDRESS BUS *BRQ1 *BU S REQUEST 1
D00-D15 DATA BUS
* EN * POWER ENABLE D
*IDSTB * IDENTIFIER STROBE
*BGIOP2 * BUS GRANT IN OPTION SLOT 2
*BGOOP2 * BUS GRANT OUT OPTION SLOT 2 SYCLK2 SYSTEM CLOCK 2
*SYSCLR *SYSTEM CLEA R
VBAT2 BATTERY BACKUP VOLTAGE, - CONNECTION *SYSFAIL * SYSTEM FAI L
*SYSTMR * SYSTEM TIMER
*USEDP2 MODULE IN OPTION 2 SLOT *SYSEMG * SYSTEM EMERGENC Y
SYCLK1 SYSTE M CLOCK 1
TEST1 TEST 1
TEST2 TEST 2
*AS *ADDRESS STROBE

*UDS UPPER DATA STROB E
120 0V 60
119 +5v 59 VBAT2 VBAT1
- 118 SYSCLK2 58
117 +5V 116 0V 57 AM 2
56 A1 3
115 +5v 114 0V - 55 AM1
113 +5v 54 A1 2
112 0V - 53 AM0
111 +5v 52 Al l
110 SDI 51 SLP3
109 +5V 50 A1 0
108 SDO 49 SLP2 48 A09
107 +5V 106 TEST1 47 SLP1
105 +5V 104 TEST2
103 +5v 102 *AS 42 A06
101 +5v 100 *UDS 41 A18
40 A0 5
99 +5v 98 *LDS 39 A17
97 +5V 38 A0 4
96 R/W 37 A16 36 A0 3
94 *XPA 35 A15
ov 34 A0 2
92 *XACK 33 A1 4
+15V - *TEST 0
90 *BERR 31 30 D07
29 D15
88 *EN 28 D06
86 *SYSCLR 27 D14
26 D05
84 *SYSFAIL 25 D13
-15V 24 D04
83 82 *SYSTMR _ 23 D1 2
81 -15V D11 22 D03
80 *ITP 21
79 OV 20 D02
78 *SYSEMG - 19 D10
77 OV 17 D09 18 D0 1
76 BRQ0 _ 16 * D0
75 +24V 74 * BRQ1 15 D0 8
73 +24V 72 BBSY 12
71 +24V 11
70 0V BG1EX 10 ov
69 68 0V 9 ov
67 +24E 7 ov 8 ov
66 0V ON
65 +24E 5 HI
64 0V 4 CO M
63 +24E 3 TESTP
62 0V 2 OF F
61 ov
+5V +5 VOLT POWER FROM POWER SUPPLY MODULE (PSU) R/W READ/WRITE
0V GROUND
+15V +15 VDC FROM POWER SUPPLY MODULE (PSU) *XACK * TRANSFER ACKNOWLEDGE D
-15V -15 VDC FROM POWER SUPPLY MODULE (PSU) *XPA
(IE : ROBOT, MODULAR 1/O) SDI SIGNAL DATA INPUT
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWER SDO SIGNAL DATA OUTPU T
SLP0 SLOT POINTER (SLOT 0 )
TESTP COMMON FOR JUMPER TO EITHER LO OR HI SLP1 SLOT POINTER (SLOT 1 )
LO JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 4 .5 VDC SLP2 SLOT POINTER (SLOT 2 )
HI JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 5 .5 VDC
`BBSY * BUS BUSY
SYCLK2 SYSTEM CLOCK 2 *BERR * BUS ERROR
*SYSCLR * SYSTEM CLEAR *BRQ0 *BUS REQUEST 0
*SYSFAIL * SYSTEM FAIL *BRQ1 *BUS REQUEST 1
*SYSTMR * SYSTEM TIME R
*SYSEMG * SYSTEM EMERGENCY *EN * POWER ENABLE D
*TEST *TEST
TEST1 TEST 1 VBAT1 BATTERY BACKUP VOLTAGE, + CONNECTIO N
TEST2 TEST 2 VBAT2 BATTERY BACKUP VOLTAGE, - CONNECTIO N
TESTP COMMON FOR JUMPER TO EITHER LO OR H I
LO JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 4 .5 VDC AM0-AM2 ADDRESS MODIFIERS 0- 2
HI JUMPER TO TESTP SETS 5 VDC FROM PSU MODULE TO 5 .5 VDC A01-A19 ADDRESS BUS
D00-1315 DATA BU S
*AS * ADDRESS STROBE
*LDS LOWER DATA STROBE *IDSTB * IDENTIFIER STROBE
ON CONNECTION BETWEEN EMG AND PSU FOR POWE R
OFF ON/OFF CIRCUIT
COM
CA39A CA39B CA39 c
01 +24V 01 +24V 01 - +24 V
02 0V 02 0V 02 0V
03 ALMA 03 ALMS 03 ALMC
0V GROUN D
+24 V +24 VDC USED FOR INTERNAL CONTROLLER POWER
ALMA 24VDC FAN A CENTRIFUGE SWITCH OUT (0VDC=NO ALARM )
ALMB 24VDC FAN B CENTRIFUGE SWITCH OUT (0VDC -NO ALARM
ALMC 24VDC FAN C CENTRIFUGE SWITCH OUT (0VDC=NO ALARM)
0
C
vy 0
0 3
..~
u v
0
C 0
v Q,
a
u
y .x
c
o
0 ..o ..c ..
f YIVf'
C
01
a u c .u 0
c c p c0 c
a a ► - u° a a
0
U ._
0 0000000000000000g000000000000 0
OOOOQ 0000
000000000000000000 ~rrf~ O
fC
Q rf~
U
RS
n
a
N 1dNr
a
O
n 0000000000000000 0
00 000000000000000 0
7
1 LVNO
O 5L8N~ o O
100000000 0 10000000000000000010 1
7 O 10 0 0 O 1 0 0000000000000000 0
54`dN ~
U.
ZA8NO ZAVNO Q
1 1
00 0 00000000000000000 0 0 00000000000000000 0
o
LASNO LAVNO v O
z
0 .00 .000 [op ;00
. . ;0000
22 222 2 ;
002 50 -
0 0 .00 0
0 0 060000000 TO 0
00 0
= i
g g
uw
Figure 5-35 . cN14
AM0-2 ADDRESS MODIFIER 0-2

C B A A01-19 ADDRESS BUS 1-1 9
32 NC +5V SYSCLK2
D00-15 DATA BUS 0-1 5
31 ov +5V 0V
*AS ADDRESS STROB E
30 M2 +5V A1 3
R/W READ/WRIT E
29 AM1 +5V A1 2
28 AM0 0V A1 1
27 SLP3 0V A1 0
*XACK TRANSFER ACKNOWLEDGED
26 SL P2 +5V A09
*GBR GLOBAL BUS REQUEST
25 SLP1 +5V A08
SLP0 +5V *BGIN1 BUS GRANT IN 1
24 A07
0V *BGIN2 BUS GRANT IN 2
23 A19 A0 6
22 0V A0 5 *BGOUT1 * BUS GRANT OUT 1
A18
+15V A0 4 *BGOUT2 * BUS GRANT OUT 2
21 A17
20 A16 +15V A0 3 *BERR BUS ERROR
19 A16 0V A02 *BBSY BUS BUSY
0V A01 *SYSTMR SYSTEM TIME R
*XACK -15V *A S *ITP INTERPOLATION START
*BERR -15V *UD S *BRQ1 BUS REQUEST 1
* 0V *LD S DI4 DIGITAL INPUT #4
*SYSCLR 0V R/W DI5 DIGITAL INPUT #5
*SYSFAIL +24V *SYSEM G *USED SLOT USED
12 *SYS MR +24V *BRQ0 SYSTEM CLOCK 1 (16SYCLK1 .384 MHz)
11 * 0V *BRQ2 SYSCLK2 SYSTEM CLOSK 2 (16.384 MHz)
10 * 0V *BGOU T SUBCLK1 SUBSIDIARY CLOCK 1
09 SDO SDI *BBSY *SYSCLR SYSTEM CLEAR
08 D15 DI4 D07 *SYSFAIL SYSTEM FAI L
07 D14 0V D06 *SYSEMG SYSTEM EMERGENC Y
06 D13 0V D0 5 SDO SERIAL DATA OUT
05 D12 *USED D0 4 SDI SERIAL DATA I N
04 D11 *XPA D03 VBAT
D10 BATTERY POWER
03 0V D02 EN POWER ENABLED
02 D09 0V D0 1 *EN * POWER ENABLE D
01 D08 VBAT D00 *XPA TRANSFER ACKNOWLEDGED
1 TO IC1, PIN1 2 TO CN15A15 3TO CN15A11 *XPACK TRANSFER ACKNOWLEDGE D
SLP 0 SLOT POINTER (SLOT 0 )
0V REFERENCE FOR SUPPLY VOLTAG E
+5V +5 VDC POWER SUPPLY FOR DIGITAL LOGIC CIRCUI T
+24V +24 VDC POWER SUPPLY' FOR 11O INTERFAC E
+15V +15 VDC POWER SUPPLY FOR MEMORY BACKU P
-15V -15 VDC POWER SUPPLY FOR MEMORY BACKUP
MARMMOSHW02301E
5-42
Figure 5-36 . CN15
AM0-2 ADDRESS MODIFIER 0- 2

C B A A01-19 ADDRESS BUS 1-1 9
32 NC +5V SYSCL K D00-15 DATA BUS 0-1 5
31 OV +5V 0V *AS ADDRESS STROB E
30 AM2 +5V A1 3 RAN READ/WRIT E
29 AM1 +5V A1 2 *UDS UPPER DATA STROB E
28 AM0 0V Al l
A10 *LDS LOWER DATA STROB E
27 SLP3 0V
*XACK TRANSFER ACKNOWLEDGE D
26 SLP2 +5V A09
*GBR GLOBAL BUS REQUEST
25 SLP1 +5V A08
•~ +5V *BGIN1 BUS GRANT IN 1
A07
~E~ 0V A06 *BGIN2 BUS GRANT IN 2
*BGOUT1 * BUS GRANT OUT 1
0V A05
+1 5V A04 *BGOUT2 * BUS GRANT OUT 2
NW= MM. +15V A03 *BERR BUS ERROR
0V A02 *BBSY BUS BUSY
A15
~i
~iI
►'eta
:] ;1 :
0V
-15V
-15V
A0 1
*A S
*UD S
*SYSTMR SYSTEM TIME R
*ITP
*BRQ1
INTERPOLATION START
BUS REQUEST 1
~i_~~~~~ 0V *LDS DI4 DIGITAL INPUT #4
ERE. 0V R/W DI5 DIGITAL INPUT #5
+24V *SYSEM G *USED SLOT USED
iK at-N iIu1 :1 +24V * BRQ0 SYSCLK1 SYSTEM CLOCK 1 (16 .384 MHz)
0V BGI N SYSCLK2 SYSTEM CLOSK 2 (16 .384 MHz)
_• : . 0V NC SUBCLK1 SUBSIDIARY CLOCK 1
1111 I• SDI *BBSY *SYSCLR SYSTEM CLEA R
EMU=i~ = DI5 D07 *SYSFAIL SYSTEM FAI L
0 ~iMC~ 0V D06 *SYSEMG SYSTEM EMERGENCY.
0. IBM= 0V D05 SDO SERIAL DATA OUT
NC D04 SDI SERIAL DATA I N
~- ~ *XPA D03 VBAT BATTERY POWE R
~c i 0V D02 EN POWER ENABLE D
02 D09 0V D0 1 *EN * POWER ENABLED
01 D08 VBAT D00 *XPA TRANSFER ACKNOWLEDGED
1 FROM CN14A15 2 FROM CN14A1 0 *XPACK TRANSFER ACKNOWLEDGE D
SLP 0 SLOT POINTER (SLOT 0)
0V REFERENCE FOR SUPPLY VOLTAG E
+5V +5 VDC POWER SUPPLY FOR DIGITAL LOGIC CIRCUIT
+24V +24 VDC POWER SUPPLY FOR I/O INTERFAC E
+15V +15 VDC POWER SUPPLY FOR MEMORY BACKU P
-15V -15 VDC POWER SUPPLY FOR MEMORY BACKU P
Figure 5-37 . CNAV1, CNAV2 Vision Engine Connectio n

6MCLK CLOCK (6 MHz)
C B A BMWD BIT MAP WINDOW
32 *QADC +5V 6MCLK
(EXDISP) EXTERNAL DISPLAY TIMING
31 OV +5V 0V
(EXVSYN) EXTERNAL VERTICAL SYNC .
30 QA +5V (NC)
(EXHSYN) EXTERNAL HORIZONTAL SYNC .
29 (NC) +5V BMW D
*DSPTM DISPLAY TIMING
28 D7 0V EXDISP
VSYNC VERTICAL SYNC.
27 D6 0V EXVSY N
HSYNC HORIZONTAL SYNC .
26 D5 +5V EXHSYN
CHRD CHARACTER OVERLAY
25 D4 +5V *DSPT M
+5V OUTWD OUTPUT WINDOW
24 D3 VSYN C
0V RUNLNG RUN LENGTH
HSYN C
CHR D *XAOVR XADDRESS OVER
~• (+ 15 DUTWD *YAOVR Y ADDRESS OVER
_
Er•'XiME (+15
0V
RUNLN G BNRC BINARY OUTPUT
*LDXDCT LOAD X DOWN COUNTE R
0V *XAOV R *DCTDN COUNT DOWN X
~ -15 *YAOV R RDBRAM READ BUFFER RAM
MIi[©';~IP[ 1-15 BNR C WTBRAM WRITE BUFFER RA M
~~ !i' 0V NC ' ACNTBF ADDRESS COUNT ENABLE FOR BRA M
iC~T► ~ 0V *LDXDCT APSBF ADDRESS PRESET FOR BRA M
© . +24 XDCTD N *WDO8 WRITE DO 8
~~ 1+24 RDBRA M *WDO2 WRITE DO 2
11 •• 0V WTBRA M *CTEYO COUNT ENABLE YO
10 _ 0V ACNTB F *BLOE BRAM OUTPUT LATCH ENABLE
•• ._ *WD08 APSB F *QADC CLOCK (12 MHz)
~~ *WD02 IDB7A QA CLOCK (12 MHz)
~' 0V IDB6A DO- D7 8-BIT DATA BUS FOR INTER ENGIN E
~•I*I3; 0V IDB5A *MCD2 MODAL COMMAND STROBE 2- 3
• i-•- CTEYO IDB4A *MCD 3
*BLOE IDB3A MSABE MASTER ACCESS ENABL E
•~ ~' B 0V IDB2 A *RUNLE RUNLENGTH ENABL E
02 IDB1B 0V IDB1 A *RLWD RUNLENGTH WINDO W
01 IDB0B (-) IDB0A ISSYN ISP SYNC .
ISASL ISP ADDRESS SELECT
*MCD5 MODAL COMMAND STROBE 5
ISAC0 ISP ADDRESS CONTROL 0
ISAC1 ISP ADDRESS CONTROL 1
ISPCKE ISP CLOCK ENABL E
5 . CONNECTORS
MARMMOSHW02301E
5-44
Figure 5-38 . CNBV1, CNBV2, AND CNB15 Vision Interface
C B A *C12MM CLOCK (12 MHz )

32 *C24MM +5V *C12M M *C24MM CLOCK (24 .MHz )
31 0V MAB1-17 ADDRESS BU S
30 NCB „_ : READ READ/WRITE
29 NC~MI MPUDS UPPER BYTE DATA STROBE
28 NC' ' : h MPLDS LOWER BYTE DATA STROB E
27 NC , *FMRDU READ FRAME MEMORY UPPER BYTE
26 NC' , *FMRDL READ FRAME MEMORY LOWER BYTE
25 IOSEL 1111=1111 *FMWU WRITE FRAME MEMORY UPPER BYT E
24 NC` s , EMI
*FMWL WRITE FRAME MEMORY LOWER BYT E
23 CRTR/W i' „, ; . .
*IRDRAW INTERRUPT FROM ACRTC
22 RS ~a' ,_ M *SDBE SYSTEM DATA BUS ENABLE FOR ACRTC
21 MAB17 =MI ,►►1E ~
IOSEL INPUT/OUTPUT SELECT
20 MAB16 ~ M KET
CRTR/W READ/WRITE FOR ACRTC
19 MAB15 TTI
18 MAB14 ~N ' , ____ RS REGISTER SELECT FOR ACRTC
*DTDRAW DATACK FROM ACRTC
17 *DTDRA11 i
*FMRDY READY FROM FRAME MEMOR Y
16
15
14
*FMRD t
*INHM
*PORM ~'
Erir~ u' n .
i~
*INHM ACCESS INHIBIT TO MPU
*PORM POWER ON RESE T
13 *CSCRT f17 I:11 *CSCRT CHIP SELECT FOR ACRTC
12 *WEDO tlj~ *WEDO WRITE ENABLE FOR D O
11
10
RFREQ
NC
t~r~
~M ;1,]v
REREQ REFRESH REQUEST TO FRAME MEMOR Y
MDB00-15 16-BIT DATA BU S
09 NC 1* MUMS
08 MDB15 Minng/l E
07 MDB14 MMUS u I e . 6
06 MDB13 W ITM E
05 MDB12$~ Y . :• .
04 MDB1 1
03
02
MDB10
MDB09
Eir~
~
~~er _
!•L'1;1
01 MDB08 (-) MDB00
Figure 5-39. CNP4
01 HI HI FOR TESTING (FOR A VARIATION OF +/ 10% I N

02 TEST TEST }-
THE +5V POWER SOURCE )
03 LOW LOW.)
5 .3.3
Modular I/O Rac k
Connectors
Figure 5-40 . Modular I/O Rack Connectors
A B A B
01 RGND FGN D 01 FGN D
02 LGND R24V 02 RGN D
03 LGND LGND 03 LGND R24V
04 PSOK IOCL K 04 PSOK LGN D
05 IOWT *IODT 05 IOCLK
06 BID4 RU N 06 *IOD T
07 BID2 BID3 07 IOWT RU N
08 BID0 BID 1 08 BID3 BID4
09 +5V +5V 09 BID1 BID2
10 +5V +5V 10 EN'X' BID0 `X' = SLOT NUMBE R
11 LGND LGN D 11 +5V +5V
12 EN2 EN 1 12 LGND LGND
13 EN4 EN3
14 EN6 EN5
15 EN8 EN7
16 EN10 EN9 +5V 5 VOLT DC SUPPLY TO THE BACKPLANE FROM I/O
INTERFACE MODUL E
BID0-4 BINARY INPUT/OUTPUT DATA (BITS 0 THROUGH 4 )
EN1-10 ENABLE I/O MODULE SLOTS 1 THROUGH 1 0
FGND FRAME GROUN D

LGND LOGIC GROUND (+5V)
RGND GROUND (R24V)
IOCLK I/O CLOC K

IODT I/O SERIAL DATA TRANSFE R
IOWT I/O WAIT ON TRANSFER
PSOK POWER SUPPLY O K
R24V REGULATED 24VDC FROM 11O INTERFACE MODULE

RUN RUN SIGNAL FROM I/O INTERFACE MODULE
MARMMOSHWO2301E 6-1
Complete wiring for the controller and the robot mechanical unit is shown
in ten diagrams, 6-1 through 6-10 . The diagrams are valid for all FANU C
Robotics robot models (except where specific robot models are indicated) .
This chapter is useful for verifying the cable connections to al l
components within the robot controller and mechanical unit .
i
N
MAI N
DISCONNECT rK003
K001-1
TI 30A I
CUSTOME R
SUPPLIE D 1 ;
220-575VA C
50/60 H z i 1
3 PH.
1
I -
K002
OPTIONA L
CIRCUIT/LEAKAGE
BREAKER aooaooamo C1EJ[1EDE7f30m© I U]E vi nFj
----4- o-- {
i
s ! TF1
1
oo~o~ p . ME1
_ ter. ~
n- o 0-J Xr-- --°- I MAIN
XFORME
L-
200VAC {
AMPERAGE RATING TABLE TO PSU
INPUT CIRCUIT LEAKAGE DISCONNECT
VOLTAGE BREAKER BREAKER SWITCH
<02-01 )
(C.B.WITH
GFSJ
r
220 50A 50A 50A
ALC
RELA
L
30A 30A 30A 200VAC IN
500
.550 {FROMPSU
575 20Ax <02-25> L_
K02
INPUT K021-
'
VOLTAGE
'!~If~iLS~3 G AC { 1 THERMAL CIRCUIT
T10O0VEM - TO SERVO AMP 81
ezI~sl :ty f Lfey-~r'~au~'_z~: <03-05> (08-36 & 08-37)
STA R
K020-
E r %'~illEl"~~iI 08-16 16-24
f2~Eklfl~f}7
~=-"-JCY4f-IIEL]
Y
AL-Ell/ 200VAC 3PH .
TO SER VAMPS
2 tt
C09-24 •Elu a 26)
0
CrJ
6 . COMPLETE WIRING DIAGRAM S
MARMMOSHW02301E
6-3
Figure 6-2. Internal Connection Diagram - S-42 0
O _ _ O e o _ !J+ J ! 1 _ a O • a
n• N• b• M
iiIIIiiIIiI Iii 111 I r
P
a .. -
< ,1 0
0
r$
o, 6
a•1
I
p
7_
a
w
0
-
I
ONI00 1
I NI00 I
11183
K.23
MEE
a
3 tle
U U
Tirfi
EIMEISIBLiEi
=OR B
h:
a U
gglEg ION
O!ro©oo
1 M
eeeeeeeM®MM
6. COMPLETE WIRING DIAGRAMS
MARMMOSHW02301E
Figure 6-3. Internal Connection Diagram - ARC Mate, ARC Mate Sr ., S-5 ,
and S-10
-- J ~ '- J J
7 7 7 7 O _ _® O® `~
Y Y Y Y Y Y I~ ~ $
Lo e o o~ o o o e o o e o o e d c o 0 1
o e e o 0 0 0 o 0 0
'h N
n Uy N y
3
5 §3F s
~qI
- M H r n .o n n e. 2_ N
f5 n + n! I r] °-! I n_~cnv
n
N
L
H n
•
I
MARMMOSHW02301E 6-5
Figure 6-4. Internal Connection Diagram - Operator Pane l
8
,
mm 11 111111 1111 1
11 111111 1111 1
[ IM1111111111 ILQI-I-i
Z 2
L -ti lJ
8 se
zr
O GD
t
Y b O O
I5 0 O
2
1~~
0
g
n h n a
R
g
g g
C N Y N
CC
U
8 8 8 s
n r P
MARMMOSHW02301 E
6-6
Figure 6-5 . Internal Connection Diagram (Input Unit, Emergency Stop, Brak e
Control)
MARMMOSHW02301 E 6-7
Figure 6-6. Internal Connection Diagram Main CPU, Axis Control Board
0
a
II I s
4 1
!Hi
cis is $l RLTTJ
1E 2
ill
li n rfI
1 l l I 1 1 1 1
II
I IIIIIIII I
11111111 1
l 1 l l ~~
~C]C7C1tbCIC7
1 l
q OF~q ~q
f
UUUUUUUU ULJLJULJLJU U
O~OO~ i 0~0 06 q [7 0
UUUUUUULJU L.ILJLJLJU U
MARMMOSHW02301 E
6-8
Figure 6-7 . Internal Connection Diagram - Servo Amplifier Connection S-420, AR C
Mate, ARC Mate SR, S-5, S-10,
MARMMOSHW02301E 6-9
Figure 6-8. Internal Connection Diagram - Modular I/O
g
H t0 <
6 4 9
nnnn
6. COMPLETE WIRING DIAGRAM S
MARMMOSHW02301 E
6-10
Figure 6-9. Internal Connection Diagram - Teach Pendan t
N
y
K001-1
CUSTOMER
SUPPLIED
220-575V A C
50/60 H z K004-
3 PH.
III IJI1IIII
&~ USER
XFORMER
iiiiiiiiii
'YYYYYYr
(120VAC)
SEE SECTION 'USER I/ O

}INTERFACE' UL1 AND UL2
(102 )
HI±
0'2
o 04 GROUND CONNECTE D
SWITCH/INDICATOR
7,5 A SERVICE OUTLET

This chapter includes all electrical prints.
7. PRINT S
MARMMOSHW02301 E
7-2
NOTES
01-01
01-02 MAIN
01-03 DISCONNECT_ K003
KO01
01-0 4
01-0 5 8
30 A
01-0 6
01-07 CUSTOMER
SUPPLIED 30 A
01-08 220-575VAC Li3
01-09 50/60 Hz
01-10
3 PH. I I _. 30 A
01-11 3I - K002 K004-
01-12 I
01-13 I OPTIONA L -IIIt 1111 1J lII.
01-14 I CIRCUIT/LEAKAGE
BREAKER MOM 000•0 06H988BM9 BO 88BHl0 djoTF 2
01-1 5 > 8 °m a > oo N a USER
8m>w
> .
01-16 I I TF1
n n
TH1
n n
>
TH2
U, >>
. >P 0 0 00 0
XFORMER
01-17 _J V.
.
I I r
01-18
01-19 ~ -- a- a (120VAC)
N
01-20 I
01-21 L -. J
_ SEE SECTION 'USER I/ O
01-22 AMPERAGE RATING TABLE 200VAC JINTERFACE'
(102 )
UL1 AND UL 2
01-23 INPUT CIRCUIT LEAKAGE DISCONNEC T TO PS U i
01-24
01-25
VOLTAGE. BREAKER BREAKE
(C.B.WITH
R SWITCH
G.F.I.) FLIIFL2IFL3
(02-01)
I+
220 0 eo'o' GROUND CONNECTE D
01-26 240 50A 50A 50A SWITCH/INDICATO R
01-27 380
415
01-28 460 200VAC IN {
01-29 480 30A 30A 30A FROM PSU
500 7.5 A SERVICE OUTLET
01-30 550 (02-25)
01-31 575 20A - K023 l'sL
01-32 CUSTOMER SUPPLY TO TEl CONNECTIO N
01-33 INPUT CONNECTION AT CONNECTIO N
VOLTAGE PRIMARY TAP STYLE THERMAL CIRCUI T
01-34 TO SERVO AMP 4t1
01-35 Ll L2 L3 JUMPE R (08-36 & 08-37)
220 07 15 23 08-1516-2324-07 DELTA
01-36 240 06 14 22 08-1416-22. 24-'06 A
01-37 380 07 15 23
415-440 06 14 22 200VAC 3PH.
01-38 460 05 13 21 STAR
480 04 12 20 08-16 16-24 TO SERVO AMP S
01-3 9 500 03 11 1 9 . (08-24 thru 26 )
01-40 550 02 10 1 8 (09-•24 thru 26 )
575 01 09 1 7 P/GE NO .
07-0 3
7. PRINTS
NOTES
200VAC INO 2 ROM TF 1
02-01
02-02
NOTE! REMOV E
JUMPER IF USING CPl7WER SUPPLY UNIT)
02-0 3 ON
OFF EXTERNAL ON/OFF
02-0 4 FILTER
02-0 5
02-0 6 24VDC PWR SUPPL Y
02-0 7 (CONT . T!
P.C.B.)
02-0 8
200 VAC PWR OU T
J} RELAY S
02-09 (02-27 )
JRA0
02-10 9 J 120 ON POWER ON
(02-11 )
op%
v
o n2
02-1 1 -, -) av
POWER OFF
-)
<02-08 )
02-1 2 BACKPLANE ALARM
BACKPLANE (02-13 )
02-1 3 ALARM
<02-08,2-27 )
02-1 4 ALARM LE D
02-15 PILOT LE D
02-16 4 15VDC OUTPUT O N

<02-17 )
02-17
<02-16) .
A1 5
02-1 9 T J cQ2\ AUXILLIARY 15VD C
REGULATED OUTPU T
02-20 6 POWER FAILUR E
(02-20 ) C02-20)
02-21 ABNORMAL CONDITION
OF F SVO C (02-12 >
02-22
OPERATOR'S PANEL M13
(02-26)
02-23 ENABLE 15VI REG.
(02-16)
02-24 200VA C CP4
TO ALC RELA Y A2 OFF +24VDC +15VDC -15VDC +5VDC
COI-28 > A3«COM
02-25 T T T
A1aN OU T
M2 M13 DISABLE POWER
H1_ ALARM IN
02-26 ALARM IN °-)KE N DISABLE POWER OU T
B20( A (02-21,2-22 )
VOLTAGE MONITO R
02-2 7 B3< FB -r4 RY I
<02-13) T Ray 3
TT(02-00 )
Z 3Y
-R02-09 )
02-2 8 v
+15VDC -15VDC +5VDC a
T T T
02-29 MULTI-TAP DC POWER SUPPL Y
CABINE T
02-30 COOLIN G 24VDC +15VDC -15VDC +5VD C
FANS POWER POWER POWER POWE R
02-3 1
02-3 2 C B10( 24
B20( am w
02-33 B30(
K02 2
02-3 4
v)
02-3 5 w
w w
a w
I- 6
02-3 6
>a U
5-8,66,680( 24
02-3 7 Aw 21, 220( 15

¢ 17, 184( -15
w J
ra 36-55,96-115( 5
02-3 8 JU 3,4,9,10,15,16 GNO
19,20,23-350 (
w in
02-3 9 Ix 61-65,6 7
69-95
02-4 0 rh 1 S1 G1 R21 S2 G21

C~2 CP2 2 C3 CP3
n CP 3
02-41 3 2 3
MAIN AC POWE R
0
FANUC f)boics Robot MNotih Inc.
DISTRIBUTION
Rood ' P00 Ip SIMN/A

bra
F 2000 Sough oms
Ai6wn 101o.18 48325-2800 auT ea roue 511
oauq on oue
P . COOMBS 3 /22/93
7. PRINTS
NOTES
100VA C
FROM ALC RELA Y
03-01 <01-33 )
03-0 2
03-0 3
03-04
03-05
03-0 6
03-0 7
03-0 8
03-09 EXT . E-STOP [-

SEE SECTION
'USER I/O 4
03-1 0 INTERFACE'
<110 ) L
03-t1 K03 1
T R
03-12 METE
03-1 3
K021
03-14 (09_1 77 ) 100OUT 2
T/ O
P~
03-15 < 8-18) AMP S

(09-18) CRR73 IOOIN4
AUX.
03-1 6 INPUT 1 CRR5 3 RL RL
IOOIN3
--a$ 4 H 3
(06-29)
° 4<C-IH>3
(05-15)
03-1 7 100 VDC TO
CRR1 3 1000UT3 BRAKE CIRCUI T
AUX ,
OUTPUT
03-18 CRR-3
4 100OUT4
03-19 BLOWN FUS E

5A MONITOR
03-20
03-2 1 10VDC 10 VDC T O

REGULATOR BRAKE FET' S
03-2 2
IB
03-2 3 LOW VOLTAGE
MONITOR
(03-27 )
03-24 SENSITIVITY
03-2 5 B7 RI0 MOMENTARY SURG E

DETECTIO N
SET (03-28 )
03-2 6
L1 2J
NORMA L 0 w
K35 ALLOW BRAK E
03-2 7 I I-H
(03-23) C03-33) RELEAS E
8 (03-33)
03-2 8 II 10 HOLD AT SURG E
(03-25) DETECTIO N
10 (03-29,03-31 )
03-29 -11-
(03-28) 24 E
03-3 0
10
03-3 1 FUSE/SURGE ALAR M
<03 28) C03-23)
03-3 2 SSE/SURGE ALARM

BACKPLANE FACM -'
RjJ
JR 0
03-3 3 INTERNAL (TO RJ)
9 E-STOP DETECTE D
(03-27 ) (03-27)
03-3 4
JR6 0
03-3 5
03-36
10VDC TO AXIS SWITCHING' f BRAKEC SOOLENOIDS
<04-03)(04-03)
03-3 7
03-3 8
03-39
03-40
TO SHEET 4
03-4 1
EMG STOP & BRAKE CONT .

FANUC Robot& e
100VAC E-STOP CIRCUI T
100VDC BRAKE CIRCUIT <1 OF 2 )
F 220000 &Oh AdamsRoad ' h PIOA N0
. soda N/A
Album IR1; IA 48726-2000 BET I lark AEF a
motel
P . COOMBS 5/22/93 .
7 . PRINTS
NOTES
04-0 1
04-0 2
04-0 3 UVHIA3J. KtIUKry IUVUGIUU V

AXS A, .37 ) (03-37)C03 -
CCN T P,C,B .)
BACKPLANE MMG
04-0 4 SOFTWAR E CCONT, P .C.B . >
SWITCHING
HYB1
' )•aJRA 2 JRA0
P E~
04-0 5
JRA2 JRAO BRK1 DI
04-0 6
SBK1-L SK1-2a
JRA2 JRAO B D2
04-0 7 / < lad 02
SBK2-I 2 S K2-2~ C am
JRA2 JRAO I D3
04-0 8
SHK3-1 0 SgK3-2 Q C3
04-09 K11 6 K07 1 ~,~~, n,
J1 M M1 CRR -
04-10 « 1 << IA < BKP 1
BRAKE L AXIS #l
SOLENOI D JIM M1 CR R- BKM1
04-1 1 A H <f
1B «
04-1 2 J2 M MI CRR-5 BKP2

B « 2 << 2A << t
BRAK E LAMS #2
04 - 13 SOLENOI D J2 M M1 CR R-5 BKM2
D << 9 <E EB «
04-1 4
J3 M M1 CRR-5
04-15 H 3 «
3A EE DKP3
BRAK E L AXIS #3
SOLENOI D } J3 M MI CRR-S BKM 3
04-1 6 I D << 10 « 3B «
04-1 7 J4 B K M1 CRR- 5 BKP 4

I
A « 4 « IC E<
BRAKE L AXIS #4
04 - 18SOLENOI D J4 BK MI CRD 5 BKM 4
H C 11 << i 1R-«
04-1 9
J5 B K M1 CRR-«5 BKP 5
04-20 A << 8 « 2C
BRAKE L AXIS #5
04-21
SOLENOID
1
J5 B K
B «
M1
12 <E I
I CRR- l BKM 5
2D «
04-2 2 J6 BK MI CRR -
A 3C« BKP 6
6 <<
BRAK E LAMS #6
04 -23SOLENOI D J6 BK << '3RD- BKM 6
« M113 «
04-24
04-25 I NT . P .C,B
BACKPLANE
SOFTWARE
SWITCHING
04-26 JRA2 JRA O
8 «
04-2 7 JRA2 J SAO BRK4 D4
< d a M C4
SBK4-1 14-2
04-28 JRA2 D5
0I - QS
J 5 <I SBKS-1 6 SBKS-2Y
04-29 ►I )f-^
)7RA2
J 7A0< MI~~ fW 06 ►ff~ 6
S BK6-1 SK62 R
04-3 0
I1.I. i
04-3 1
CRR
04-3 2 18 t4
CRR-3
04-3 3 161
04-3 4
AUXILLIAR Y
04-3 5 AXES qUT CRR - 1
18
04-3 6
CRR- 3
04-3 7 19 9
~CRR2J .
04-38
(E T . P .C .B .)
04-3 9
04-4 0
04-41

CD 100VDC BRAKE CIRCUI T
FANUO Robotics
S2q F 2)
rift North km:tat. he.
South Mom Rood Plat Na sexn N/A
CD Aburn Ndb, 1d 48328-280 0 Par wa roT1 Pao mow n
~kr)
q S3/22/93 ~
7. PRINTS
MARMMOSHWO230IE
7- 1 0
NOTES
EMG 24E ov z4
05-01 (CONT. P .C .B ) -
05-02 a
ROBOT Wn~WN K07 0 BaCKPLAN E
05-03 Wc0
on PI
ARM 17 RL
05-04 26.38.50 SOFTWARE 14
A FACTORY SO F'TCI s.,r
0'F t-;D?A2 . RAO
05-05 JUMPERED -~ jp°, ~
COS C06-27)
n HBK m7 t( *BRKE 10 RL RL RL
05-06 7 12 9
Ov
05-07 K11 3
OTREL T63 14 'FL
(05-37)
•II•IIo
(05-21) (05-23)
i SERVO O N
(03-10 )
*HBKD 11 RL
05-08 ml RL
7 16 8L
nROT
23« nROT1 2N 9 RL
05-09 14 -II II-40
C05-37y05-45) NO E-STOP
05-10 PRESENT AT T.P .
P1 C06-27) 03-09,03-33,06-16)
05-1 1
05-1 2 m
05-1 3 BRAKE ENABLE
05-1 4 03-15)
OPERATOR'S PANE L
05-1 5 CONIECTIMSCONN E BRAKE ENABL E
I 1
c 03-16)
05-1 6
05-1 7
Jlps
K169
I J1OT
MOIt I F RL
9
1
05-1 8 JIL
S<<-'p
I pAXIS $ 1 i •
(05-23)
OVERTRAVEL RELEASE D
B 03-09 )
05-1 9 I
J
-~
05-20
05-21 K115 HAND OK
(05-07 )
05-22
05-2 3 MAIN NO ROBOT OVERTRAVEL
24T 24E E 24T
K040 (CPU) 05-07,05-18 )
05-2 4 244
05-2 5
TEACH PENDANT TT
);a45
5
•TPDISC
} H1
F
05-2 6 ow- R V JRA I
05-2 7
ESTOP P.B. EMGTP QZ SRVO-02 1
..-Ofm
24 T 51
EMGB1 iA08 TPREL )1)63 24 T TEACH PENDANT
05-2 8 RL Y PD014 RV
EMGB2 ROB SRVO-M1 RL DOWER SOURC E
05-2 9 *E-STOP !D
SRVO-002 T6 EMGTP 22
05-3 0
(OS-40)
Q(---{
05-3 1
DEAD-MAN *1 0--o 62 i 1 18
05-3 2 11
EMGB2
05-3 3
05-34
DEAD-MAN *2 ? EMGDM 17 & T.P. DEAD-MAN HEL D
05-35 M
(05-05 )
05-36
on- EMGEN T .P. OF F
05-3 7
TP. ENABLE TPDISC 05-07,05-09 )
05-3 8
05-39 FT .P . CONNECTED
05-4 0
TPREL 12
u C05-30,05-46 )
05-4 1
05-4 2 SERIAL. DATA TXTP ,Vo1
Soot SERIAL DATA
OUTPUT LINES *TXTP REQUEST T.P . DISC . ENABL E
05-4 3 LINES CRR-4
05-4 4 RXTP TA02 EMGB1 18 05-28,05-46 )
SERIAL DATA E-STOP
REQUEST *RXT P Ys SERIAL DATA PUSH BUTTO N T .P . RELEASE
05-4 5 OUTPUT LINES RL RL
LINES ON TEACH -4 15 10
PENDANT EMGB2 ~(ED • 05-09)
05-4 6
TPDSC 1805 05-40)
(~05-43)
05-4 7
• OV t I~
05-4 8 )6806
05-4 9
05-5 0
05-5 1
• OV BO7
1 1
24E OV
<06-05) (06-05
05-5 2
05-53
PACE NO.
07-1 1
7. PRINTS
7-1 2 MARMMOSHW02301E
NOTES
06-0 1
06-0 2 (CONT . P .C.B . )
06-03
06-0 4 24E OV
C05-50) (05-50
06-0 5
06-0 6 1
06-0 7
BACKPLANE
06-0 8
AXI S
06-0 9 (CONT. P.C .B.)
06-1 0 IF)
HYB3
06-1 1
SRVO-001 THRU 007
06-1 2 RV
06-1 3
06-1 4 RV
06-1 5
MODULAR I/O 003
06-1 6 RV
BACKPLANE
06-1 7
06-18 ( cNM CNMOO
06-1 9 I »~ B3'o
06-20 CNM CNMOO
ALBU»
06-21 INPUT/OUTPUT >)'Mall
MODULE
06-22 CN14 00400
A3,B4.M.B12 A3,84,A1.32
06-23
06-24 CNM CNMOO
>>42 A2>)
06-25
FACTORY
06-26 JUMPERED
SAFETY FENC E
06-27 44
.J C05-05,05-10,06-19)
06-28 RL
OVDC
06-29 MODULAR INTERFACE UNI T EMERGENCY2
CNMOO AIF01A/B K016 (03-16 )
06-30 03>>- 0VD C
06-31 CNMOO CP32 OR- 4
A&B11n R24V - - 24V - 2( 5VDC
06-32 X=1 THROUGH 5 _
A20C-9001-0020/01
06-33 CNMOO CP32 I 15VDC 15
~, 5VDC
At89 & 5VDC
06-34
X=1 THROUGH 10 A3At.B12>) -- ~
A2OC-9001-0040/01
+5V
a REG . 1<(
-15VDC 7 R- 4
- - 5 A 3.2 A
06-3 5 'ED
LGND AP-ALB3ABli
06-36
OVDC 24V gR-4
06-3 7 cNIF 0v
RGND
06-3 8 24V 31633E0
06-3 9 cv -15VDC 358,36).
06-4 0 FROM 39640
15VDC
PSU P.CB.
06-4 1 5VDC 94.9498.104
06-4 2 OVDC SEE BELOW&
06-4 3 0 VOLT IN ON PINS. '
8L83,85.87.8991 .93.
06-4 4 95,97.99
RL
06-4 5 6
EMGOUT1 --T
R-4 bH ' 3
06-4 6 11
-114
06-4 7 FOR CUSTOMER R
EMGO TC q
CONNECTION TO
06-4 8 EMGOIT RELAY
0RL-6) RL
06-4 9 6
EMGOUT2 3
06-5 0
TR-4
C03 09)
06-5 1 NOTE. RL1 - 6 ARE SOCKETE D
06-5 2
06-53 PAGE NO.
07-13
7 . PRINTS
7-14 MARMMOSHW02301E
NOTES
07-01 AXIS BACKPLANE
24V
CA39C
+24VD C
07-0 2
5v OPTION 1 & 2 PC B
COOLING FAN
07-03
07-0 4
JRA2
13 ALM
(SVRO 01 4
07-05 FAN MOTO R
ABNORMAL)
07-06 AXIS & MAIN PC B

COOLING FAN
07-0 7
07-0 8
07-0 9
EMG & PSU PC B
COOLING FAN
07-1 0
07-1 1
07-12
07-13 Dv PS U
07-14 02-08 TH1 ~~
07-15 02-09 <<(S!)>}-,
07-16
FROM PSU MODULE (SHEET 2>
07-17
SYMPTOM= ALM LED AT POWER O N
07-1 8
CRF 1 CRF1 P1
AXI S PD PD
NO. PIN NO. PIN NO. PIN NO. PIN NO .
07-19 NOTE, THE THERMAL OVERLOAD DATA IS TRANSFERE E
ALONG WITH THE POSITION DATA W TH E
SERIAL DATA LINE FROM THE APC TO TH E
AXI S
07-20 AXIS MODULE .
SERIA L
07-21 INTERFAC E
MODUL E
07-2 2
07-2 3
07-2 4
01-1 4 mlwmn 8 B L UE LID©D min ©©©© n
07-2 5
01-15
TF1 g g a <11 g m
07-2 6 01-16 TH1 TH2
07-27
01-17 I yYYYYYY`
r 'YYY` 'YYYYYYY` 'YYY) 'YYYYYYY
01-18 721
07-2 8
001-19
07-29 01-20
01-2 1
07-30
01-2 2
07-31 K023
FROM TRANSFORMER TF1 (FROM SHEET 1)
07-3 2
07-33 SERVO AMP (FROM SH8, SH9, & SH10)

SERVO AMP #1 ONL Y
07-34 1 51 ,44 OH
SR V
OHALIOALARM THM1(90•C )
LSI-M LED= 6
(SEE SHEET #10 ) ON SERV O
07-3 5 AMPLIFIER rrr"'
07-3 6 DV
SRVO-04 3 T1 15
07-3 7 DCAL ALARM
LED=5
0 ALL OTHERS WIL L
ON SERVO BE JUMPERE D
DC AMPLIFIER
52
07-3 8
07-3 9 Ni v v
cu cu
cZu
v " N'Y
ZZ v
L) . V (1 C~
07-4 0
180•C
07-41 --AAA -
RMD C -7 -
nw OVERHEAT
FANUO (bofics AN D
C qq LING
FANUC Robotic. Korth knnka, Me.
2000 South Myms Rood
Abum Rift IA 48328-280 0
s'd N/A
I0.,m 3/22/93
98LT W tutu st¢rs
R C qqMB S
7. PRINTS
NOTES
CO
C 03 03 CD m CO m CO m CO m 03 CO CO CO mm CO CO °m °m w
° m CO CC
D CO a W m CC
D 03 CO
D
I 1 1 1 1 1 t I I 1 qI 1 CO m CO
.[. W Ii)
l tJ tJ b W 1 W tt1~~ N N N N N IU tV Nry 1pp o
o N V a~ N W N O ~D CD V N tJl f.) .N+ ~b m tJ N .1O ~p W lT N
T.
,V.t.1. . A
o V W N 1
9.
u
.t: co
-vin,
--I t
0 VRG C
vDC
VTDC
1' 0
CN2
CN 2 i I
lx
CN2 L
3
CN2
A R
J. ~vd u
I' > idRBd
♦...► R
SINGLE AXI S
A
SERVO AMPLIFIE R
0 FANUC Robotics.
PAMJC Roholke North knMoo, Inc.

2000 rs PRDA 10. sum N/A
A IW 483262800 s1Ea w TOIk slurs 0000 I4
CRtsh 0 Dun
P. C qq MBS 5/24/93 _
7 . PRINTS
MARMMOSHWO2301E
7- 1 8
NOTES
09-0 1 rI 2SERVO
-AXIs AMPLIFIER +24V
14
67
68
PWM-AI W.4-1U>`3
PV14-BL CALM-3)N>3
L K
I NI6L- 34 i PVM-ALA
PAM-BLr
09-02 5
69 PVM-CL<Ai4-4L)c,.7 I 7 PWM-CL
09-03
1 . 70. m4-BLgLll-BL) 13 13
i PVN-DL' I
71 PWM-EL
LSI-N
csEE SHEET 1 772
~ f 7 PWM-FL' I I r
09-04 4121
e 3KDRIlYL
loam
>)20to I toL
•I DI
( I
t9 BBA 1
09-05 K ~PF
% PVM-Ak tALN-16b 3CNIM I .lVl-6)4 ~ • PWII-AI4
09-06 74 PVM-BM <AU4-20
0 PWM-oN
09-07 ~
►
No,
'M
-+4 PWM-CMdLM-403 7 1 7;< PVK-CM 1 L ~ I
I 76 0 P1M-DM <A.M-8t0*13 I 13
PVM-E14 15 15
09-08 78 PVNiM 17 I 17
wDRDnMT•20 20
09-09 60 --
PNWT ACL-f6L 1
,0Clb1K 10 I l0
1 pv)61U'T 4G4 -FNG Lzz-m
09-10 .olDC _ I 1
04Ct3 . 9-23,
-
' -aao
09-11 09-O5,1
09-23,09-36 )
CAMP 17 % r AUI-M - i
09-12 W
CSEE SHEET 414) I
09-13
L' - `"nJt
PSLV2
09-14 (XCC2.09•-0609-2309-25A9-36)
5V VL214 0
09-15
09-16
L r
tANO DOT ANO~ i I- EE11
DE+
err
DV-14 4
09-17
0CC309-06,09-36)
L! - - CSEE SHEET 413) J
03-14 DOM 0
09-18
771
09-1 9
09-20
N/C
N/C
B
0
n MCCI
C09-11)
09-21
09-22
09-23
09-24 01-36
09-25
I I
09-26
09-27 I I .4109 1
09-2 8 DV-N. I
<SEE SHEET 413) TTERJ APC
09-2 9 J I
EGLGL
09-3 0
C6CEL nl
ammo,
1
1
~Tl
1
AXIS 5
09-3 1
17 8 ( I A( UL
09-32 SAME AS 7MM ADCVE 2t0I 124.25< 1 B<< v,..
~..
09-33 R3L MI JS WL
4 0 I<( C<E-
(m)
09-34
'• • t I 9« .I..< 6
09-35 ,
i I
09-36 2 S A 0
Zt- P0
TRDC
09-37 T1 TI TI
I OV 16 15 19 18 17
tuc-) -0 -
09-38 z
u2 I I
09-39 1 180'C
HEAT SINK -- I
09-40
1
L RC MD PACE NO.
07-19_
7 . PRINTS
7-20 MARMMOSHW0230IE
NOTES
10-01 K
2 AXI S JV1-6L
6L
67 PWN-A. (ALM-]U 3 CI'IIL 3 PWM-AL
.1
PVM-BL (ALM-2L).> 5
SERVO AMPLIFIER
10-02 69 PWM-BL .
69 PVM-CL (ALM-4L)~,7 7 PVM-CL
10-0 3 70 PVk-DL 1.3 PWN-IL
71 PVM-EL
1st-N 4
10-04 (SEE SHEET *12 )
72 PVM-FL >>177 17~~ ' PVM-FL
58 mDRDYL»20 20 DIGITAL.
10-05 n MCONI . 'c10 10 I7JTPU T
MODULE
CNIM
N JVl-20
10-0 6 73 PWM-A14 CALM-1$0 AVM-AM
74 PVIhBM CALM-2)0 5 I 5 4r PVN-BM
•
4
10-07 7s 7 PVM- W
41
PVM-0M (ALM-BM) :21 3 13
10-08 Pm-E14
PVN-FM ccu
15
78 17 17
0v nORDYM 20 2
1
10-09
60 .Mt7 1 4 >)t0 10
PVIOST AIL-FCi
1
10-10 LED-14
RLY I 1130F CLOCK
n Ir(Dn ~
44 i ALN-IL
10-11 r 10-2510-36) aCc1•I0-05.11L21tO-23.
ALN-2L
CIO-02) I~ .10M.
B.
ALM-I4 ALN-4L._
10-12 (AVDW +QYD' CLDgtl CND JV1 ALN-8L ~ DIGITAL
(A) 4v .sv SERVO
(SEE SHEET 114 ) 11 1St
SK2 1RL
10-1 3 1 I/F
tic
RLY2 NMCON14,, , NODULE
10-1 4 C PSLV2 itDRDYM
04CC2=10-0610-23,10-20
.10-36) ALM-IM
C1-04)
I
,
9
TPts . TPi191 ALM-2M
10-1 5 ALIT-4M
10-1 6
COMEM EEM
CEM --0 0 JV1-614 ALM-8M /
ISM
IRM
51
1
10-17
03-14
6
10-18
7 e-Pt
10-19
11-09
e Tl -1(071
10-2 0 e
141
10-2 1 1516((
I0
10-22 M NFB tl5A/250V) 2223((
MCC1 ItCC2
271 t
10-23 X1.11 24 4 124 29.3
((
(
(10-11) "XI G0-14) MI
10-24 01-36 0 r2 NCC2
3437((
CA n - 0tl 1f) •
10-25 0 o 85 .,151125 .
1
CIO-111 (10-14)
10-26
123 -MAC
ARRAY >>
2NR1
10-27
G
10-2 8 Dv-b . CEL
ALM-4 (B) PSLV t (SEE SHEET 413) BATTERY
PSL (SEE SHEET 014)
10-2 9 vcE
10-3 0
> AXIS L
10-31 >
Js
A(( uL
10-32 +tsv JS
10-33 T -t5 V
R3L -
B(E VL
M
T +5 V c WL
10-34
10-35
89(( . I J5
''a G
1016
10-36 THDHR
(11-01)
-- TRDC
10-37 T1 Ti T1 T1
/47 0V 16 15 19 18 17
10-3 8 N'fY MVP' NNV Cu
V [1 I U U
10-3 9 `_
180mc CRRD
HEAT SINK -MM- TBDCR
(11-38)
10-40 (11-20) Pl6Et .
RMOC
07-2 1
7. PRINTS
NOTES
11-01
- TBDBR
11-02
11-03 DCR&DBR UNI T
11-04
11-0 5
11-0 6
11-0 7
11-0 8 CRR10
11-0 9 T1-8 INTL (10-20) AMP#3 0'•-
11-10 T1-8 INTL (10-20) AMP# 2
11-11 T1-8 INTL (10-20) AMP#1I0'
11-12 T1-7 1000 (10-19) AMP#3 eP
11-13 T1-7 1000 (10-19) AMP#210'
11-14 T1-7 100C (10-19) AMP#1
I
11-15
11-16
11-1 7
11-1 8 EMG 1000UT1 <03-14)
11-1 9 TBDCR
11-20 T1-17 RC <10-38) AMP#3 1
11-21
11-2 2
11-2 3
11-2 4 T1-19 RE (10-38) AMP#3I e'
11-2 5
11-'2 6 T1-17 RC (10-38) AMP#2I 0'
11-2 7
11-2 8
11-2 9
11-30 T1-19 RE (10-•38) AMP#2I
11-31
11-32 T1-17 RC (10-38) AMP#1I 0I
11-33
11-34
11-35 H
11-3 6 T1-19 RE <10-38) AMP#1I a
11-3 7
I
11-3 8 TF1-51 (01-33)I
d
11-3 9
11-40 TF1-52 (01-34)J d
7. PRINTS
NOTES
N (I; N N N N N N N N N N N N N N N N N N II
; N N N N N
IIII I 1 J 1 1 N! i 1 1 1 N
I 1 I 1 I
C4 .~. to tU N ..
. . . 0 UI . W N - O N . W N
03 i g N !•4 N CO V ~ tUl d J
(N N o
rg l
a m
N
fj
y~
I,c Ao
tl ei t i p +1
W rfI Z
C YA
tj
2
<
4111r e
i 11
ul
+
)
L
a C, oo
X V
I mo ' I
Y Y=g
rrrrim <
s ~Y~YYYgRYYY"~Y~
D
3
D
UNUIUIIIIIMII -
KM 11111111111MI
MA 111111111IMNI
IINI
A
ass
LSI MODULE
oA SERVO AMPLIFIE R
FANUC IRabot m
FAIA athM knerlco.

a
2000 SmR h (N Rood PIOA M4 IYFI N/A
Album lGb, 1t 48528-2800 SIfII NQ irnx sums K.
N)
U1 wait on P
. COOMBS 3/22/9 3
7. PRINTS •
NOTES
13-01
13-02
13-03
13-04 DV-M
13-05
13-06
13-07
13-08
13-09
13-1 0
13-1 1
13-1 2
13-1 3
13-1 4
13-1 5
13-1 6
13-1 7
13-1 8
13-1 9
13-2 0
13-2 1
13-2 2
13-23
13-2 4
13-2 5
13-2 6
13-2 7
13-28
13-29
13-30
13-3 1
13-32
13-3 3
13-3 4
13-3 5
13-3 6
13-3 7
13-3 8 5V
13-3 9
CNt
13<<IPWMA
13-40
CN l
13-4 1 C
n PWMC DG ~~~
',qAr i-1 D0
CNt
17« oOWME
13-4 2
13-43
13-4 4
13-4 5
13-4 6
13-4 7 CN t
14« •PWMD
13-4 8
nPWMD
16 <<
13-4 9
PWMF
18 <<
13-5 0
13-5 1
CN1
1
13-5 2 <<
CN1
13-5 3 << •
CN1
13-5 4 VL 2
CNt
13-5 5
CNl CN t
19<< •
13-5 6 LV >>1l PSLV1
CN1 CN 1
20<
13-5 7 LV >>12 PSLV2
13-58
OV
13-59
DV-M MODUL E
FANUO Robotics SERVO AMPLIFIER
fANUC Ro6oba North kr lco, Yk.
2000 South Adamf Roa d MU IA me N/A
Album Nib 1A 48726-280 0 DEFT WI t010 DEER C4*10 W
taal en
R COOMBS ~a~3/22/93
7. PRINTS
NOTES
14-01 ALM-M 15V-2
REF '
CN1
14-0 2 62-6
-<<
3 FISH
14-03
FROM POWER SUPPL Y
(K)
14-0 4
PSL
14-0 5
14-0 6
14-0 7
14-08
14-0 9
14-1 0
14-1 1
14-1 2
14-1 3
14-1 4
14-15
14-1 6
14-1 7
14-1 8
14-1 9
14-2 0
14-21
14-2 2
14-2 3
14-2 4
14-2 5
14-2 6
14-2 7
14-2 8
14-2 9
14-3 0
I I
14-3 1
I I
14-3 2
I I
14-3 3 I I
14-3 4 I I
14-3 5
I I l 5960
14-36
14-37
I I
14-38
14-3 9 I I
14-4 0 I I
14-4 1 II
REF2 O 15V-2
14-4 2
I 200VDC
14-4 3 CN1
5451 FEta
-t- +
14-4 4
14-4 5 *Rpst tAC1

Cut
14-4 6 VGE 7471
2 VA C IVSDDC_3I<< AC2
3 0 0 ASE
14-4 7 I I VTDC
1
384 .
1 4*
AC3
14-4 8
FET1
14-4 9
+ -'
14-5 0
1
ova ov-2
14-5 1
DIODE BLOCK
14-5 2 nst
14-5 3
14-5 4
L _J
14-55
ALM-M MODULE
FANUC %bolts SERVO AMPLIFIE R
FANUC Robotics MathMixloo, tie,
/ s Rot1 p0
.
A
n Hils. h10 483
80012
8 2 gar 6 MA 9413
3 't0 N/A
MAO IA
to I8 P
, COOMBS 13/22/93
7. PRINTS
NOTES
15-0 1
15-02
15-03
KEYBOARD IN
MICROPROCESSO R T 1 r;
15-04 81
Y Y Y Y = Y Y (V255-5 )
15-05
RAM PRO M LCD CONTROLLER 1
I 321643 4-11 C3
!0 0 .-0 0-0-0 0 .0 0-0. 0 0+00.-0 0 RXTP E1330-0 DISPLAY LOGIC
15-06 J_ _L040_J_0+0_L090J_0.0_L0 Ktull \ XkXTP
.0 090 0 .0 TXT P
15-0 7 J_ L09-0 0.0 090 L090.J_09-0--L-.0 2- XTXIP
90 04-0
15-0 8 _L, ___ L J_ _L -I-
40 090 0 0 090 0+0 0.0 0100 0
15-09
4 0 0#0 040 0.0 0+0 0.0 04-0 0
~HCO IN
15-1 0 _L -L ... y , BCD-TO-DECIMAL DECODE R

0-0 010-0 00.0 0 .-0 0+0 0 .0 07-0 0
15-11 _L _
4 0 0.0
J J
0.0 090 0 .0 0*0 0 .0 0
15- .12
15-13 TP-P5L
15-14
KEYBOARD 241
15-15 J
15-16
15-17
15-1 8 vvvytmmri-
we
KEYOO 3 ~y,I l
15-1 9
(15-34 ) PERIPHERA L
15-2 0 DRIVERS
ov
15-2 1
KEY01
15-2 2
15-23
RELIT HEL D
15-24 CNON2,,' mate 24E RLII RL1 RU2 RL9
2 Eh .4 131 44 f
KEY02 A 1~ 1 8 1 . 41 1B
15-25 >4 • C05-35) 0)6-27) 005-21) C05-23)
DEADMAN SW CHd JRS1 24T RL7
40.2.1RL7
._ . _ •
15-26
9 11D~H 1. 4,L6i. RLB
113 19
I5-2 7 005-37) (05-37) (05-18) JRAO JRA2
- )26 67
1dDNUL 81.16
15-28
3 RXTP 1 ~,I
REVD 4XRXTP2« RS-42 2 6I ~4 4' l~ e A 411 8
15-2 9 /HELD 006-27) (05-45) SOFTWARE 1
CNI CNDMI ;I~1 TXTP 3 SCC SWITCHING Dv
15-3 0
KEY03 A
:Otl `s,/
31 : _ _4 A r4 C O P, 4 MODULE
AXI S
15-31
DEADMAN SW2 (CONT . P .C .B . )
15-32
CNE19 -1 CHEMGI
15-33 2
3 4
-.0
15-34 E-STDP
EMG
C15-19)
15-35 Rt. RL
-Ir 15 10
th a",
15-36 A13 1 1--
9 -
Si
TP C05-43) 05-40)
15-37
TEACH PENDANT
EMERGENCY STOP
15-38
1/RL\16
15 . 39 EM G
15-40 TEACH PENDANT TP cTED (CONT . P .C .B .

P1GE N0.
07-31
7 . PRINTS
NOTES
POWER ON CIRCUITRY .
MARMMOSHW02301E 8-1
This chapter describes the hardware sequence of events that occurs when
the controller is powered up from the operator panel . A sequence of
events is also described when the Power Supply Unit (PSU) module ha s
detected an alarm condition .
The power-on circuit provides 200VAC from transformer TF1 (01-23) to
the following components :
1:DC Power Supply Unit (PSU) (02-28 )
2: Servo power contactor (ALC) (02-25 )
3: Cabinet cooling fans (3) (02-28, 02-32)
The power-on circuit requires 24VDC supplied by an auxiliary suppl y
resident in the PSU . The same 200VAC from TF1 is required for the
auxiliary supply. The Power Input LED "PIL" (02-15) indicates that th e
200VAC and the 24VDC supplies are present for the power-on circuit to b e
activated .
8 . POWER ON CIRCUITRY
MARMMOSHW02301 E
8-2
SCHEMATIC REFERENCE DESCRIPTIO N

02-03 through 02-22 Pressing the POWER ON pushbutton on the operator panel completes an
electrical circuit . The circuit originates at the negative output of the
24VDC auxiliary power supply and ends in an integrated circuit in th e
PSU.
02-07 Within the PSU, the signal from the POWER ON pushbutton goes to the
ON-OFF control circuitry in integrated circuit M2, which energizes soli d
state device (SSD) #1 . SSD#1 energizes SSD#2, which maintains th e
circuit, even after the POWER ON push button is released, through th e
normally closed contacts of the alarm relay, RY1 . It also energizes RY2
and RY3 .
02-40, 4 1 The contacts of relays RY2 and RY3 switch 200VAC power to connector s
01-29 CP2 and CP3 . These connectors supply power to the ALC relay, whic h
provides power to the servo amplifiers and brake control circuits .
02-29 The contacts of relays RY2 and RY3 also switch 200VAC power to the DC
power supply circuitry within the PSU .
ALARM CIRCUIT OPERATIO N
02-11 through 27 Monitoring circuits test for any high current or low voltage from th e
multi-tap DC power supply. Should an error occur, SSD ÈNP' energizes ,
closing its normally open gate and turning on SSD#3 . SSD#3 turns o n
SSD#7, indicating an alarm by turning on relay RY1 and the ALM LED.
The normally closed contact of RY1 opens, turning off RY2 and RY3 . It
also closes a set of contacts between pins 5 and 6 of connector CP4 fo r
optional use by the customer . All voltages supplied by the PSU by way of
the front connectors and the backplane, are disabled . This shuts off the
ALC relay, disabling the AC power to the servo amplifiers .
Relay RY1 remains energized through a holding circuit, provided b y
SSD#7 until power is reset by first pressing the 'OFF' pushbutton and the n
pressing the 'ON' pushbutton.
8. POWER ON CIRCUITRY
MARMMOSHW02301E 8-3
Table 8-1 . Component Locatio n
COMPONENT/ASSY LOCATION SCHEMATIC LOCATION

LOCATION FIG. NO.
ALC RELAY FRONT OF TRANSFORMER, TF1 01-26 8- 1
ALM LED POWER SUPPLY UNIT 02-14 8- 1
CONNECTOR CP2 POWER SUPPLY UNIT 02-40 8- 1
CONNECTOR CP3 POWER SUPPLY UNIT 02-40 8- 1
CONNECTOR CP4 POWER SUPPLY UNIT 02-24 8-1
FANS (200VAC) CONTROLLER CABINET 02-27 8-1
FANS (24VDC) PCB RACK 07-02 8-1
PIL LED (PWR INPUT LAMP) FRONT OF PSU 02-15 8-1
POWER SUPPLY UNIT (PSU) PCB RACK SH2 8-1
PWR OFF PUSHBUTTON OPERATOR PANEL 02-21 8-1
PWR ON PUSHBUTTON OPERATOR PANEL 02-21 8-1
RELAY RY1 POWER SUPPLY UNIT 02-13 8-1
SERVO AMP BACK WALL SH8 & 9 8-1
TRANSFORMER, TF1 CONTROLLER CABINET FLOOR SH1 8-1
Z
01-0 1
01-0 2 MAI N
01-0 3 DISCONNEC T
K001-
01-0 4 c,
m
01-0 5
A cu
a
01-0 6
FF30 in
01-0 7 CUSTOMER
SUPPLIED 30 A
01-0 8 220-575VA C
50/60 Hz ELF
01-0 9
3 PH. I I ° L' 30A I I
01-1 0 I I I
01-1 1 I s, s I I K002 K004
01-1 2 II I I
01-1 3 OPTIONAL I I -IJ J I)_i LI IIl fl
I AGE
01-1 4
01-15
CIRCBREAKER GD©©1=1111C C9BBB89~8 898B6BB~ B J TF2
USER
>> > > > > a
01-16 I l TF 1 onn > m
n >>>>O>>>>>
Z o
XFORMER
01-1 7 I L- ~xr----~
TH1 TH2 In ,r
01-18
01-19 MAI N (120VAC )
XFORMER i. Rj
01-20 K022-
01-21 -o 0--'X,-
01-22 AMPERAGE RATING TABLE 200VAC }INTERFACE' UL1 AND UL 2
a (102)
01-23 INPUT CIRCUIT LEAKAGE DISCONNEC T TO PS U
01-24 VOLTAGE BREAKER BREAKE R SWITC H (02-01) ro C7
(C.B.WITH ±I
01-25 G.F.L) FL1IFL21FL 3 4
220 0 O GROUND CONNECTE D
01-26 240 50A 50A 50 A
SWITCH/INDICATO R
01-27 380
41 5
01-28 460 200VAC IN {
01-29 480 . 30A 30A 30 A FROM PSU
500 7.5A SERVICE OUTLE T
Il 0
01-30 550 (02-25)
01-31 575 20A .~ z K02 3
01-32 CUSTOMER SUPPLY TO TF1 CONNECTION
01-34 [g--' TO SERVO AMP # 1
01-35 Ll L2 L3 JUMPE R (08-36 & 08-37 )
220 0715 23 08-15 DELTA K020
01-36 240 0614 22 A
01-37 380 0715 23 1
Y
415-440 06 14 22
01-38 460 05 13 21 200VAC 3PH.
480 04 12 20 08-16 16-24 STAR TO SERVO AMPS
01-39 500 03 11 19 (08-24 thru 26 )
550 02 10 18 A
T (09-24 thru 26)
01-40
575 01 09 17 pt
.
08-0 5
8. POWER ON CIRCUITRY
8-6
MARMMOSHW02301 E
NOTES
200VAC INC(CklT2p22FROM TF 1
(01-22 ~
02-0 1
02-02
NqTEt REMOVE U
JUMPER IF USING <pI7WER SUPPLY UNIT)
02-03 ON
OF F EXTERNAL ON/OFF
02-04 i I FILTE R
I
02-05
02-06 ERR-4 0RR- 4 1 24VDC PWR SUPPLY
02-07 P w
02-08 Co 200 VAC PWR OU T
RELAY S
02-0 9 (02-27 )
02-10 POWER ON
(02-11)
am on oM
02-I1 Q+a 't F aav POWER OF F
(02-08 )
02-12 ALAR M
BACKPLAN E (02-13 )
02-13 ALAR M
a a a (02-08.2-27 )
02-14 ALARM LE D
MAIN
(CPU> j 1J
02-IS PILOT LE D
mmi m
mi
02-16 15VDC OUTPUT O N
K03 5 I (02-17 )
02-17
n
02-18
OPERATO R
02-19 INTERFACE AUXILLIARY 15VDC
PC B REGULATED OUTPU T
02-20 pia3mi ' POWER FAILUR E
(02-20 )
ON J ABNORMAL CONDITIO N
02-21
(02-12 )
02-22 OPERATOR'S PANE L

02-2 3 ENABLE 15VI REG .
(02-16 )
02-24 200VAC
TO ALC RELAY
(01-28 )
02-2 5
02-2 6 DISABLE POWER OU T

(02-21 .2-22 )
02-27 W
02-28 H
02-2 9
02-30 co
02-3 1
02-32 H
200VA I
02-3 3
02-3 4
02-35
02-36
02-3 7
02-3 8
02-3 9
02-4 0
CP3 " " CP3 " " CP3
02-41 1 E 3
A
(
FANUO P&dics DISTRIBUTION
I FANUc ftbo r Ilan, kMdm Ax-
Q AM, Fhb. 4E31 m
mP COOMBS 2 23//9
/9
8. POWER ON CIRCUrMY
84 MARMMOSHW02301 E
NOTES
8 . POWER ON CIRCUITRY
MARMMOSHW02301E 8-9
Figure 8-1 shows the location of the components involved in the power o n
circuitry.
Figure 8-1 . Location of Power On Components

AC POWER DISTRIBUTION CIRCUITR Y
MARMMOSHW02301E
When the robot controller is connected to a three phase AC power sourc e

and the main disconnect is placed in the 'ON' position; input power i s
applied to the multi-tap transformer and optional user transformer. The
secondary voltages are then distributed within the controller.
This chapter describes this power system and how it interacts with th e
controller's AC start-up sequence.
9-2
This section contains information about AC power distribution when the

main disconnect is on.

01-04 thru 10 Phases L1, L2, and L3 of the AC input voltage are connected to the mai n
disconnect switch. They are fused by fuses FL1, FL2, and FL3 (50A fo r
220-240VAC, 30A for 380-575VAC .)
01-14 The load side of fuses FL1, FL2, and FL3 apply power to the primary o f
transformer TF-1 . TF-1 provides the majority of the required voltage fo r
controller operation.
01-13 The optional user transformer, TF-2, is connected to Li and L2 after th e
fuses of the disconnect switch . It provides 120VAC power to an internal
duplex receptacle and the 'GROUND CONNECTED' illuminated tes t
switch. It is also used as a power source for I/O signal voltages .
The primary windings of TF-1 and TF-2 have multiple taps to
accommodate various levels of input voltages .
01-17 through 38 The secondary taps of TF-1 are divided into three outputs :
• 200VAC, 3 phase power to the AC servo amplifier modules .
• 200VAC, 1 phase power to the DC power supply unit (PSU )
• 100VAC, i phase to the emergency stop and brake control module
(EMG)
08-24 through 26 The 200VAC to the PSU is supplied directly from the multi-ta p
08-17, 18 transformer. Both the 200VAC to the servo amplifiers and the 100VAC to
the EMG from TF-1 are connected through normally open contacts of th e
ALC relay. The coil of this relay is energized from circuitry contained i n
the PSU . Any disruption of the incoming line power or failure of the PS U
will turn off this relay.
CONTROL POWER O N
02-25 through 02-41 When the 'POWER ON' pushbutton is pressed and the controller ha s
powered up successfully (Refer to Chapter 8), AC power is distribute d
through the controller as follows :
200VAC 1 phase power from the PSU to the main cabinet cooling fan s
(see note) and the ALC relay, closing the normally open contacts and
further allowing :
01-23 through 01-38 200VAC 3 phase power from transformer TF-1 through the ALC rela y
contacts to the servo amplifier modules .
100VAC 1 phase from transformer TF-1 through the ALC relay contact s
to the EMG . This 100VAC is first connected, in a series string, to the
3-01 through 03-41 E-STOP circuitry and is used for servo amplifier MCC relay power and th e
hour meter. It is also rectified for use as brake solenoid power .
NOTE The individual cooling fans for the backplane modules are
powered by 24 VDC from the PSU .
9 . AC POWER DISTRIBUTION CIRCUITRY
MARMMOSHW02301E 9-3
COMPONENT/ASSY LOCATION I SCHEMATI C LOCATIO N

LOCATION FIG . NO.
ALC RELAY FRONT OF TRANSFORMER, TF1 01-25 9-3
DUPLEX SOCKET INNER RIGHT WALL 01-30 9-3
EMG MODULE PCB RACK SH .3-6 9-3
FANS(200VAC) INSIDE CONTROLLER 02-27 9-2
FANS(24VDC) PCB RACK 07-02 9-2
FUSE FL1 INNER RIGHT WALL 01-05 9-3
GND CONNECTED LAMP RIGHT OF FRONT DOOR 01-25 9-3
MAIN DISCONNECT SWITCH RIGHT OF FRONT DOOR 01-01 9-3
POWER SUPPLY UNIT (PSU) PCB RACK SH.2 9-3
PWR ON PUSHBUTTON OPERATOR PANEL 02-21 9-3
SERVO AMPLIFIER BACK WALL SH.8 & 9 9-3
TRANSFORMER TF1 CABINET FLOOR SH .1 9-3
TRANSFORMER TF2 CABINET FLOOR SH .1 9-3
USER 1 & 2 CONNECTIONS TRANSFORMER TF2 01-22 9-3
9. AC POWER DISTRIBUTION CIRCUITRY
MARMMOSHW02301 E
9-4
NOTES
01-0 1
01-0 2 MAIN
01-0 3 DISCONNECT) K0D3 a
K001-, g
01-0 4
01-0 5
30 A 8
01-0 6
01-0 7 CUSTOME R
SUPPLIED
oJf X A
0-
3
01-0 8 220-575VA C In
01-0 9 50/60 Hz o
3 PH. I i' i 1 30 A
01-10
01-11
K002-
01-12
01-13
Lc n.]
OPTIONAL
01-14 CIRCUIT/LEAKAG E
BREAKE R CC3©GQOAIIIIZ CIID988H91119 BB9E688n 6
01-15 >
0
01-16
01-17 L_ TF 1 nln
TH1 TH2
n
rn rnyyyvYi
01-18
01-19 MAIN (120VAC )
XFORMER Cu
JI
01-20 K022
01-21 L_
SEE SECTION 'USER I/O
01-22 AMPERAGE RATING TABLE 200VAC }INTERFACE' UL1 AND UL 2
TO PSU 1l - (102)
01-23 INPUT CIRCUIT LEAKAGE DISCONNEC T
VOLTAGE BREAKER BREAKE R SWITCH (02-01)
01-24 (C.B.WITH
01-2 5
220
G.F.L) ELIIFL21FL 3 T6_01 GROUND CONNECTE D
01-2 6 240 50A 50A 50A SWITCH/INDICATO R
01-2 7 380
415
01-2 8 460 200VAC I N
480 30A 30A 30A FROM PSU 1
01-29 7.5 A SERVICE OUTLE T
500 _ (02-•25)
01-30 550
575 20A ~ Z
01-31 K023
01-32 CUSTOMER SUPPLY TO TF1 CONNECTION
01-3 4 TO SERVO AMP # 1
01-3 5 L1 L2 L3 JUMPE R (08-36 & 08-37 )
220 07 15 23 08-1516-2324-07 DELT A K020
01-36 240 06 14 22 08-14 16-2224-06 A
01-37 380 0715 23
415-440 06 14 22
01-38 460 05 13 21 200VAC 3PH .
480 04 12 20 08-16 16-24 STAR TO SERVO AMPS
01-39 500 03 11 19 (08-24 thru 26)
01-40 550 02 10 18 (09-24 thru 26)
575 01 09 17 PACE N0.
09-0 5
9-6
NOTES
200VAC INCPC~ITPp22FROM TF1
(01 EB
02-01
CPI-t CP1-2 CPI- 3

02-02 Y
NOTE1 REMOV E R S G
JUMPER IF USING (POWER SUPPLY UNIT )
02-03 EXTERNAL ON/OF F
02-0 4
I I77
FILTER
02-05
02-06 AIIXILP&Y
SUPPL Y
24VDC PWR SUPPL Y
M2 ON/OFF - (M1)
CONTRO L
02-07
COM 6 RY-1 p TH1 1
02-08
(0 -11) (02 .43) 200 VAC PWR OUT
RELAYS
02-0 9 5__,6 1
(02-27)
JRA O
9 J 120, ON
POWER O N
02-10 a (02-11 )
=inv
=G.
v -~-b-
or, on w
02-11 cv
a cv
a -, cv
a POWER OFT
(O `10 ) (02-08)
E
02-12 BACKPLANE ALAR M
BACKPLAN E (02'21 ) (02-13)
02-13 ALAR M
(02I12) (92-08,2-27 )
ALM
ALARM LE D
PILOT LE D
PIL
15VDC OUTPUT O N
(02-17 )
A1 5
T . X02n AUXILLIARY 15VDC
REGULATED OUTPUT
lI
POWER FAILUR E
c02-20) (02-20 )
ABNORMAL CONDITIO N
OFT 5VDC (02-12 )
02-22 02-26) M13
OPERATOR'S PANEL M13 (02-26)
02-23 ENABLE 15VI REG .
(02-16 )
02-24 200VA C
TO ALC RELA Y CA2~EOFF +24VDC +15VDC -15VDC +5VD C
02-2 5
(01-28) A3EECOM
A1<xON
1 T T T
M2 M13 DISABLE POWER OUT
B : LARM IN
02-26 ALARM IN EN DISABLE POWER OU T
82~FA C02-21,2-22 >
02-2 7 83<<8 I4 3
RY I 3
EY
-
VOLTAGE MONITO R
(02-13)
(02-08 ) 1102-09)
02-28 T
v +5VD C
+15VDC -15VDC
02-2 9
T
MULTI-TAP DC POWER SUPPL Y
T T r--
CABINE T
02-3 0 COOLIN G 24VDC +15VDC -15VDC +5VD C
FAN S POWER POWER POWER POWE R
02-3 1
a
NCH H} CBIEE 24
02-3 2
B2a GND
200VAC N
02-33 B3
K022
02-34 CBi<E 24E
B2<< GND
B3
02-35
02-36 tl 14a 24E

5-8,66,68E 24
02-3 7 21, 22 15
17, 18 -15
36-55,96-115 5
02-3 8
3,4,910,15,16 GND
19,20,23- 3
02-39 61-65,6 7
69-9 5
02-4 0 th 1 S1 GI ^ R22 S2 Gal

A
C 2 22 32 C 3 " CP3 " C33
02-41 i 1
MAIN AC POWE R
FANUC Robotics FM= Rob$otics Korth knew. he.
DISTRIBUTIO N
2000 h ,rs Rood

Altars Nib, It 48328280 0 mitt a
.uti
P . COOMBS r 3/22/93
9-8
NOTES
100VA C
FROM ALC RELAY
03-01 (01-33)
03-02
K021
03-03
03-04 CRR-3 CRR- 3

3
03-05 100IN1 100IN 2

K036 I:LINT . P,C .B.)
CRR- 3 DPI
03-0 6 2
OP E-STOP
CRR-3 OP 2
03-0 7
03-08 EMGIN1
CRR-3 RL
03-09 EXT. E-STOP
SEE SECTION
'USER I/O
------ -
EMGIN C
4 '3
13
C05-10)
EMGOUT RELA Y
(06-46,06-50)
03-10 INTERFACE'
0110) L - ._ - - -
CRR-3
1D EMGIN2 8
RL
3<H1H}4- EMG
C05-07)
RELA Y
(06-1L06-29 )
SERVO O N
LED
K02 1
03-14 (09-17) CRR 100OUT 2
Tp
E v f CI
AMPS I
(08-IB)
03-15 (09-18 ) CRR 1001N 4
03-1 6 AUX.
INPUT 1 CRR- 3 4*A14 r
Lai 100IN3
(06-29 )
03-1 7 CRR- 3 100 VDC T O
AUX. 1000UT 3 BRAKE CIRCUI T
1-1833
OUTPUT
03-18 CRR-3 FUS E
100OUT4
BLOWN FUS E
5A MONITOR
10VDC 10VDC T O
q
7 II ►~•M
(03-31
LOW VOLTAG E
MONITOR
(03-27 )
SENSITIVITY
0> RIO 8 MOMENTARY SURG E

SE T DETECTIO N
(03-28 )
7 1 2 -1
L NORMAL U
I i----I
(03-23>C03-33>
ALLOW BRAK E
RELEAS E
(03-33)
HOLD AT SURG E
DETECTIO N
(03-29,03-31 )
10
FUSE/SURGE ALAR M
(03{28 ) (03-23)
[UEE/SURGE ALAR M
BACKPLANE
Jt50 C INTERNAL (TO RJ )

E-STOP DETECTE D
24E
(03-27 )
03-3 5
03-36
IOVDC TO AXIS SWITCHING , BRAKEC SOOLENOID S
(04-03) (04-03)
03-3 7
03-3 8
03-3 9
03-40
TO SHEET 4
03-4 1
11° EMG STOP & BRAKE CONT .

FANUO Robotics 100VAC E-STOP CIRCUI T
OOVDC BRAKE CIRCUIT (1 OF 2 )
Mk Rob :4z~R
~ath klxeeo. Me.
2000 Roca Raw Ma so& N/A
Albin Mk IO 4832O-28CO tW 6 full MOO M)400
men
P . COOMBS 5/22/93
9. AC POWER DISTRIBUTION CIRCUITR Y
9-10
NOTES
04-0 1
04-0 2
04-03 /OV BIA SRETURN 10VDC 100 0

$s <03-37) <03-37)<03 - 37)
CONT . RCM . )
04-04 BACKPLAN E M
SOFTWARE <EONT . P,C .B. )
SWITCHING
HYB1 JRA2 JRAO I
04-0 5 a <I
JRA2 JRAO BRK1 D1
04-0 6 _ 4 1« rf4
j
1 SBK1-1 SBK1-2 3
N
CI
JRA2 JRAO I B D2
04-0 7 `----> 4 < 02 b f~ a N
SBK2-ly SK2-2 q CP
04-0 8
'JRA2 JRAO I !NMI D3
' - ~~ 6 < Q3
k SBK3-1 SK3-20c
3
04-0 9 K11 6 K071
JI M MI CAR -
04-10
BRAKE L AXIS #1
B 1 « i IA
SOLENOI D JI M M1 CRR- l
04-11 D C< A BKM1
<
« 1B I
04-12 J2 M Ml CRR-
B« 2 << 2A «3 BKP2
BRAK E LAMS #2
04 -13 SOLENOI D J2 M M1 CRR -i "2
D <E 9« 2B <
04-14
J3 M MI CRR-l BKP3
04-15 B << 3< 3A «
BRAK E L AXIS #3
SOLENOID J3 M MI CRR-5
04-16 D« 10 <E 33 « BKM3
04-1 7 J4 BK MI CRR-l
A« 4« tC « BKP4
BRAKE L AXIS #4
04 -18 SOLENOID J4 B K M1 K
CRR-A B M 4
B« II « ID «
04-1 9
J5 B K MI5 << CRR- l BKP 5
04-20 A« 2C «
BRAK E LAMS #5
SOLENOI D J5 B K MI CRR- BKM5
04-21 « 12 « 2D l
04-22 J6 B K M1 CRR- 3 BKP6

23 BRAK E L AXIS #6
« A - 6 « 3C «
04-SOLENOI D J6 BK M1 CRR- 5 BKM6
B « 13 « 3D «
04-2 4
04-25 (CONT . P.C .B .)

BACKPLAN E
SOFTWAR E
SWITCHING
04-26 JRA 2 JRAO
HYB2
<
04-2 7 I JRA2 JRAO I BRK4 D4
I Y <I< ►fi
04-2 8 JRA2 JRAO
22
dd~~5
2 Lt . SBK4-1 SK4-2 4
5 EE B n I
<QS 6
SBKS-1p
8
SKS-2 4
04-2 9 JRA2 JRAO g
0 4 04-3 0 7 « k
L-j SBK6-I
6 fi
SK6-2 Y- ~6
CRR
04-3 2 15
CRR1 R6
04-3 3
04-3 4 C R-.?
AUXILLIARY
04-3 5 AXE S qUT CRR- 3
18
04-3 6
CRR19
04-3 7
~CRR2~
04-38
<CONT, P.C .B. )

04-39
04-40
04-41
A 1R1° EMG STOP . BRAKE CONT .

FANUC Robotics. 100VDC BRAKE CIRCUI T
(2 OF 2)
11AUC Ile.
22000
0S S hh .lemuRood ' rn0.t Na M N/A
Nbixn *0k #48320-2000 Ma mtk saa oaquO '4
aeuM en
P. COOMBS 3/22/93
9-12
NOTES
05-0 1 EMG 24E DV z
(CONT. P.C.B .) -
05-0 2 a
05-0 3 ROBOT um un m^ K07 0 24 E BACKPLANE
Dll RMl (CONT. P.C.B.)
E RL
ARM 17 26,38.50 31,4910
05-04 T SDFTVARE R 14
V JRAO
05-05
HBK 7<
D11
A
L
SLL. 3 JUMPERED S!)FF A2 26 35)(06-27
}
05-06 *BRKE 10 RL RL
RV
OV xHBI( SRVtf-006 7 12 9
05-07 63 14
K11 3 m SRVD-005 • 'Fl II 05-23
I ) SERVO O N
(05-37) C05-21) (03-10)
05-08 Dll RL RL RL
23<< xROTI 7 16 8 ()
05-09 R1 I F-• m
J3O T ~ t3nCOS-4M) (05-18) NO E-STO P 8 N
05-10 AXIS *3 Kill P1 IrWI PRESENT AT T.P. U
(
006-27) 03-090-33,06-16 )
05-11 > o
0r
05-12
05-13 BRAKE ENABLE
05-14 OPERATOR'S PANE L 03-15 )
05-1 5 CONNECT/DISCONNE BRAKE ENABLE
TIONAL> C
05-1 6 1(169 03-16 )
05-1 7 taxF -1
J1OT RL
9
05-1 8 AXIS Al 1 OVERTRAVEL RELEASE D
J1Ls lr
05-1 9
05-20
1(112 L C05-23) 03-09)
IC043----I
05-21 1(115 J HAND OK
05-2 2 (05-07)
05-2 3 MAIN NO ROBOT OVERTRAVE L
(CPU) 24 T
K040 05-07,05-18 )
05-2 4
TEACH PENDANT
05-2 5 24T
05-2 6 j LAOS
5
0 RV
05-2 7
E-STOP P.D . EMGTP >A07 SRYO.02 1 24T 51I RL
EMGB1 lA08 TPREL • 24T 15
05-2 8 53 TEACH PENDANT
Y PDO14 RV
2 EMGB2 BOR SRYD-011 C03) OVER SOURC E
05-2 9 xE-STOP RL
SRVO-002 EMDTP 10
05-3 0 22
1 (05-40)
05-31
DEAD-MAN *1
~
L o l oc- EMGDM >À04 EMGBI 8i
05-32 N 6
05-33 EMGB2
05-34
05-35 DEAD-MAN *2 ~- c co 17 T .P . DEAD-MAN HEL D
-
05-36 (05-05)
05-37 OFF ON EMGEN T.P . OF F
05-38 TP. ENABLE -oYo EDEN TPDISC 05-07,05-09 )
Tl Bfth-
05-3 9
05-4 0 T.P . CONNECTE D
05-4 1 TPRE L (05-30,05-46)
05-4 2 SERIAL DATA TXTP $A01
SERIAL DAT A
05-4 3
OUTPUT LINES xTXTP 4
)1101 REQUEST
T.P. DISC. ENABL E
LINES CRR-4
RXTP TALE' EMGB1 18~ 05-28,05-46)
05-4 4 SERIAL DATA E-STOP
REQUES T xRXTP :n SERIAL DATA PUSH BUTTON
05-4 5 LINES OUTPUT LINES ON TEACH CRR-4 RL RL T .P. RELEASE
15 10
05-4 6 PENDANT EMGB2 R71 05-09)
05-4 7
05-4 8
TPDSC
DV
_4 1806
-I
C05--43) C0.5-4-40 )
OV 807
05-4 9
05-50
05-51 24 E
(06-05)
05-52
05-'53
PAGE No.
09-13
9. AC POWER DISTRIBUTION CIRCUITR Y
9-14
NOTES
06-01
06-02 (CONT. PC B .)
06-03
06-04 24E OV
(05-50) (05-50 )
06-05
A
06-06
06-07 BACKPLANE
06-08
AXIS
06-09 (CONT. P.C.B .)
06-10
HYB 3 RL
06-11 JRA2
SRVO-001 THRU 007 nEMG
06-12 RV
~2(03R~6)>3
06-13 A2 14
SRVO-004 nFENCE
06-14
06-15
RV
>62
JRAO
D
cI
SRVU- 021 & 003 13
MODULAR I/O nESPTP 14 ((
06-16 RV -4)64
BACKPLANE COS-10)
06-17 1
06-18 i CNM CNMCX)
06-19 »8 B3>)
06-20 CNN CNMOO
INPUT/OUTPU T »ALBII ALBII>)
06-21 MODULE
06-22 CNM CNMCX)
»AS,B4,ALB12 A3,B4,AL552
06-23
06-24 CNM CNMOpX~
A2 >>
06-25 FACTORY
06-2 6 JUMPERE D
SAFETY FENCE
06-27 L --- - I (05-05,05-10,06-19 )
06-28 OVDC
MODULAR INTERFACE UNIT EMERCENCY 2
06-29 CNMCX) AIFOIA/B K016
03>> (03-16 )
06-30 OVDC FR
I a
06-31 CNM(X) 5VDC 1332R-4
A&BI1» R~
06-32 X=1 THROUGH 5
A20C-9001-0020/0 1 15VDC5
1
06-33 CNMCX)
X=1 THROUGH 10 A3,At, B12o.- _
06-34 A20C-9001-0040/01 -1svDC RR-4
06-35 CNM
06-36 24V
06-37 .IRAO
,
06-38 24V 3[633,80
06-39 -]5VDC 35L36
FROM 1SVDC 39640
06-40 PSU PC.&
06-41 5VDC 94,96.98100.
06-42 OVDC SEE BELOV<
0 VOLT IN ON PIN S
06-43 81, 83.85.,87.89.91.93.
06-44 95.97.99
06-45
06-46
EMGOUT1 ER R
06-4 7 FOR CUSTOMER EMGOUTC
CONNECTION A
06-4 8 EMGOUT RELAY
CRL-6)
06-4 9
06-5 0
06-5 1 NOTE. RL1 - 6 ARE SOCKETED
06-5 2
PACE NO.
06-53
09-1 5
9-16
NOTES
24 V
CA39C
+24VDC
07-02
5V
CA39C
OPTION 1 & 2 PC B
+OVDC COOLING FA N
07-0 3 2
07-0 4 CA39C CENTRIFUGAL

A2 ALMC
)13 AL M
07-0 5 (SVRO 01 4
CA39B
FAN MOTO R +24VDC
ABNORMAL)
07-0 6 CA39B
AXIS & MAIN PC B
4OVDC COOLING FA N
07-07
CA39B CENTRIFUGAL
3 ALMB
07-0 8 E9- 2 JRA2 THSW I •
14 MOH 14(S n5H R4 G•

RV (SVRO 01 5 CA39A
+24VDC
07-0 9 SYSTEM N,. -30
OVERHEAT) OV
CA39A
EMG & B
07-1 0 +OVDC () / COOLING SFAN C
>>2
07-1 1 CA39A CENTRIFUGAL

ALMA
07-1 2
•
07-1 3
OV PSU
07-1 4 02-08 _
T ~>---
P
07-1 5 02-09
07-1 6
FROM PSU MODULE (SHEET 2 )
FRO M
07-1 7 SERV O
AMP S SYMPTOM= ALM LED-AT POWER O N
07-1 8
CRF 1 CRF1 Pt Pt
AXIS
PD PD PD
NO
PIN NO. PIN NO. PIN NO. PIN NO.
07-1 9 iiil•i ii~i[1! NOTE. THE THERMAL OVERLOAD DATA IS TRANSFERE D
SRVO-067 (AXIS) -itiitI•111111111f3i111•1'~.-i ALONG WITH THE POSITION DATA ON THE
07-2 0
AXI S OHAL2 ALARM
~APCC
CN1 rERIAL I
iii4iiiiikl•~i>•
.1111101111IU i3MI i•t L M
itLlit/iY
SERIAL DATA LINE FROM THE APC TO TH E
AXIS MODULE .
SERIAL
(SEE TABLE) (SEE TABLE )
PD
ti~ifiiT~i3~iZ)•
07-21 INTERFAC E Pt *PD XX XFER
MODULE (SEE TABLE)
07-22
1(070 K11 5
07-2 3
07-2 4
01-1 4 BAN©©8 BB 8 n ®aBBF.~B C111CI ©©©D D
07-2 5 tv to A
to
01-1 5 m°
A A
07-2 6 01-1 6 TF 1 C
TH 1 TH 2
0 co
01-1 7
07-2 7 1 rr 'YYYYYYr
01-1 8
07-2 8
01-1 9
07-2 9 01-2 0
01-2 1
07-30
01-22
07-31 ((02 3
FROM TRANSFORMER TF1 (FROM SHEET 1)
07-3 2
07-33 SERVO AMP (FROM SH8, SH9, & SH10)

SERVO AMP #1 ONL Y
SRVO-049 THM1(90•C )
07-3 4 51 OH OHALI ALARM
LSI-M LED= 6
(SEE SHEET #10 ) ON SERV O
07-35 AMPLIFIE R
07-36 OV
SAL A RT1
DCAL ALARM
L 15
07-3 7 ALL OTHERS WIL L
ON SERVO T1 ) BE JUMPERE D
52 DC AMPLIFIER 16 ,
07-3 8 , 0
'J.-
\/ \/ OV
07-39
N .-'\/ NV NMv ZV'Y
Z
U U U U
07-40
180• C
07-41
OVERHEA T
FANUC fbbctlcs AN D
COOLING
Fi1M1C Robo0a Nath knaka, Nc .
2000 MSouth Rood
k 146325 2800
PM ID. BCAQ N/ A
sat a TOUT 4ts7 C61510 14
Dktlll Ott
P . COOMBS Iam3/22/93
9-18
NOTES
o e o e o e e o o e 0 0 0 0 o e o 0
o 0 0 0 o e o 0 0 0 0 0 0 0 pCO CD ID CO m
m CO CO m a) CO CO CO m CO
CO CO aD m CO m CO CO CO CO m m CO CO CO 003
m CO m m m m m 1 ! ~+! !
1 1 I I I I I I I I I I I I I I I I mpp 1pO G
1 .Is . .I. . p
W (J W (4 (.! (4 (4 . N
W N N N RI N 1(U N N fl1 A . N om" c N W (1 2 41 IY 9
~D m V
aJ(JN(~ 0 D W V 0 3M A N • o
o co V D 111 A
1-
UM.
.D
N N C
F,0471_4
R7
a
g-E
5
A VRBC
VH VSDC
Zl
~ s= a ~
w =
EMS
i .1n I
CN
CN2
2
CND
?
L
CNi
? FIB
ti I
A
LJ~J R R
a•
ASS s
MIMI n
!
MINIM MCC
(08 . 17)
icy
T R
co N
N
Y N
a A N AN
.D V co
V
a 0
a 4NMIMMO
0
.JRA2
MID SINGLE AXI S

SERVO AMPLIFIE R
FANUO Robotics
' FANUC Ina PR0.1. NCI :l N/A
2000Rabdkt *s
Mum Nab. 14NafhAme!iN,
483Y62 800 SLUT N4 taut 9WS MAIO NI
P. COOMBS 5/24/93
9--20
NOTES
0 0 0 0 0 O O O O O O O 0 O O O O
~O ~o ,o 'O I 'O IO D ID ~O N ..O .o 'o
I I I I I I I 1
A W W 1 W W W tJ W N rt1 •+ 1+ 1+ H
o ~ ~ v N A fJ N C WV N A W N N
-` o N m T %% 6 a s s
0
tlt
>
oA DUAL AXI S
FANUC: Robotics SERVO AMPLIFIE R
MC Rob:A a koala. Ilp
(WITH DYNAMIC, BRAKES)
**Aldan
NNat% Rood saD N/A
&b sn MI% (8 483262800 mtk 011113 80 010
.
uft
P. COOMB S 5/24/93
9-22
NOTES
10-0 1 C141 L
2- AXIS 67 PVM-AL CALM-1l) 3
SERVO AMPLIFIER 14 68 PVM-BL CALM-213 5
10-0 2
69 PWM-CL (ALM 4L) >>7
70 PVM-DL CALM-BL)(>13
10-03 71 POI-EL 15
Lst- N 72 PVM-FL 17
10-04 CSEE SHEET 1112)
CRLY240-14) is 58 ORDYL 20
>>
10-05 MCCI
r 59 *MEHL
I
Ill IMTLKI ' t6 aim
73 PWM-AN CALM-MO 33
10-06 aaa) 1NTLK2 _ 17 74 PVM-EM CALM-210
111 PI
75 PVM-EM CALM-4W 7
10-07 CO-14) imam OH 51 76
m
OM CALM-BOO 1 3
PVM-EM ~ 15
10-08 Cu
Dc 78 PVM-F14 1 > 7
•OROYM 20 1n
10-09
r)IClKpI 10
SKI PVIOJT ALf6L
10-10 PVMOUT AGM-FA G
RLY l .DOH cultic
44
10-11 3 1r--- 0, Cd•10-0510z-2410-2a
10-2510-36)
CO-02)
cANO . ..i.sio ALM-M
10-12 (A) 0V
CSEE SHEET *14 ) 151
10-13 S ~• I/F
RLY2 .Hsi LHC aMC3M MODULE
PSLV2 •DRDYM r
10-14 31 CMCC2.10-0410-2310-25.10-36) ALM-IN a-
(10-04 ) ALM-2M
10-15 ALM-4M
COMEM EE N TP4V ALM-CM0.
(AID ~Df} AMO
K021 CEN
10-16 r BV-I114
A
IR
5 Ti ISEE SHEET *13)
10-17
Li
0
03-14 T1
10-18 AG)Gw cGIG4
7T1 IS 1 =P1
+a TMN
10-19
11-09
8 T1
10-20 0
+ N
10-21 0
10-22 Ko2 NFB C15A/250V) I MCC2 Bst

zn 124 141 F4 Act
10-23 0 \ ( .
3 a0-ill IICC 1 00-14) AC2
10-24 01-36 0 A •
aD-11 ) Mcc2
10-25 175 I
CO-11 ) x0-14) I T
U tl
10-26 MO.V.
12 3 ARRAY i caMEL
10-27
G
10-28 DV-NIL
ALM-14 CB) PSLVI CSEE SHEET *13) AEL
PSL (SEE SHEET K14)
10-29 ISOL
VCE CGU BIB.
10-30
10-31 R4 L 141 J5
+24V TML 17
13 0 M((
10-3 2 0-~D-ez +15V SAME AS 1$l ABOVE VI- R5L J5
32 A PS-N 24.21 < vl
10-3 3
1471 3 tPOVER
SUPPLY)
8
T -15V
R3L - to
3C(
Js
M
9 T +5V -MVY -O -
10-3 4 I0 JS
939(( I D(( 6
1 T1
10-3 5 I'
K116
10-3 6 4L.361_1 0V C11-01)
C TRIM
10-3 7 T1 T1 T1 T1
OV 16 15 19 18 17
w_ v
10-3 8 z ~w Z Li (t.1 - z
n u u
10-3 9 i80.C CRRII
/7'7t-EAT SINK TBOCR
C11-38)
10-40 C11-20)
RNDC
09-23
9-24
NOTES
U
ce
U
11-01 - TBDBR
11-02
11-03 DCR&DBR UNIT
D
11-04
11-05
11-06 8
11-07
11-08 CRRIO
9
11-0 T1-8 INTL (10-20) AMP#3 0'-
11-10 T1-8 INTL (10-20) AMP# 2
11-11 T1-8 INTL (10-20) AMP#1 d
11-12 T1-7 1000 (10-19) AMP#3 e
11-13 T1-7 100C (10-19) AMP#2 ~1
11-14 T1-7 100C (10-19) AMP#i O
11-15 I
SIC I
11-16
11-1 7
11-18 EMG 1000UT1 (03-14) e'-
11-19 TBDCR
11-2 0 T1-17 RC (10-38) AMP#3I
11-21
11-22
11-23
11-24 T1-19 RE (10-38) AMP#3I e'
11-25 j
11-26 T1-17 RC (10-38) AMP#2I e.
11-27
11-28
11-29
11-30 T1-19 RE (10-38) AMP#2IQ
11-31
I
11-32 T1-17 RC (10-38) AMP#1I e'
11-33
11-34
11-35 H
11-3 6 T1-19 RE (10-38) AMP#1I e'
11-37
11-38 TF1-51 (01-33)I
a CRR11 - J
11-3 9
11-40 TF1-52 (01-34)1
I
PAGE NO.
09-2.5 :
9-26
NOTES
9-27
Figure 9-1 . Heat Exchange System, B-Size Controller
FAN 1
Fan Unit
A05B-2302-C90 1
Fan (Alone)
A901-0001-0219 #A
FAN 3 FAN 2
Fan Unit Fan Unit
A05B-2302-C902 A05B-2302-C90 0
Fan (Alone) Fan (Alone)
Figure 9-2. Heat Exchange System, C-Size Controlle r
FAN 1
Fan Uni t
A05B-2301-C90 1
Fan (Alone )
A90L-0001-0219 #A
FAN 2
Fan Unit
A05B-2302-C900
Fan (Alone )
A90L-0001-0213#A
Figure 9-3 shows the component location for the controller component s
included in the AC power distribution circuitry.
MARMMOSHW02301 E
9-28
Figure 9-3 . Location of Components for AC Power Distribution Circuitr y
TF 1
Power Supply Unit Multi-Ta p Transformer EMG Control
1 0 DC POWER DISTRIBUTION CIRCUITRY
MARMMOSHWO2301 10- 1
This chapter describes the DC power distribution throughout the controlle r

and includes : +3VDC, +5VDC, +15VDC, -15VDC, and +24VDC . The
sources of these voltages are described on the following pages .
10 . DC POWER DISTRIBUTION CIRCUITRY
MARMMOSHW02301 E
10-2

MAIN POWER SUPPLY MODULE (PSU )
02-01 thru 41 After the ' Power On' sequence, the PSU provides the following voltages:
DC Output Voltages :
• +24, +24E, +15, -15, +5 - through JNP0 to the backplane
• +24 at CP5 - Front panel - not connected

• +24E at CP6 - Front panel - not connected
3VDC Battery power - through JNP0 to the backplane when battery i s
connected at CP8 on the front panel is supplied to the CMOS RAM .
A CAUTIO N
This 3V Lithium battery supplies the power required t o
preserve the contents of system CMOS RAM on the Mai n
CPU module when the controller is powered down . Should
the battery power be removed from the Main CPU modul e
by either removing the Main CPU or PSU there is a
capacitor on the Main CPU that will maintain the CMO S
RAM for up to 30 minutes . The battery should be remove d
from the PSU and directly plugged into connector VBAT o n
the Main CPU module when removing the PSU or Mai n
CPU module from the backplane to reduce the risk of loss
of data stored in CMOS RAM .
AC Output Voltages :
200 at CP2 - connected to ALC relay and fan s

• 200 at CP3 - not connected
Fuse protection :
• Fl and F2 - 200 VAC incoming to the PSU - 7 .5A
F3 - +24 output - 5.0A Slow Blo w
• F4 - +24E output 5A
• F5 - +24VDC PSU internal power - .3A
10. DC POWER DISTRIBUTION CIRCUITRY
SCHEMATIC REFERENCE DESCRIPTION

OTHER SOURCES OF VOLTAG E
Within the controller there are three other main sources of DC voltage .
08-32, 33, 3 4 Each servo amplifier has an onboard DC power supply that provide s
+24VDC, +15VDC, -15V, and +5VDC for its own internal use . These
power supplies are fed by two of the 200VAC 3 phase inputs from th e
multi-tap transformer TF1 .
03-1 7 The EMG control PCB supplies an unregulated 100VDC for brake control .
This voltage is supplied by the 100VAC input through the brake circui t
protection fuse mounted near the center of the EMG control PCB .
The EMG control PCB also supplies +24VDC to the teach pendant. It
uses the PSU 24E DC voltage output as its source. This voltage i s
switched on and off by the normally closed contacts of relay RL15 (T.P.
DISC. ENABLE) on the EMG control PCB .
NOTE As a convenient place for testing DC voltage output, the following

points are recommended.
At the EMG module :

06-25 CRR4
throug h
06-36 Terminal 9 & 1 1 0VD C
Terminal 1 3 5 VD C
Terminal 1 5 +15 VDC
Terminal 1 7 -15 VDC
Terminal 1 9 24 VDC (24V )
Terminal 5 24 VDC (24E)
04-3 2 CRR3
through
04-37 Terminal 15, 17, 19 100 VDC (Brakes )
Figure 10-2 In each robot is a battery case holding 3-1 .5V C-size lithium batteries .
These batteries, connected in series, supply 4 .5VDC to the Absolute Pulse
Coder (APC) memory . An APC power selector circuit switches the suppl y
of power for the pulse coder memory to the batteries when power is no t
turned on at the robot control .
MARMMOSHW02301 E
10-4
COMPONENT/ASSY LOCATION ' SCHEMATI C LOCATIO N

LOCATION FIG . NO .
3V BATTERY PSU - 10- 1
CONNECTOR CP2 PSU 02-41 10-3
CONNECTOR CP3 PSU 02-41 10-3
CONNECTOR CRR3 EMG CONTROL PCB 03-05,04-32 10-3
EMG PCB PCB RACK SH .3-6 10-3
FUSE F1 PSU 02-04 10-3
FUSE F2 PSU 02-04 10-3
FUSE F3 PSU 02-31 10-3
FUSE F4 PSU 02-31 10-3
FUSE F5 PSU 02-14 10-3
POWER SUPPLY UNIT (PSU) PCB RACK SH .2 10-1, 10-3
SERVO AMPLIFIERS CONTROLLER BK . WALL SH .8 & 9 10-3
V-BAT CONNECTOR MAIN (CPU) - 10-3
5V BATTERIES ARM BASE 10-1 10-2
200VAC INPUTTp22F>>ROM TF I
C01~22 )
02-01
02-02 CP1-t CP1-2 CPI-3

24 y v
• NOTE! REMOVE RL S1 G
JUMPER IF USIN G CPI]WER SUPPLY UNIT)
02-03 ON
OFF EXTERNAL ON/OFF
02-0 4 FILTE R
OR DOOR INTER -
04
02-0 5 LOCCKK C_I.
1 I
/
iRR-4~~d_2_R-4(" R-4 ~q R-4 RR- 4
02-0 6 AUXILIARY 24VDC PWR SUPPL Y
SUPPLY
M2 ON/OF F (MI) +
EM JRAO JNP D CONTROL
02-0 7 % ~. g Q q p70 118 OFf
CC BB W
w r JRAO JNPO 6 RY-1 7
02-0 8 7 COM . 2 TH1 t S <Y1
t02-11> It02- 3) ~~-~ 2 200 VAC PWR OU T
RELAYS
02-0 9 (02-27 )
JRAO
9 J 120 ON
L
02-1 0 POWER O N
C02-11 >
mt. am
02-1 1 -, _) POWER OF F
(02-08)
02-1 2 BACKPLANE ALAR M
BACKPLAN E <02-13 )
02-13 ALAR M
(02-08,2-27 )
AL M
02-14 4 W. ALARM LE D
02-1 5 PILOT LE D
PIL
02-1 6 4 15VDC OUTPUT O N
C02{23) C02-17 >
02-1 7
02-1 8
A1 5
02-1 9 T I(Q2N AUXILLIARY 15VDC
REGULATED OUTPU T
02-2 0 6 POWER FAILUR E
C02-20) 5VD (02-20 )
02-2 1 ABNORMAL CONDITIO N
C (02-12 )
02-22 (22
(OPERATOR'S PANEL 1413 EN
M1 3 (02-26 )
(02-16 )
02-24 200VA C
TO ALC RELAY C A211FF +24VDC +15VDC -15VDC +5VD C
(01-28 ) A3<<C0M I T T , T
02-2 5
Ala0N M2 1413 DISABLE POWER OU T
02-26 B1 .,ALARM IN DISABLE POWER OU T
ALARM IN , o o-*ENP}'
Be<iA <02-21,2-22 )
3 VOLTAGE MONITO R
02-2 7 B3< 8 -r RY1
(02-13 ) .i. 2Y
T(02-0D)
1
02-2 8 4 +15VDC -15VDC +5VD C
T T T
02-2 9 MULTI-TAP DC POWER SUPPL Y
CABINET
02-3 0 COOLING 24VDC +15VDC -15VDC +5VD C
FAN S POWER POWER POWER POWE R
02-3 1
CP5
f In L,1 J
02-32 1 a 24
Bea GND W
200VAC
02-33 B3 <
K022 CP6
02-3 4 Ba 24E
B2 <CND
02-3 5 H B3~
w0 Z
aw
ro !1-144 24E
02-3 6 a.
>0 5-8,66,68« 24
v
02-3 7
C-)
MIA 21, 22 15
a¢ 17, 18 -15
WJ
02-3 8
I- CL 36-55,96-115 5
JV
3,4,9,10,15,16 GND
w 19,20,23- 3
02-39 CY 17 61-65,67
N 69-95
02-4 0
Si G1l R2,, S2 G2
CP2 C 2 C32 9,3 CP3 n C33
02-41 2
mm MAIN AC POWE R
1n1
1 FANUC: Ic DISTRIBUTIO N
O
anau 16 90410 N/A

BaT IA roue say CMIOA61
D IOR P
: COOMBS 3/22/93
10-6
NOTES
100VA C
FROM ALC RELAY
03-01 (01-33)
03-02
03-03
03-0 4
03-05 CCC39T. P.C.B. )

K036
CRR23 OP 1
03-06
OP E-STOP CRR3
OP2
03-0 7
CRR-3 1 ) EMGIN 1
03-0 8 a
CRR-3 EMGINC
03-09 EXT . E-STOP
SEE SECTION
F
'USER I/O
03-1 0 INTERFACE ' 3
(110) \ RR10 EMGIN 2
03-11 K031 CRR-3
03-12 TER
T
I000UTI SERVO O N
ME CRR- 3 LE D
-~f3
03-13 CRR1
K02 1 a
03-14 (099-17) CRR-3 100OUT2
e TO
03-15 <09-18) AMP S CRR-3
,az 1001N4
AUX.
03-1 6 INPUT 1 CRR53 RL RL
-,,gm 1001N3 4 4
<HH>3 ' 4<4-1 H>3
(06-29) (05-15 ) 100 VDC TO
03-1 7 CRR-3 1000UT3 BRAKE CIRCUI T
AUX . --fm
OUTPUT r
03-1 8 }t CRR3 FUS E
100OUT4
03-1 9 BLOWN FUS E

5A MONITO R
03-2 0
03-2 1 1OVDC 10 VDC T O
03-2 2
03-2 3
[g l LOW VOLTAGE
<03-31 MONITO R
(03-27 )
03-2 4 SENSITIVITY
03-2 5 8 MOMENTARY SURG E

DETECTIO N
(03-28 )
03-2 6
El
03-2 7 If-1
C03-23)(03-33)
ALLOW BRAK E
RELEAS E
8 C03-33 )
03-2 8 10 HOLD AT SURG E
. (03-25 ) DETECTIO N
10 (03-29,03-31 )
03-2 9 11 -
(03-28 ) 24E
03-3 0
10
(03-28) (03-23 >
03-32 [HE/SURGE ALARM

BACKPLANE
RJR
JRgO i
03-3 3 C INTERNAL <TO RJ )
(05- 0) E-STOP DETECTE D
AXI S C03 - (03-27 )
03-3 4 CONT . P .C .B. Rte.
03-35
03-36
Imo TG AXIS SWITCHING, 'BRAKE ( SOOLENOIDS
<04-03) (04-03)
03-3 7
03-3 8
03-3 9
03-40
TO SHEET 4
03-4 1
1tt° EMG STOP & BRAKE CONT .

FANUO Robotics' 100VAC E-STOP CIRCUI T
100VDC BRAKE CIRCUIT (1 q F 2 )
FMNB Robndc. Not knew, Inc. no► N a xttar;/A
Auburn %V.'19 48J26ZOtl W M0. TOTAL AW3 00490 1 4
en
P . COOMBS 5/22/93
10-8
NOTES
FROM SHEET 3
04-0 1
04-0 2
04-03 ~UV BIAS RETURN 10VDC 100'Q

SC I (03137 ) <03-37)<03 -
WIT. P.C,BJ
M
04-04 SOFTWAR E (CONT, P .C .B,)
SWITCHING
HYBI JRA2 JRA OOPA .
04-0 5
JRA2 JRAO I BRK1 DI
04-0 6 6 ►f~ ►I
SBK1-2 8
04-07 7-r JRA2 JRAO
4 <I
BRK2
fvi 02
SBKI-1 Q
6 ~f~ 8
D2
C)H
04-0 8 !0
_I
RA 2 JRAO
{6 LIIM' '~~,n ,
frVl 03
SBK2-1
6
SBK3-1 .
SHK2-2 .
► 8
SK3-2 .
D3
►i
C
C3
04-09 K116 K07 1 U

Jl M MI CRR-6
B « 1 C I IA<< BKP1
04-10
BRAKE L AXIS #1
SOLENOI D JI M M1 CRR-l BKM 1
04-1 1 « 8 « 1B «
04-1 2 J2 M MI CRR-3 BKP 2

2 2A <E •
B« <<
BRAKE L AXIS #2
04-13 SOLENOI D J2 M MI CRR-5 BKM2
D« 9 « 2B «
04-1 4
J3 M M13 CRR-5
04-15 H< « 3A « BKP 3
BRAKE L AX'S #3
SOLENOID J3M MI CRR-~ BKM 3
04-1 6 A « ]0 « 3B
04-1 7 J4 B K M1 CRR-l BKP 4

A « 4< IC «
BRAK E L AXIS #4
04 -18 SOLENOI D J4 B K MI CRR-l BKM 4
I B « 11 « ID «
04-1 9
J5 B K M1 CRR- 5 BKP5
04-20 A << 5 « 2C «
BRAK E L AXIS #5
SOLENOI D J5 B K M1 CRR- l BKM5
04-2 1 R « 12« 2D<<
04-22 J6A B K MI CRR-

3C S BKP6
6« «
E L AXIS *6
04-23SOLENOI
BRAK D J6 BK MI CRR- l BKM6
B « 13 « 3D «
04-2 4
Ig
04-25 (CONT . P.C.B .)
BACKPLAN E
SOFTWAR E
04-26 SWITCHING
JRA2 JRA0
8 «
04-27 ( JRA2 JRAO I
4 < BRK4 D4
Q4
04-2 8 N ~~ t e SBK4-1 ; SBK4-22 0 c4
JRA2 JRA O D5
>5 5 « tI T7f E ►1
04-2 9 SBKS-1 6 S►~iK5-2g_%51._0
( JRA2 JRAO I
~ 7 C ►L L 6 8 ►I
D6
04-3 0 tr ; SBK6-1g S K6-2 4 ~~
kk `
04-3 1
CRRj
04-3 2
CRR 1
04-3 3 -16
04-3 4 CRRi
04-3 5 AUXILLIARY
AXE S OUT CRRi.9
04-3 6
CRRi?
04-3 7
CRR-
04-3 8 ?Lai
(CONT . P.C .B. )

04-39
04-4 0
04-41
11° EMG STOP 8. BRAKE CONT .

FANUC Robotics 100VDC BRAKE CIRCUI T
FANUc Roblin to kn.62, he. (2 OF 2)
ma l a s tfz N/A
loin HI! . 4a32 228800 sett 14 ma seta o►VNio M).
m
P . COOMBS 3/22/9 3
10-10
NOTES
FF
UU
5
W Ce
05-01 EMG 24E CV

(CONT . P.C .B.) T
05-02 .e
ROBOT W0 WnI K07 0 24E BACKPLANE
05-03 us Dll COI (CONT. P.C .B.) RL R L
ARM
- 17 < 26.38.50 3L4910 SOFTVARE 1
05-04
A F JRA2 A
05-05 D11 JUMPERED ~
(05-35)006-27) 0
1*HBK 7 CRM1 •B "'BIKE h10 R 2 RL RL 4
05-06 1
9 .5 c W N
OV OTREL
3 7L 1
SERVO ON R
05-07 K113 • '1' + 11 . 11
(05-37) (05-21) (05-23 (03-10 )
05-08 WHBKD RL RL )L
1111 Pt CRM1 R6
23<< xR0T1 19« RL - 8
05-09 14 NO E-STOP
J30T C05-371(05-45) -J-18)
05-10 •-1 1 PRESENT AT T .P .
AXIS °03 K111 (06-27) 03-09,03-33,06-16)
05-1 1
05-1 2 I
05-1 3 BRAKE ENABLE
K) 03-15)
05-1 4 (OPERATOR'S PANEL
05-1 5 CONNECT/DISCONNECT BRAKE ENABLE
COPTIONAL) 03-16)
05-1 6 K169
JILS
05-1 7
mtf- -1 RL
JIOT 9
05-1 8 AXIS M 1 OVERTRAVEL RELEASED
JILS C05-23)
B 03-09)
05-1 9
05-20 10343
05-21 Kits I 1 4, HAND OK
(05-07 )
05-22
05-23 MAIN NO ROBOT OVERTRAVE l
(CPU) 24T
K040 05-07,05-18 )
05-24
TEACH PENDAN T
05-2 5 24T N
. (
05-2 6 ,~A05
Al JRA
ESTOP P.B. EMGTP 61- 24T
05-2 7 1607 RL
15
05-2 8
OV
RLY
EMGB1 IA08 )I>63 24T 53<!(
I cas
TEACH PENDAN T
'OVER SOURCE
EMGB2 1)B08 RL
05-2 9 nE-STO P ID
SRVO-002 EMGTP
05-3 0
05-3 1
DEAD-MAN AI • 0 EMGDM 04 EMGB1 18
05-3 2
EMGB2
05-3 3
05-34
E14GDM 17
05-35 DEAD-WAN *2 r T .P . DEAD-MAN HELD
(05-05)
05-36
OFF ON EMGEN 19 T.P . OFF
05-37
05-38 T.P. ENABLE EMGEN %p4 TPDISC z1u ~ 05-07,05-09)
I
05-39
05-4 0 T.P . CONNECTE D
TPREL 12 < (05-30,05-46 )
05-4 1
05-4 2 SERIAL DAT A SERIAL DATA
OUTPUT LINES REQUEST T.P . DISC . ENABLE
05-4 3 LINES CRR-4 05-28,05-46 )
05-4 4 SERIAL DATA E-STO+ EMGB1 18 (aT(!
REQUEST SERIAL DAT A PUSH BUTTON)
05-4 5 OUTPUT LINE S RL RL
LINES ON TEACH CRR- 4 15 10
05-4 6
TPDSC
PENDANT EMGB2 20
_I I-
C05-43)(05-40)
•
05-4 7
05-4 8 OV ,806
05-4 9 DV )6807
05-5 0 I T
24 E OV
05-5 1 (06-05 ) (06-05)
05-5 2
05-53
PAGE NO.
10-11
10-12
NOTES
#
z
06-01
06-02 EMG
AT . PC.B,)
06-03
06-04
06-05
06-0 6
06-0 7
06-0 8
roON
06-0 9
CU
06-1 0 N.
In
06-1 1
06-12
06-13
06-14
06-15
MODULAR I/O
06-16
BACKPLANE
06-17
06-18 I CNM CNMOO a
06-19 »B3 '3»
06-2 0 cNM cNMOO
INPUT/OUTPUT »A&BII AIBI1>)
06-2 1 MODULE
06-2 2 cNM CNMC o
06-23 »A3,B4,AIB12 A3,B4,AI32
06-24 CNN CNMaa

A2 A2»
06-25 II;
06-26
06-27
06-2 8
06-29 CNMIX)
06-30 >
06-31 cNMa )
06-32 AIBI L
X=1 THROUGH 5
A20C-9001-0020/O 1
06-33 CNMCK )
06-3 4 X=1 THROUGH 10 A3.AIBI2)>
A20C-9001-0040/01
06-3 5 cNMa n
06-3 6 Aax,
24 V
06-3 7
06-3 8 .1R
24V 316 3$EO
06-3 9 -15VDC 35636
ov
06-4 0 FROM
15VDC 39640
PSU P.C.B,
06-4 1 5VDC 94,96.98.100
06-42 ovDC SEE BELOW
06-4 3 0 VOLT IN ON PINS,
81.83.05.B7,89,9L93,
06-4 4 95.97,99
06-4 5 RL
EMGOUT1 ERR-4 6
06-4 6 3
06-4 7
06-4 8
FOR CUSTOMER
CONNECTION TO EMGOUTC T R-4
EMGOUT RELAY
06-4 9 CRL-6) RL
EMGOUT2 RR-4 3
06-50 2( 6
C03-09))
06-5 1
NOTE, RL1 - 6 ARE SOCKETED
06-5 2
06-53 PAGE
10-13
10-14
NOTES
O O O O O O O O O O O O
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m CO CO
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SINGLE AXI S
SERVO AMPLIFIE R
FANUO 'bodies
fANUC Robotics North Arta), Yie
2000 ( MU IA lase N/A
Main 16,h I* 4832 284 2800 LEFT IA Io1 a[ns Daplpo )A
MN BR am
P . COOMBS 5/24/9 3
10- 1 6 MARMMOSHW02301E
NOTES
0 0 W a
N '4 '4 o N 0 0 a
I 1 I 1 1 I 1 I 1 I
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CWITH DYNAMIC BRAKES)
PAW41 MN/A
mB M h 1A 41028-2000 Mt NO. f01k 9EEIS DPAOIIG II
Walt Ent
P . COOMBS i 5/24/93
MARMMOSHW02301E
10-1 8
NOTES
,+ M N N
o 0 0 0 0 0 0 0 0 0 0
I I .
A W o ~qq g o 0 0
W
N V W
N N . W N 2 2 m V 2 N 2
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a
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1
41
72
a a
V
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Wk a
DUAL AXI S
SERVO AMPLIFIE R
FANUC Robotics
(WITHOUT DYNAMIC BRAKES)
rMelC RoboNa Nate klgw .hgo, he.
2000 Sout Pllo~t► I0
. she WA
A :an NB6 .h hl 4EJ28-2800 9E014 000 RtEA DRtj1Ip IA.
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P: COOMBS ~dm5/24/93
10-20
NOTES
r r -
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r r r r r r
W W r W r
r
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00
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0v t%0 p n v
a
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a
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W N W 1#. N W n
n
L
T1-9 C10-38) AMP# 1
T1-15 (10-38)AMP#1I Gt. T1-10 <10-38) AMP# 1
T1-11 <10-38) AMP# 1
T1-16 (10-38)AMP#2 T1-20 C10-38) AMP#1
1
T1-21 (10-38) AMP# 1
T1-16 <10-38)AMP#3 I T1-22 <10-38) AMP# 1
T1-16 (10-38)AMP#1 I
T1-9 C10-38) AMP# 2
T1-15 (10-38)AMP#2) T1-10 (10-38) AMP# 2
T1-11 <10-38) AMP# 2
T1-15 <10-38)AMP#3I ma IT1-20 C10-38) AMP# 2
T1-21 (10-38) AMP# 2
111-22 <10-38) AMP# 2
RNOC RMDC RWOC
T1-9 <10-38) AMP# 3

IT1-10 (10-38) AMP# 3
T1-11 (10-38) AMP# 3
T1-20 (10-38) AMP# 3
T1-21 C10-38) AMP#3
T1-22 (10-38) AMP# 3
DCR & DB R
F/4►NUO.. Robotics PC B
FAMM Robo ke NaIll klerleo,
Rood Inc.
Alm 10tr 11 AX8326-2600 ROL IA N/A
1V AtII e4 RFGt ants
0AAOI
R COOMBS 5/24/93
10-22
NOTES
Figure 10-1 . APC Battery Backu p
RATTRRY CAS E
lroca -oo
aAPC
aB RIB
POWER
SELECTOR B
+5VDC
aP
APC
APC
'
1(109 POWER K109
SELECTOR
+5VDC
OP
Y APC
rs APC r B
WER wB
A SELE R
+5VDC
rp
U APC
us us
PO"W,ER
SELECTOR
' I
+5VD C
UP
W APC
K10? AP C
we
POWER
SELECTO R 4) 9
+5VDC
wp
6B Arc n ea
row=
A t B
K161 FOR S420A K161 FOR S420A
K106 FOR S420F K106 FOR S420 F
+5VDC
6P
MARMMOSHW02301 E
10-24
Figure 10-2. DC Power Distribution Circuitry, Battery Diagram

Figure 10-3 shows the DC power distribution circuitry.
Figure 10-3. Location of Components for DC Power Distribution Circuitr y
CRR 3
1 IOOIN I
2 OP 1
3 100IN 2
4 OP 2
5 100IN 3
6 EMGIN 1
7 100IN 4
8 EMGIN C
9
10 EMGIN 2
11 1000UTI
12 1000UT1
13 100OUT2
14 100OUT2
15 BKP4
16 BKM4
17 BKP5
18 BKM5
19 BKP 6
20 BKM6
CRR5
100V D C
FO R
BRAKES
1 1000UT3
2 EMGOU 2
3 100OUT4
4 EMGOUTC
5 FENCE 1
6 EMGOUT 1
7 FENCE2
8 EX-O N
9 OV
10 EX-COM
11 OV
12 EX-OF F
13 -5v
14 DIL 1
15 -15V
16 DIL2
17 -15V
18 EMGB 1
19 +24V
20 EMGB 2
CRR 4
1
n- 0
w
G,o~
0-1
ai
0 0-1
9 1
0
F
g
0 0
O
Rf R f 5
oo~ of o :J n 00
EMERGENCY STOP CIRCUITRY
MARMMOSHW02301E 1 1
The Emergency Stop and Deadman circuit ensures that the servo power t o
the motors is interrupted (200VAC 3 phase), and immediately applies th e
brakes.
This is achieved by interrupting the 100VAC supply to all the servo
amplifiers and the brake circuit. The S .ON LED indicates the 100VA C
presence (03-12) . The 100VAC is required to pickup the MCC contactor
in the servo amplifiers . These MCC contactors switch the 3 phas e
200VAC to the motors.
The 100VAC is also required to release the brakes. By interrupting th e
100VAC, the brakes are applied (fail safe) .
The 100VAC can be interrupted directly through the operator pane l
emergency stop pushbutton or through some relay contacts needed t o
interface the 100VAC with the lower voltage circuits on the teach pendan t
emergency stop or deadman switch .
11. EMERGENCY STOP CIRCUITRY
MARMMOSHW02301 E
ERROR CODES AND CONDITION S

The Emergency stop (E-stop) errors occur under any of the followin g
conditions :
The Operator E-stop pushbutton has been presse d
The Teach pendant E-stop pushbutton has been pressed
• The Teach pendant 'ON/OFF' switch is 'ON' and the deadman switc h
is not being held close d
• The Teach pendant 'ON/OFF' switch is 'OFF' and the optional fence
circuit is installed and broken
• An optional external E-stop circuit is installed and broke n
• The teach pendant is disconnecte d
• A software E-stop signal (*IMSTP) is received from an externa l

sourc e
ALARM CODES AND MESSAGE S

This section describes the R-J system teach pendant alarm message s
relating to E-stop conditions . Each description includes the alarm cod e
number, the text of the message, and the cause of the E-stop condition .
SRVO-001 ER_SVAL1 Operator panel E-stop
The operator panel 'EMERGENCY STOP' pushbutton is pressed .

SRVO-002 ER_SVAL1 Teach pendant E-sto p
The teach pendant 'EMERGENCY STOP' pushbutton is pressed .

SRVO-003 ER_SVAL1 Deadman switch released
• The teach pendant deadman switch is released while the teach pendant
is enabled.
SRVO-004 ER_SVAL1 Fence ope n
FENCE1 and FENCE2 circuit have opened on the EMG control PCB .
11 . EMERGENCY STOP CIRCUITRY

SRVO-007 ER SVAL1 External emergency stop s
• An external 'EMERGENCY STOP' has been sent to the EMG contro l

PCB .
• The 100VAC input to the EMG has been interrupted and no othe r
E-stop conditions are present
EMERGENCY STOP RELAY FUNCTIO N

05-07 RL-1: Servo ON - Energized by 24VDC (24E) through N .O. contacts of
the robot overtravel, fence, and hand break switches . It is also controlle d
by N .C . contacts of the teach pendant's E-stop, deadman, and disconnec t
switches.
06-28 RL-2: Emergency2 - Energized by 24VDC (24E) and relay RL-5, it
supplies, through its contacts, the optional additional 100VAC to the
additional servo module MCC's and their associated brake control circuits .
It indicates a 'NO EMERGENCY' condition .
03-1 0 RL-5: Emergency 1- Energized by 100IN1 and 100IN2 through the N.C .
contacts of the operators panel E-stop switch, any external E-sto p
switches, and a N .O. contact of RL-1 . It supplies the *EMG signal to the
Main CPU which indicates a 'NO EMERGENCY' condition .
03-09 RL-6: Emergency out - Energized by 100IN1 and 2, through the N .C.
contacts of the operator's panel E-stop switch, the EMGIN1 externa l
E-stop switch, and RL-13 . It supplies the EMGOUT1 and EMGOUT 2
switching connections for the customer .
05-35 RL-7: Teach Pendant off - Energized by 24VDC (24T) through the N .O.
contacts of RL-10, N .C. contacts of the teach pendant E-stop, and th e
teach pendant 'OFF' switch.
05-38 RL-10: Teach Pendant connected - Energized as long as the teach pendant
remains connected to the main CPU module . It maintains the 24VDC
(24T) to the teach pendant .
05-34 RL-11: Teach Pendant Deadman - Energized by 24VDC (24T) throug h
N.O. contacts of RL-10, N.C. contacts of the teach pendant E-stop, an d
either of the N .O . contacts of the deadman switches .
MARMMOSHW02301 E
11-4

05-0 9 RL-13 : No E-stop present at the Teach Pendant - Energized by 24VD C
(24E) through one of the following circuits :
• 24E through the N .O . contacts of RL-11 and the N .C . contacts o f

RL-7 (teach pendant on and deadman held)
• 24E through the N .O. contacts of RL-14 and the N .O. contacts of
RL-7 (teach pendant off and safety fence closed )
06-2 6 RL-14 : Safety fence - Energized by 24VDC (24E) through the fenc e
switches (if used) or a jumper on CRR4, terminals 5 and 7 .
OPERATOR PANEL E-STOP CIRCUI T

The operators panel E-stop pushbutton is a double throw push button.
One side disconnects OVDC from the MAIN (CPU) receiver fo r
emergency stop software detection and diagnostics, and the brake contro l
circuit on the EMG control PCB . The other side breaks the circuit in a
serial loop of normally closed circuits which maintain relays RL-5 an d
RL-6 and the bridge rectifier for the brakes on the EMG control PCB . It
interrupts 100VAC power to the MCC relays in the servo amplifie r
modules and the brake control circuits in the EMG control PCB .
Description of the flow is as follows :
03-14,1 5 • Pressing the operators panel E-stop pushbutton will disconnect, vi a

OP1 and OP2, the 100VAC to the MCC contactor coils on the serv o
amplifiers, along with the brake control circuits and relays RL-5 an d
RL-6 on the EMG control PCB through 100IN1 of the 100VAC inpu t
power.
03-1 2 • This loss of 100VAC turns off the S .ON LED on the front of the EM G
control PCB .
08-17,1 8 • Disconnecting the 100VAC to the servo amplifiers on connector T1 ,

terminals 5 and 6 will turn off the MCC contactors, disabling the drive
power to the servo motors of the robot .
09-17,1 8 • Disconnecting the 100VAC to the brake control circuits disables th e

03-1 7 100 VDC to the brake solenoids and engages the brakes that hold th e
robot.
03-1 0 • Turning off the EMG relay (RL-5), sends a signal (*EMG) to th e
06-1 2 main CPU, causing a resettable fault, stopping the program, and
turning off the EMG2 relay (RL-2 .)
06-29 • RL-2 shuts off the 100IN3 input, an optional power source t o
additional MCC contactors and their brake control circuits .

03-0 9 • RL-6 (EMGOUT) allows the user to monitor the E-stop circuitry via
06-4 6 the NC contacts on CRR4 terminals 2 and 4, and the N .O. contacts o n
06-5 0 terminals 4 and 6 .
ADDITIONAL E-STOP INPUT S
The teach pendant E-stop, teach pendant disconnect, robot overtravel, an d
03-14, 15 optional fence and hand breakage signals are monitored through a secon d
circuit which turns off the 100VAC to the MCC contactors via 100IN2 ,
and the S .ON LED, along with the brake control circuits and the EMG
relay (RL-5) on the EMG control PCB via the SERVO ON relay (RL-1) .
TEACH PENDANT E-STOP CIRCUITR Y

With the teach pendant connected, a second emergency stop i s
incorporated. Should the emergency stop pushbutton on the teach pendan t
05-03 through 05-40 be pressed, the 24VDC (EMGTP) from the teach pendant to the EM G
Board will be turned off via one of the teach pendant E-stop pushbutto n
N.C. contacts . When this power fails, it turns off the 100VAC E-sto p
string by turning off the Servo ON relay (RL-1) as follows :
05-38 With the teach pendant enable 'ON/OFF' switch off, electrical flo w
05-06 through the contacts of the following relays on the EMG control PC B
energize the Servo ON relay (RL-1) as follows :
• 24E through the first N .O. contacts of RL-14 (05-09), the N .O .

contacts of RL-7 (05-09), the second N .O. contacts of RL-14 (05-04) ,
the N .O. contacts of RL-12 (05-07), and the N .O. contacts of RL- 9
(05-07) to energize RL-1 .
This circuit implies the following : teach pendant is off and the safety
fence is closed . Also, that there is no error in the hand broken or robo t
overtravel circuits .
With the teach pendant enable 'ON/OFF' switch on, electrical flo w
through the contacts of the following relays to the Servo ON relay, (RL-1 )
is as follows :
• 24E through the N .O . contacts of RL-11 (05-04), the N .C . contacts o f

RL-7 (05-07), the N.O. contacts of RL-12 (05-07), and the N .O.
contacts of RL-9 (05-07) to energize RL-1 .
This circuit implies the following : teach pendant has been turned o n
and that one or both of the deadman switches are being held allowin g
the operator to open the safety fence. Also, that there is no error in the
hand broken or robot overtravel circuits .
Should the teach pendant become disconnected at any time, relay RL-1 0
(TPDISC) is turned off, which turns off the 24VDC (24E), the same as i f
the teach pendant E-stop were pressed .
MARMMOSHw02301 E
11-6

05-28 For testing and possible application-specific use, there is a set of dr y
05-44, 45 contacts from the teach pendant E-stop pushbutton connected to th e
EMGB 1 and EMGB2 outputs on the EMG control PCB at terminal s
CRR4-18 and 20.
EXTERNAL E-STOP CIRCUIT DESCRIPTIO N
The external E-stop circuit is the same serial loop of normally-closed
circuits which turns on and maintains relays RL-5 and RL-2 on the EMG
control PCB as with the operators panel E-stop .
To use the external E-stop circuit, remove the normally jumpere d
terminals 6 (EMGIN1) and 8 (EMGINC) of connector CRR3 on the fron t
of the EMG control PCB and connect them to a normally closed circuit .
03-08 A second normally closed circuit can be connected between the normally
jumpered terminals 8 (EMGINC) and 10 (EMGIN2) of connector CRR3 .
This circuit will cause only a robot E-stop to be routed in to the controller ;
it does not energize the EMGOUT relay at terminals 2, 4, and 6 of
connector CRR4 . This allows you to E-stop the robot without affectin g
other equipment in the workcell .
EMERGENCY OUT
06-45 Connector CRR4 at terminals 2 (EMGOUT2) and 4 (EMGOUTC) are dr y
06-49 contacts that are closed during an E-stop . Terminals 4 (EMGOUTC) an d
6 (EMGOUT1) are open during an E-stop.
03-09 The emergency out circuit differs from the controller E-stop circuit in tha t
relay RL-6 (EMGOUT) is routed around the second external E-sto p
terminal connection, EMGIN2 and the relay RL-1 (Servo on) on the EM G
control PCB .
With only the contacts of RL-13 to take their place in series with the coi l
of RL-6, the Hand OK (RL-12) and Robot Overtravel (RL-9) relays ar e
bypassed.
As a result, robot overtravels, hand breaks, and any circuit connected t o
EMGIN2 are not seen as external emergency stops .
FENCE
06-25 The fence circuit (optional) connects to the EMG control PCB at connector
06-27 CRR4 terminals 5 and 7 . This is usually connected to one or more hel d
closed N .O . limit switches that guard entrance to the robot's workin g
envelope . Breaking this circuit causes an SRVO-004 error, placing th e
robot in E-stop and sending an emergency out on the contacts of RL-6 .
Resetting this error is accomplished by closing the open gate or switch an d
pressing the fault reset push button at either the teach pendant or th e
operator panel . The user may bypass the fence circuit by holding either of
the deadman switches in and enabling (turning on) the teach pendant .
See also Chapter 11 : "Teach Pendant E-Stop Circuitry" and "Deadma n
Switch ."
11-7
DEADMAN SWITC H
The deadman switch works with the teach pendant enable switch an d
allows the operator to bypass the fence safety circuit and enter the robot' s
work envelope while the robot is operational . By holding one of the two
deadman switches (wired in parallel) and enabling the teach pendant
("ON" position), the fence safety circuit is bypassed.
A WARNIN G
When the DEADMAN switch is held in, the robot
servomotors are energized and robot motion is possible .
To avoid injury from a moving robot, extreme care should
be taken .
If the operator releases the deadman switch, an SRVO-003 error wil l

occur, placing the robot in E-stop and sending an emergency out on th e
contacts of RL-6 .
Resetting this error is accomplished by holding one of the deadma n
switches and pressing the reset pushbutton on the teach pendant .
To bypass the deadman switch, the operator should leave the work
envelope, close all gates on the fence circuit and disable the teach pendant .
The deadman switch may now be released .
See also Chapter 11 : "Teach Pendant E-Stop Circuitry" and "Fence."
11 . EMERGENCY STOP CIRCUITR Y
MARMMOSHWO2301 E
11-8
COMPONENT/ASSY SCHEMATI C LOCATIO N

LOCATION LOCATION FIG . NO.
CONNECTOR CRR3 EMG CONTROL PCB 03-05,04-32 11- 1
CONNECTOR CRR4 EMG CONTROL PCB 05-44,06-25 11- 1
CONNECTOR T1 SERVO AMPLIFIER SH8 & 9 11-3
DEADMAN SWITCH TEACH PENDANT 05-32, 13-25 11-2
MCC RELAY CONTACTOR SERVO AMPLIFIER 08-14.09-11 11-3
O .P. E-STOP PUSHBUTTON OPERATOR PANEL 03-19 11-1
RELAY RL1 EMG CONTROL PCB 05-06 11-1
RELAY RL6 EMG CONTROL PCB 03-09 11- 1
RELAY RL7 EMG CONTROL PCB 05-37 11- 1
SON LED EMG CONTROL PCB 03-12 11- 1
E-STOP PUSHBUTTON TEACH PENDANT 05-27,13-33 11-2
'100VA C
FROM ALC RELAY
03-01 (01-33)
03-02
K021
03-03
03-0 4 CRR-3 CRR-3

3
-A--
03-05 10011 1001N2
K03 6 (EMT . P.C .B,)
CRR-3 OP1
03-06
OP E-STOP CRR
4
3 OP2
03-07
CRR-3 1
EMGINI
03-08 4N1 /
RL
03-09 EXT. E-STOP
SEE SECTION
F CRR-3
8 40
EMGiNC
((
r'Z 8 13
(05'10)
EMGOUT RELA Y
(06-46,06-50.)
'USER I/O
03-10 INTERFACE• - CRR - K Rl
(110)--. EMGIN2 8 3 'F.)4._ EMG RELAY

(05-0~7) (06-1L06-29)
03-11 K031 CRR- 3
03-12 R 1000UTI SERVO O N

METE CRR-3
2
LE D
03-13 CRR13
K021
03-14 (08-17 ) 100OUT2
09- 7 CRRj
S AMPS {
03-15 MIM CRR 3
IG] 100IN4
AUX.
03-1 6 INPUT CRR53
1 IOOIN3 4 4 4 3
(06-29) (05-15) 100 VDC TO
03-1 7 CRR-3 1000UT3 BRAKE CIRCUIT
AUX.
OUTPUT
03-18 R-3 F US E
100OUT 4
BLOWN FUSE
5A MONITOR
10VD C 10 VDC T O
LOW VOLTAGE
MONITO R
(03-27)
SENSITIVIT Y
8> RIO 8 MOMENTARY SURGE

SE T DETECTIO N
• (03-28 )
,r
ol 2 -1
. J
NORMA L IA
i F--I ALLOW BRAKE
(03-23)(03-33) RELEASE
8 (03-33 )
0 -I I 10 HOLD AT SURG E
(03-25 ) DETECTIO N
10 (03-29,03-31 )
-1)--
(03-28) 24 E
II FUSE/SURGE ALAR M
(03-28 ) (03-23)
03-32 rEBE/SURGE ALAR M

BACKPLAN E
03-3 3 le INTERNAL CIO RJ )

E-STOP DETECTE D
AXIS (03- (03-27)
03-34 CONT . P.C.B . 24
FUSE ALARM AA2 1A0
03-35 RV 15 )> 6 (
SRVO-008
03-3 6 100VDC T O
1 BRAKE 0 V BIAS RETURN 10VDC TO AXIS SWITCHING BRAKE SOLENOID S
(04-03 ) (04-03) (04-03 )
03-3 7
03-38
03-39
03-4 0
TO SHEET 4
03-41
,.r EMG STOP & BRAKE CONT .

FANUO
xo I0A1C R telk.
100VAC E-STOP CIRCUIT
100VDC BRAKE CIRCUIT (1 OF 2 )
ZOO p
tl~h A,*Ica, hm.
no& I N/A
Mum Mt. 45xm-ZOO am w Tort ams
awM on
Pl COOMBS 5/22/93
11-10
NOTES
05-01 EMG 24E ov
(CONT .-
RC
05-02
05-03 ROBO T K070
ARM RL RL
05-04
05-05 (06-27 -
05-06 10 7L
12 L GI 4
05-07 it • 91-4 SERVO O N
(05-37) (OS-21)LOS-23 ) (03-10)
05-08 7L R 8L
6
05-0 9
05-1 0
h2
8
P1
9
14 cos-37) C05-45)
•-1 I
NO E-STOP
PRESENT AT T.P .
8 0\
N
N
(06-27) 03-09,03-33.06-16 )
05-1 1 o
05-1 2 ar
05-1 3 BRAKE ENABLE
05-1 4 03-15 )
'OPERATOR'S PANEL 14
05-1 5 CONNECT/DISCONNECT L BRAKE ENABL E
OPTIONAL) 4
03-16 )
05-1 6 K19
JiLS momir
05-1 7 RL
.nOT 9
05-1 8 J1LS AXIS 81 i le i OVERTRAVEL RELEASE D
C05-23) 03-09)
05-1 9
05-20
05-21 K115 J K043 .a
fe
r
'' HAND OK
(05-07)
05-22
05-23 MAIN NO ROBOT OVERTRAVE L
(CPU) 24T 24T
K040 05-07,05-18 )
05-24
TEACH PENDAN T H1
05-25 24T JRSI
05-26 T RV
E-STOP P.B. SRYB-021 61 24T 51
05-2 7 RL
B.)-1 15
V $63 24T 53~
05-2 8 RLY PDOI4 op - RV TEACH PENDAN T
SRYB-011 (05~3> OWER SOURCE
05-2 9 *E-STOP RL
10
SRVO-002 EMGTP 22
05-3 0 {
(lE-
(0-40
5 )
05-3 1
DEAD-NAN *1 a 0-H • EMGB1 18
05-3 2
EMGB2
05-3 3
05-3 4
05-35 DEAD-MAN *2 _0 H EMGDM 7 T.P . DEAD-MAN HEL D
(05-05)
05-3 6
1FF ON EMGEN 19 T .P . OFF
05-3 7
TPDISC 214 05-07,05-09 )
05-3 8
05-39
05-40 0
T .P . CONNECTED
TPRE L (05-30,05-46)
)>e
05-41 12 .
SERIAL DATA TXTP $401
05-4 2 SERIAL DATA
OUTPUT LINE S :TXTP110f REQUES T
05-4 3 4,~
T' LINES T .P. DISC. ENABL E
CRR- 4 05-28,05-46)
RXTP .nA02 EMGB1 18~
05-4 4 SERIAL DATA E-STOP
REQUEST *RXT(' SERIAL DATA PUSH BUTTON)
05-4 5 LAVES TBOP OUTPUT LINES ON TEACH CRR- 4
T.P. RELEAS E
PENDANT EMGB2 _ 113 05-09)
05-4 6
TPDSC 11105
05-4 7
05-4 8 OV 1B06
DV )1)B07
05-4 9
05-50
24E OV
05-51 (06-05) <06-05)
05-5 2
05-53
wcc NO.
MARMMOSHW02301E
11-12
NOTES
N
z'-'rn
n, a
q te
Wc„g
y EY.
QEI
06-01 0a q
06-02 (CONT. P.C.B.) Q ° 0 -1
06-0 3 I- N CY
06-04 24E 0v yW J
L3
06-05 (05-50) (05-50) 0
0
06-06
06-0 7
06-08 BACKPLANE
06-09
06-10
06-11
06-12
06-13
06-14
06-15
MODULAR I/O
06-16
r-- - I BACKPLANE
06-17
06-18
06-19 )) CNN
H3
cNM(x)
06-20
06-21 INPUT/OUTPUT
MODULE
CNN
>ALB1 1
CNM(X)
ALB11 ))
06-22
06-23 )) CNM
A3,B4,ALB1 2
cNrwo
A3,B4,Ag32
06-24 CNN CNM(X )

06-25 A2» ERR -4 FENCE 1
FACTORY
06-2 6 JUMPERED 9RR-4 FENCE2
06-27
06-2 8
J
FR-4 RL
44
SAFETY FENCE
.
05-05,05-10,O 6-19)
MODULAR INTERFACE UNI T OVDC 5
06-29
06-30
CNMp U
B3 ~) AIFO1A/B K016
OVDC R
c CO-1 )
EMERGENCY2
(03-16)
06-31 CNMOO
ALB1 a SVBC 130_
06-32 X=1 THROUGH 5
A20C-9001-0020/0 1 CRR-4
06-33
06-34 X=1 THROUGH 10
A20C-9001-0040/0 1
CNMCO
A3,ALB12) ) 15VDC
-15VDC RR- 4
06-35 cNMao (El
06-36 24V
06-37
06-38 24V 31L33
. 80 l
06-39 -15VDC 35036
06-4 0 FROM 15VDC 3914 0
PSU P.CB
06-4 1 5VDC 94,96,98.100)
06-4 2 OVDC SEE BELOW
06-4 3 0 VOLT IN ON PINS .
81.8385,87,89,91 .93.
06-4 4 95,97,99
06-4 5 RL
EMGOUT1 P -4 4 6H 3
06-4 6 `(0-09)
06-4 7 FOR CUSTOMER
CONNECTION T O EMGOUT C
06-4 8 EMGOUT RELAY
06-4 9 (RL-6) RL
R- 4
EMGOUT2~~]] 2 66 3
06-5 0 ((03-09 )
06-5 1 NOTE, RL1 - 6 ARE SOCKETED
06-5 2
06-53 PACE NO.,
11-1 3
NOTES
CO
A m mm m CO
A a co m m CO 03 CO CO 03 m CO' m m m m C
O CO 03 m CO CO CO 2 aa a aa 2
1
1 mi
I 1 1 I M 1
W f( W W w ° mWW 41 N N N nN1 N 2 2p 22 2 o
o ,O 81 V m I 11 A ((4 N - o 03 V N UI tJ 2 N
N V O' N .W N
a
M
a
Am AV
L
' ry d m p
HH
-mir . HO
VRDC
'
VSDC
VTDC
n IG
S
n
1
N
C3
N ►1
u z
t
r
1 a
CO
lff !I! !
v v v v v
vsvvv\i
8 R .an n v
ssdd a RGSd pad RVd ud_td
zd
SINGLE AXIS
SERVO AMPLIFIE R
FANUC Robotics
MC Robotics North knew, hat

2000 South,Nns Rood PIIDJ ND dam N/A
Auburn Hils, %S 4e3262800 . 1A 10*1314
Rn
P . CGCMBS 5/24/93
11-16
NOTES
0 0 0
0 0 0 w °D 0 0 0 0 %CI 00 10 10
0 .°n •°0 1°
o %el 1
0 °01.O 0 . 1
i i .o 1 1 1 1 i 1 1 i 1 1
N 11y
1 r r 0 V0N '0p0 p wpp
0 D oW p m ll
r( . (4 N `~ wo O f9 V N In A W
N N N N N N N N ~O N O m O N .P f~J N "' O 0 A W N P.
DUAL AXI S
FANUC Robotics SERVO AMPLIFIE R
fmo RoboGa North/ erle% he.
(WITHDYNAMIC BRAKES)
2000 South Ad PM IA slurN/A
W on 48326280 0 9Qt I talk WS DA/$k3 M0.
Ma4i Bn
P . COOMBS 5/24/93
MARMMOSHWO230I E
11-1 8
NOTES
y
W
Ce
1
r
CAL i
to of 2 AXI S CNIL K
67 P1CM N 61LM 1U >9 a • pyi{.K <E Z
SERVO AMPLIFIER . .
to oz 68 ► .11 PVM-BL (ALM-2L) 5 ( 5 PM9C-B L JQ Z
69 PVM-CL fALM-4I) 7 7 PYN-0.
70 PVM-DL CALM-BL) • MO Q
10-03 Ilz 13 13a • PYN-DL
71 FY14-EL >)15 is PVM-EL
10-04 LSI-H 72 P1414-fl. 17
(SEE SHEET 1112 ) 17(4 pyM-F{, • IA =
0
38 R ~
• *DRDYL >)20 DIGITAL -
I
59 13 OUTPUT f-
10-05 4 ~MCOlB. tOC
>)10 MIME g
.M-614 4p
10-06 73 PVM-AM CALM-110 C3 NIM PVM-N4 .
74 s < •
► r PVMBN (ALM 2M)
75 5C
10-07 I/ -40 PVM CN CALM-414) 7 7 ~0 C)
76 PVN-ON CALM-13$O N
► - 13 13(4 PVM-114
10-0 8 77 8
-4 lS PVM-EM
PVN 1M ~,17 N
17 PVM-FM
10-0 9 nDROYM ~20 20 N
nMCOHAI >
)10
15 i
PVMOUT AGL-FG L 10
r-
10-1 0 PVMOU
RLY1 T 4BOFLOCK
C
44 n
10-1 1 a1CC 1 .10-0512311,10-23, ALM-1 L
(10-02) 10-2510-36) ALM-21
10-1 2 coral Ns-aaa ALM M
CA) Dv JV1-61-
ALM-41,
ALM-BL DIGITAL
8. 1
(SEE SHEET *14 ) SERV O
SK2 1St.
10-1 3 IRL
RLY2 Mid1 *now MODULE
10-1 4 01CC2.10-0,10-23,10.2510-36) PSLV2 A TP-0#. Tr-All 4ltTIYM ft..
31 I
-
(10-04) 0 PN-2M Cl:
10-15 ALM-4M
0 JV1-6M ALM-81 ►
10-16 CEM ISM
>01 A1.-
s Tt
10-17 0
03-14 n
10-18 -60-
w K070
10-19
11-09
- 0~
7
BATTERY =P1
B
10-20 0 1(109
10'21 0 u
IS 1 K115--
1(020 NfB C15A/250V)
10-22
2 ACI : _ •
10-23 141 1 24 , 1411P4
3n (10-1D Ca-14> AC2

10-24 01-36 (t 12
0
4 n ^ gccl a0 U> KCC2
,151 120, aC 3
10-25 0 ~
"(10 1) u u u (10-14) = T _
I0-26 viz_
t 23 ARRar > > i ~h-
CGME L
10-27
u 1(109
10-28 DV-M1
PSH
10-29
ALM-M (B)
PSI- (SEE SHEET 014)
PSt.VI 1 <EE SHEET *13)
BATTER Y
VCE CGLI 0(i.
10-30
AXIS L
10-31
R4L 45
10-32
ta n` in T
+24V
•to
m
--s+nn~---em
s
2011
21n
17,18 A(4 UL
SAME AS T144 ABOVE Vt. R5L .13
10-33 ~14n o 3
Ps M
MOWER
8 T -15V
24,255(<
8C( M
SUPPLY)
TT R3L
-NVh-$-
- MI
31,32(4_
J3
C4<
10-34 ì. 12
rr t T TI \
23
3839(4
81 J5
0(
4 6
1 n 1' 0
10-35 0 r
13
•R
'717 jy MI6
10-36 4 s / 1008R
ov 1 C11-01)
10-37 1- Ti n n T1 Tl
/47 ay 16 15 19 18 17
10-38 z
~- u rV uwu
i i"
z
u
10-39 180•C
/77HEAT SINK /77 CRRO
a1-38) TBDCR
10-40 - RMOC (11-20) PA T N a
11-1 9
MARMMOSHW02301 E
11-20
NOTES
11-01 TBDBR
11-0 2
11-03 DCR&DBR UNIT
11-0 4
11-05
11-06
11-07 cure
11-08 CRR10
11-09 T1-8 INTL (10-20) AMP#3 0'-
11-10 T1-8 INTL (10-20) AMP#2 09
11-11
T1-8 INTL (10-20) AMP#1 ~
11-12 T1-7 1000 (10-19) AMP#3 1 0'
11-13 T1-7 1000 (10-19) AMP#2la~ l
11-14 T1-7 1000 (10-19) AMP#1
11-15 sic
11-16 L
----
j~-
11-17
11-18 EMG 100OUT1 003-14 )
11-1 9 TBDCR All lA2

11-20 T1-17 RC (10-38) AMP#3I I
11-21
11-22
11-2 3
11-2 4
11-25
T1-19 RE (10-38) AMP#3I es' I
11-26 T1-17 RC (10-38) AMP#2I e' I
11-27
11-28
11-29
1 05 1
11-30 T1-19 RE (10-38) 4' 1
AMP#2I
11-31
11-3 2 T1-17 RC (10-38) AMP#ll
11-3 3
11-34
11-35
H
11-36 T1--19 RE (10-38) AMP#1I s3'
11-3 7
11-3 8 TF1-51 (01-33)I elO I
es CRR11 -
11-39
11-40 TF1-52 (01-34)I "-e
l-1
NOTES
15-01 N. $1
G
A
15-02 a
15-03 KEYBOARD IN
MICROPROCESSO R
15-04 8W t ar
Y YI
yy~~
Y
W yW
~
Y (V255-5 )
Y Y
RAM PRO M
toJ-0.oJ_ I J_0-4-0J_0.0J_0+0 J_ _Llama
15-05 I 32KA8
.-0
0.0 0 RXTP
b
15-06 _L J_ J_0+0J_ --L_ J_ -_L_ ARXTP
DISPLAY LOGIC
•0 0.4 0-r0 0+-0 0.0 0+0 0,, TXTP

15-07 1J_ J_
M
J_ . J_ __L nTXTP LC D o~
-0 0-► 0 oso O.-o oro L0-ro 030 0
P .C .B .
15-08 J_ J. 1J_ J_ _L _J__ --1_pr 0
N
N
0-0 oi0 03-0 OA-0 0-4-0 04-0 Oro 0 Ns. N.
15-09 _L _L I . I J_ J_ -
«o o*-o 0+0 0+a o+o 0+0 0.0 0+0 0 J_ J_ µ BOD YIN-
e
M
15-10 BCD-TO-DECIMAL DECODE R
wJ_ ___. J_0.0_1_0+0J_ _-- J_0 90VAC
oro 0+0 0-1+.O 0+0 0-~
15-11 .J_ L DECIMAL OUT ELCTRO -
LONOESENT
•-0 0►0_ 04. 0 Oi0 04-0 09~0 0+0 0 1 BACK-
15-t2 LIGHTING
15-13 TP-P5V PERIPHERAL

KEYBOARD DRIVERS
15-14 24T
0
15-15 .-,
♦--
15-16 LCOON
15-17
15-18
VR2
15-19 KEYOO 3X'E
(15-
1X34) PERIPHERAL
15-20 OFT
DRIVERS
15-21 KEY01
15-22
15-23 FpR~OM
15-24
15-25 KEY02
15-26 (54( RL7 RL7

14 _ 4 11 6
15-27
♦ L1 I 4 (05-37) (05.37)
15-28 RLIS RL14
15-29 REVD HELD

51« 241
II e • 1ID
(06-27) (05-45)
15-30 KEY03
ENDI1
Y CNDMI
2
4
mo«
15-31 AXI S
a DEADMAN SV 2 (CONT . P .C .B .)
1g
S
15-3 2
CNEMG11 0 . \ 12CNEMG1 IIt<< IRUD
15-33 • 3 4
• <E-- 1 (0
15-34 EMG
5
E-STOP 20
tti<_
05-19)
15-35
15-36
15-37
TEACH PENDAN T
15-38 EMERGENCY STOP
15-39
15-40 TEACH PENDANT PAGE P .
11-23
11-24
NOTES
MARMMOSHW02301E
Figure 11-1 and Figure 11-2 show the location of the component s
involved in the emergency stop circuitry .
Figure 11-1 . Location of Components for Operator Panel Emergency Sto p

Circuitry
1 IOOIN 1
2 OP 1
3 100IN 2
4 OP2
5 100IN 3
6 EMGIN 1
7 100IN 4
8 EMGINC
9
10 EMGIN2
11 1000UT1
121000UT1
131000UT2
141000UT2
15 BKP4
16 BKM4
17 BKP 5
18 BKM 5
19 BKP 6
20 BKM 6
3 100OUT4
4 EMGOUTC
S FENCE 1
6 EMGOUT 1
7 FENCE2
8 EX-O N
9 OV
10 EX-COM
11 OV
12 EX-OFF
13 5v
14 DIL 1
15 1SV
16 DIL2
17 -15V
18 EMGB 1
19 +24V
20 EMGB 2
. . . . .. . . . . . . . . . . .. . . . . . . . . . . . .. . . . . . . . .
TE'AEN FPNO'ANT" ::>; . BAT7€A Y
ENA@IE ~F~)A~tlCT Ai;A9IA
{(~
11 . EMERGENCY STOP CIRCUITR Y
MARMMOSHW02301 E
11-26
Figure 11-2 . Location of Components for Teach Pendant Emergency Sto p

Circuitry
Figure 11-3 . Component Location 1 Axis

2 HAND BROKEN CIRCUITR Y
MARMMOSHW02301E
The hand broken alarm monitors the operating condition of the safet y
switch on the end effector. This normally closed switch opens when th e
end effector detects a crash, causing a robot E.-stop, halting the robot and
the software program .
It is supplied by 24VDC (24E) from the axis control module (CRM1, pin s
31, 49, 50) to the end effector plug (pins 17-20) . The 24VDC is then
picked up on one of these pins, sent through a normally closed switch (or
switches) back to the end effector (pin 7) closing the loop which ends bac k
at the axis control module (CRM1, pin 20) . It is sensed by a receiver o n
the axis control module which then informs the Main CPU, causing a n
E-stop internal to the robot.
NOTE This will not cause an emergency out signal (EMGOUT) fro m
RL-6 on the EMG control PCB . It will only stop the robot .
12. HAND BROKEN CIRCUITRY
MARMMOSHW02301 E
12-2
NORMAL OPERATIO N
During normal operation, 24VDC(24E) is supplied by the AXIS module .
02-3 1 The 24E exits the AXIS module through connector CRM1, connector P1 ,
located at the robot base, and through connector D11 located inside th e
robot base, to EE connector. Connect the breakaway detection switch t o
the EE connector between pin 7(*HBK) and pins 17-20 (24E).
From pin 7, the 24V *HBK signal is sent through connectors D11, P1, an d
back into the axis module connector CRM1 .
05-06 Inside the axis module, *HBK becomes gated I/O input and modified to
become *HBKD . It is then split and sent to the main CPU module alon g
the backplane 's digital communication lines D00-D15 and to the EM G
control PCB along a separate line in the backplane.
At the EMG control PCB the signal completes a circuit by turning o n
RL-12 (*HBKD) indicating 'NO HAND BREAK DETECTED' .
Inside the AXIS module, jumper HBK is set to either enable or disable th e
signal, depending on customer necessity .
Alarm Operatio n In the event that the end effector switch opens, *HBK to the axis modul e
goes low. the system software senses the alarm and writes the erro r
05-04 message to teach pendant and CRT/KB display and stores it as the las t
error message. If a program had been running, it would have been paused .
At the same time, RL-12 is turned off, turning off RL-1, which turns off
RL-5 .
03-10 When RL-5 turns off, it opens the emergency stop circuit (100VAC) ,
disabling the MCC contactors in the servo amplifiers and engaging th e
brakes, disabling the robot .
Alarm Recovery Pressing fault reset at the operator panel or teach pendant will allow th e
operator to jog the robot off of any crash .
12 . HAND BROKEN CIRCUITRY
MARMMOSHW02301E 12-3 '
COMPONENT/ASSY SCHEMATI C LOCATION

LOCATION
LOCATION FIG . NO.
CRM1 AXIS MODULE 05-04 12- 1
D11 INSIDE BASE OF ROBOT 05-04 12-2
EE CONNECTOR ROBOT ARM 05-02 12-1
FAULT RESET PUSHBUTTON TEACH PENDANT - 12-1
HBK JUMPER AXIS MODULE 05-05 12-1
P1 BASE OF ROBOT 05-04 12-1
RL-12 EMG CONTROL PCB 05-21 12-1
12. HAND BROKEN CIRCUITRY
MARMMOSHW02301 E
12-4
NOTES
05-01
05-02 --- v vwoov
05-03 ROBOT Wm
Wrs K070
ti " Dl l Pt
05-04 ARM 17 2638.50 RL RL
05-0 5
UrHBI( D11 -35} 06-2
7
05-06 7 n RL
L7
1R2 9L WN
05-0 7 SERVO ON
K11 3 • •5I 015-23)
(05-37)m21)
05-08 1111 (03-10 )
05-09 M
23« 14
RL -IRL 16
I37)C05- F45
R
(~-1 NO E-STOP
m
05-10 Pl PRESENT AT T.P. CU
(06-27) Cu
05-11 ))64 03-09,03-33.06-16 )
cT
05-12
05-13 BRAKE ENABLE
05-14 03-15 )
05-15 BRAKE ENABL E
K169 y
05-1 6 03-16 ) PQ
05-17 Ait
JIO T 0
05-1 8 AXIS # 1 OVERTRAVEL RELEASE D U
J1Ls
05-1 9
05-20
-B -« 03-09)
Ii. EL
05-2 1 Ki15 J HAND OK

05-2 2 (05-07 )
05-2 3 NO ROBOT OVERTRAVE L
K040
05-2 4 05-07,05-18)
TEACH PENDAN T
05-25 24T
05-26
ESTOP P.B . EMGT P
05-2 7
EMGB1
05-28 RLY TEACH PENDANT
05-29 EMGB2 D OWER SOURC E
*E°STOP-1+7
05-30 SRVU-002
05-3 1
05-3 2 DEAD-MAN *1 EMGDM
05-3 3
05-3 4
05-35 DEAD-MAN f2 0 T.P. DEAD-MAN HELD
05-3 6 (05-05 )
05-37 OFF ON
T.P. OFT
05-38 TP. ENABLE EMGEN 05-07.05-09)
05-39
05-4 0 TP . CONNECTE D
05-4 1 (05-30,05-46)
05-4 2 SERIAL DATA TXTP
OUTPUT LINES n TXTP
05-4 3 T.P . DISC. ENABL E
05-4 4 RXTP 05-28,05-46)
SERIAL DATA
REQUEST *RXTP TROP
05-45 LINES T.R RELEASE
05-46 05-09 )
05-47 TPDS C >B05
I
05-4 8 0v
6
)
05-4 9 0V > B07
05-5 0
05-5 1 24 E 0V
(06-05) <06-05 )
05-5 2
05-53
PIGS NO.
12-05
12 . HAND BROKEN CIRCUITRY
NOTES
MARMMOSHW02301E
Figure 12-1 shows the location of the components involved in the han d
broken circuitry.
Figure 12-1 . Location of Components for Hand Broken Circuitry

12. HAND BROKEN CIRCUITR Y
MARMMOSHW02301 E
12- 8
Figure 12-2 shows connector D11 inside the robot base .
Figure 12-2. Connector D11

OVERTRAVEL CIRCUITRY
1E13
MARMMOSHW0230
13-1
This chapter describes the robot overtravel circuitry . This circuit monito r
limits switches which detect whether an axis has exceeded its physical
limits in either the positive or negative direction to prevent damage to th e
mechanical unit .
The motion ranges of axes 1-3 are restricted by software and mechanica l
hard stops . Overtravel (01) switches on these axes are used to prevent th e
axis from exceeding its motion limit and hitting the hard stops . When an
overtravel switch has been tripped, that axis limit switch opens, sending a n
LO (OVDC) to a receiver on the axis control module, relaying to the Mai n
CPU an overtravel condition exists (SRVO-005) . It also turns off RL-9
(no robot overtravel) on the EMG control module. An normally ope n
contact of RL-9 opens, turning off RL-1 (servo on) . An normally ope n
contact of RL-1 opens, turning off RL-5 (EMG relay) and the 100VAC t o
the servo amplifiers and the brake circuit, shutting them off
simultaneously.
NOTE This will not cause an emergency out signal (EMGOUT) fro m
RL-6 on the EMG module . It will only stop the robot.
13. OVERTRAVEL CIRCUITRY
MARMMOSHWO2301 E
13-2

NORMAL OPERATION
05-09 through 05-22 During normal operation, 24E(VDC) is supplied by the AXIS module .
The 24E exits the AXIS module through connector CRM1 pin 49 t o
connector. P1 pin 26, located at the robot base, through the wiring harnes s
K115 located inside the robot to plug/connector D11 . At D11 it is tappe d
off of pin 17 and another wire in harness K115 transfers the 24E t o
plug/connector J2J3LS, pin 4 . At J2J3LS it connects to wiring harness
Kill and on through to the first normally closed OT switch monitorin g
the combined movements of axes 2 and 3 .
The circuit then continues to the OT switch monitoring axis 2, the OT
switch monitoring axis 3, and finally the OT switch monitoring axi s
switch 1.
Coming out at P1, the circuit enters the AXIS module, where the 24VDC
signal implies 'NO ROBOT OVERTRAVEL' at a receiver that is normall y
held low. It continues through the backplane to energize RL9 (N O
ROBOT OVERTRAVEL) .
Any break in this circuit will cause a signal to be sent by the AXIS module
to the MAIN (CPU) implying a robot overtravel condition and turning of f
RL9 which, in turn, turns off the 100VAC E-STOP circuit on the EM G
module to the robot controller. For more information see EMERGENC Y
STOP CIRCUITY.
NOTE When troubleshooting an error, a good point of reference will b e

plug/connector D11 . The three internal overtravel switches J2OT, J3OT ,
and J2J3OT are connected here . The last overtravel switch J1OT can b e
checked and plug/connector J1LS .
OVERTRAVEL RECOVERY SEQUENC E

An overtravel error occurs when one or more of the robot axes move s
beyond the software motion limits and trips an overtravel limit switch .
Remedy:
1. If you have not already done so, continuously press and hold the
DEADMAN switch and turn the teach pendant ON/OFF switch to ON .
2 Hold down the SHIFT key and press RESET .
3. Press COORD until you select the JOINT coordinate system .
4. Jog the axis in overtravel off of the overtravel switch .

If you cannot jog the robot off of the overtravel switch the wron g
motion inhibit flag has been set ; therefore, continue to the next step .
Otherwise, the axis (or axes) are no longer in overtravel and you ca n
end the procedure now.
13. OVERTRAVEL CIRCUITRY
13-3
NOTE In some instances, the screen will indicate a FALSE for a give n
axis when a TRUE should be set, because of the way overtravel is read in
software . It is best to perform the following procedure on all of the axes .
5. Press MENUS .
6. Select MANUAL FCTNS .
7. Press Fl, [TYPE] .
8. Select OT Release . See the following screen for an example .
9. Move the cursor to the OT PLUS or OT MINUS value of the axis i n

overtravel . The status of OT PLUS or OT MINUS for that axis i s
TRUE.
10. Press and hold SHIFT and press F2, RELEASE .
11. Press and hold SHIFT and press RESET.
12. Press COORD until you select the JOINT coordinate system .
13. Jog the axis off of the overtravel switch .
14. Turn the teach pendant ON/OFF switch OFF and release th e
DEADMAN switch.
13 . OVERTRAVEL CIRCUITRY
MARMMOSHW02301 E
13-4

COMPONENT/ASSY LOCATION SCHEMATI C LOCATION
LOCATION FIG. NO.
CONNECTOR CRM1 AXIS MODULE 05-04 13- 1
CONNECTOR D11 INSIDE ROBOT BASE 05-04 13-3 .
CONNECTOR J1LS ROBOT BASE 05-17 13-1
CONNECTOR J2J3LS ROBOT ARM 05-11 13-1
CONNECTOR J2J3OT ROBOT ARM 05-18 13-1
CONNECTOR P1 ROBOT BASE 05-04 13-1
COORD/JOINT PUSHBUTTON TEACH PENDANT 13-2
DEADMAN SWITCHES TEACH PENDANT 05-32,13-25 13-2
ENABLE ON/OFF SW. TEACH PENDANT 05-38,13-21 13-2
LIMIT SWITCH J1OT ROBOT ARM 05-18 13- 1
LIMIT SWITCH J2J3OT ROBOT ARM 05-21 13- 1
MENUS PUSHBUTTON TEACH PENDANT - 13-2
RELAY RL-1 EMG CONTROL PCB 05-06 13- 1
RELAY RL-9 EMG CONTRO PCB 05-22 13- 1
SHIFT/RESET PUSHBUTTON TEACH PENDANT - 13-2
X,Y,Z + PUSHBUTTONS TEACH PENDANT - 13-2
100VA C
FROM ALC RELA Y
03-01 <01-33 )
03-02
K021
03-03
03-0 4 ARR- 3 CRR- 3
03-05 E IOOINI 100IN 2

K036 (CANT . P.C,B.)
CRR-3 OP1
03-06
OP E-STOP CRR
43 OP 2
03-07
CRR6 3~ l EMGIN 1
03-08
CRR-3 RL
03-09 EXT. E-STOP
SEE SECTION
F EMGINC 13
C05 -10 )
EMGOUT RELAY
C06-46,06-50 )
'USER I/O
03-10 RL
INTERFACE'
(110) L \RR103 EMGIN2
3<E-111>4 EMG RELA Y
(05-07) (06-11,06-29 )
CRR-3
SS SON
03-1 2 CRR3 1000011 •-- SERVO O N
LE D
N
03-1 3 CRR3
03-1 4 (08-17) 100OUT2

(09-17) E T O CRR143
v a 4Z
PS
03-1 5 Rh
<$gg9-i8) AM CRR3
03-1 6
AUX,
100IN 4 (05-13
32
INPUT 1 CRR-3 100IN3
4*E-IF*3 r
(06-29 ) 100 VDC T O
03-1 7 CRR 3
AUX. I000UT 3 BRAKE CIRCUI T
OUTPUT
03-1 8 RR-3 F US E
100OUT4
OPERATOR'S
03-1 9 PANEL BLOWN FUS E
O,P. 5A MONITO R
E-STOP
03-2 0
03-21 10VDC 10 VDC T O

03-22
N
03-23 OPERATOR g .zin v LOW VOLTAG E
INTERFACE MONITOR
PC B (03-27)
03-2 4 SENSITIVITY
03-25 85 RI O MOMENTARY SURG E

SE T DETECTION
(03-28 )
03-26 ' 1 2 -1
.
NORMAL 0
K35 ALLOW BRAKE
03-2 7 I1-1 I
(03-23) C03-33 ) RELEAS E
8 (03-33 )
03-2 8 10 HOLD AT SURG E
(03-25 ) DETECTION
10 <03-29,03-31 )
03-29 ---11 -
(03-28) 24 E
03-30
10
03-31 FUSE/SURGE ALAR M
(03-28) (03-23)
03-3 2 E/SURGE ALARM

BACKPLANE FF L~
RJR
03-33 INTERNAL (TO RJ)
(050) E-STOP DETECTE D
AXI S I (03- (03-27 )
CONT . P.C .B. 24e
03-34
FUSE ALARM A2
03-3 5 RV 15 y)~ -
SRVO-0088
03-3 6 100VDC TO
BRAKE 0 V BIAS RETURN 10VDC TO AXIS SWITCHING' ' BRAKE SOLENOID S
(04-03) (04-03)C04-03)
03-3 7
03-3 8
03-3 9
03-40
TO SHEET 4
03-4 1

W3 FaNUC rm
Robotics
Rotot$a North ) naieo, Me.
100VAC E-STOP CIRCUI T
100VDC BRAKE CIRCUIT Cl OF 2 )
Mum South Mom MIA sum N/A
CD s N 4832 26800 gat w0. TOLL Stan WOO6
1
01 am
P. COOMBS 5/22/9 3
13. OVERTRAVEL CIRCUrMY
MARMMOSHW02301 E
13-6
NOTES
05-01 EMG 24E
(CONT. P.C.B.) -
05-02 v q v
ROBOT 0 YW
Wv-I^ K07 0 BACKPLANE
05-0 3 W
ARM 17 .38.50
RL. RL
05-0 4 )026 11 14
05-0 5 D1 1 <05-35)(06-2
2)7 1.7
xHBK 7«
05-06 ))40 RL RL
(05_2 9L
ov 7 2
05-07 K11 3 • II' H SERVO O N
• X37)
05-08 11 RL RL RL (03-10)
D11 CR14 1
19<< xROT 9 7 16 8
05-09 23«
NO E-STO P
` 14I 2 57
(05-~37) C05I4 2W
•-1 8
PRESENT AT T.P.
05-10 CRM1
18<< <06-27) 'CM 03-09,03-33.06-16 )
05-11
P
05-12
05-13 BRAKE ENABLE
05-14 OPERATOR'S PANE L 03-15 )
05-15 CT BRAKE ENABLE
(llTIC 03-16 )
05-16 K1 9
JILS
< MDM.]F -I
05-1 7 J10T
RL
9
05-1 8 AXIS II I 1 OVERTRAVEL RELEASE D
05-1 9 (05-23) 03-09)
05-20
05-21 1(115 J HAND OK
05-22 C05-07)
05-23 MAIN NO ROBOT OVERTRAVEL
24T 2 2t 241
K040 (CPU) 05-07,05-18>
05-24
TEACH PENDAN T H1
05-25 24T TO
05-26 T LAA05 TPDISC
► RV
ESTOP P.H . EMGT P SRVB-021 24 T
05-2 7 RL
15
EMGB1 )b,A08 24 T 534
05-2 8 PDO14 RV TEACH PENDANT
05-2 9 EMGB 2 SRVD-O11 RL °DWER SOURC E
xE-STOP
10
SRVO-002 TA EMGTP
05-3 0
05-3 1
05-3 2 DEAD-MAN *1 • o o N • EMGDM l6e EMGB1
EMGB2
18
20
64
05-3 3 E
05-34
DEAD-MAN 12 17
05-35 T .P . DEAD-MAN HEL D
05-3 6 (05-05)
05-37 11FF ON EMGEN 19 re T.P . OFT
05-3 8 T.P. ENABLE EMGEN TPDISC 21 u
'T 05-07,05-09 )
I
05-3 9
05-4 0 T.P . CONNECTED
05-4 1
I8 TPREL 12 J, <05-30,05-46)
TXTP ,kA01
05-4 2 SERIAL DATA SERIAL DATA
OUTPUT LINES TxTP 4 REQUEST
05-4 3 LINES
T.P . DISC. ENABL E
CRR-4
RXTP ~A02 ) 05-28,05-46 )
05-4 4 SERIAL DATA EBSTT P EMGB1
REQUEST nRXTP ;,BOP SERIAL DAT A PUSH BUTTON T .P. RELEASE
05-4 5 LINES OUTPUT LINES ON TEACH ~R R
RL RL
10
15
05-4 6
TPDSC
PENDANT EMGB2 20 Q
.
-I F-I'I.
(05-43) (05-40)
05-09 )
05-4 7
OV )6,B06
05-4 8 •
• OV 4>B07 -
05-4 9
05-5 0
24 E ov
05-5 1
05-5 2
05-53
m
L (06-05) - (06-05)
P1:i-0 7
13 . OVERTRAVEL cIRCUI TRY
13-8 MARMMOSHWO230IE
NOTES
15-01
15-0 2
15-0 3 CNTP
KEYBOARD IN MICROPROCESSO R
15-04 st E'
Y Y Y (V255-5 )
Y YY RAM PRO M
15-05 J_ . J_ 32Kx 8 32KxB
a0 040 040 040 0 0 040 04-0 040 0 RXTP
15-06 _1_ J_ J_ J_ -..L- J_ _L 0RXTP
400 090 040 0400 0400 040 090 040 0 KCd4 1 TXTP
15-07 J_ J_ J_ J_ J_ J_ *TXTP LC D
ro 0400 040 0,00 040 0!0 0100 090 0 KDON2 P .C.B .
15-08 J_040x_1_ J- _L J . J._ __L _L-Kol a
60 .. :04.0 090 010 040 040 090 0
15-09 J- J. -.L- J_ J. J_ _L --L-KCD44 BCD IN
0 .0 0-0-0 0-0-0 040 0400 040 040 040 0- N
15-10 BCD-TO-DECIMAL DECODE R 90VAC
J_ J_ J_ J_ --L _L J_ J _
►0 0400 0400 040 040 040 040 040 0 ELCTRD-
DECIMAL OUT LUMIIESEN T
15-11 __L_ J_ J_ --L _L . J_ BACK-
0-0 040 040 0-0-0 000 0-0-0 09 . 0 0-0-0 0 LIGHTIN G
15-12 J_J_J_J_J_ ,~„~ ;;~,
-0 04 .0 040 0*0 040 0
15-13 TP-P5L
KEYBOAR D
15-14
15-15 H
LCDDN
15-16
15-17
15-18 wNtwvvl-
KEY00
15-19
(15-34)
15-20
15-21 KEYO1
15-22
15-23
15-24 RL9
41
KEY02 1-
15-25 (05-23)
15-26 RL8
131
I4
15-27 (05-18)
ter N2
DIUII
15-28
15-29
15-3 0
AXIS
15-3 1 (CONT . P .C .B . )
15-3 2
CNEN91 rCNENGI
15-3 3 3
5
15-3 4 EM G E-STDP
05-19)
15-3 5
r 1 I
RI.
15 9 10
]1 _
15-3 6 01
L. (05-43) (05-40)
CRR
15-3 7
TEACH PENDAN T
EMERGENCY STOP
15-3 8
15-3 9
15-40 TEACH PENDANT
NOTES
Figure 13-1 shows the location of the components involved in th e
overtravel circuitry.
Figure 13-1 . Location of Components for Overtravel Circuitr y
AXIS 2 & 3 O .T.

SAME LOCATION
FOR BOTH S-42 0
MODEL S
AXIS 2 O .T.
LOCATION OF
OVERTRAVE L
SWITCHES FO R
S-420A
13-12
Figure 13-2 shows the location of the teach pendant pushbuttons and
switches.
Figure 13-2. Teach Pendant
X,Y,Z PUSHBUTTON S
COORD/JOINT PUSHBUTTON
Figure 13-3 shows connector D l i inside the robot base .
Figure 13-3. Connector D11

14
MARMMOSHw02301E
OVERHEAT CIRCUITRY
14- 1
Overheat protection is a vital part of the RI controller . Thermal switche s

monitor the internal cabinet temperature, the Servo motors and the Serv o
Amplifiers . Upon sensing an overheat condition, the switch trips whic h
will report the overheat condition to the AXIS control module .
Other thermal switches monitor the PSU module and transformer TF1 .
The effect these switches have on the controller are described in th e
following chapter.
Cooling is maintained by a heat exchange system using both 200VAC an d
24VDC fans.
14. OVERHEAT CIRCUITRY
MARMMOSHW02301 E
14-2

SRVO-014 Fan Motor Abnorma l
07-05 This indicates that one (or more) of the centrifugally held closed switche s
of the 24VDC cooling fans mounted to the card cage has opened . Check
to see that the three fans that cool the module card cage are turning .
Another cause for this problem could be that the integrated circuitr y
mounted to the backplane is malfunctioning .
07-08 SRVO-015 System overhea t
This indicates that the thermal switch mounted on the backplane ha s
closed, denoting an over temperature condition. Check to see that the
internal cabinet temperature is below the maximum allowed and that th e
cooling fans are allowing enough air to circulate to the thermal switch an d
the backplane. If this is OK, the switch has evidently closed and needs
replacing.
07-38 SRVO-043 DCAL (group & axis)
This indicates an excessive amount of current through the discharg e
transistor TRDC and the discharge resistor of the specified amplifier . The
amplifier itself will denote a #5 on the LED display. It is sensed by th e
180 degree (C) thermal switch mounted with the discharge resistor or, in
the case of Servo amplifier #1, it can also be caused by the therma l
switches of the multi-tap transformer, TF1, mounted on the floor of the
cabinet and connected to amplifier #1 on terminal strip T1, terminals 15 &
16. For more information on TF1, refer to Chapter 9, "AC Powe r
Distribution Circuitry ." For more information on this alarm, refer to
Chapter 16, "Servo Control."
07-34 SRVO-049 OHAL1 (group & axis )
This indicates that the 90 degree (C) thermal switch, THM1, mounted t o
the P.C. board of the specified servo amplifier has opened denoting a n
overheat condition in that servo amplifier. The amplifier itself will denote
a #6 on the LED display. It can be caused by the external or internal fan s
not cooling the amplifier properly or by the thermal switch or amplifie r
not operating properly.
07-16 through 07-22 SRVO-067 OHAL2 (group & axis )
This indicates that either the thermal switch in the APC specified o r
associated motor has opened, been sensed, and an alarm sent along wit h
other serial data to the axis board at connector CRF1 . This information i s
then sent via the backplane to the MAIN (CPU) .
02-08 PSU Thermal switch
Should the thermal switch of the power supply module open, th e
following symptoms will be observed :
With the main disconnect switch is on - the PIL LED will be lit . This is
normal.
Upon pressing the ON/OFF push-button - the ALM LED will light .
This is caused by the following sequence of events :
02-27 Relays RY2 and RY3 will not be allowed to energize . The normally open
contacts of RY2 and 3 do not allow 200VAC to go to the multi-tap powe r
supply The voltage monitor does not sense any power and, so, does not
energize the solid state device ENP . The auxiliary 15VDC (A15) allow s
the normally closed gate of SSD ENP to energize SSD 3, which energize s
SSD 7 and lights the ALM(alarm) LED . Because SSD 7 latches itself, i f
the thermal switch cools and then closes, it is still necessary to powe r
down first before the fault can be corrected.
COOLIN G
There are two types of cooling fans within the R-J controller.
The first set, the main cooling fans are mounted at three points within th e
controller. Two are used to create a circular flow from bottom to top(door
fan) and then down to the bottom again (inner heat chamber) . The third
fan draws in cool air from the outside and forces it past the outside of th e
inner heat chamber, drawing off the heat from the inner heat chamber . It
also forces air past the cooling fins of the servo amplifiers and thei r
discharge resistors . This isolates the inside air from the outside, creating a
lower dust environment .
The second set of fans cool the module card cage and are powered b y
24VDC from the power supply through the backplane and are monitore d
by centrifugal switches mounted on the fans and sending a LO (OVDC )
through the backplane to the AXIS module.
I4 . OVERHEAT CIRCUITRY
MARMMOSHW02301 E
14 4

COMPONENT/ASSY LOCATION SCHEMATIC LOCATIO N
LOCATION FIG. NO .
APC & MOTOR THERM . SW. SERVO MOTOR 07-17 14- 1
COOLING FANS 200VAC CONTROLLER CABINET 02-27 14-2
COOLING FANS 24VDC CONTROLLER CABINET 07-3 14-2
DISCHARGE RESISTOR (RMDC) SERVO AMPLIFIER 08-39,09-39 14- 1
LED READOUT SERVO AMPLIFIER 10-28 14-1
THERMAL SW.(THDC) SERVO AMPLIFIER 07-41 14-1
THERMAL SW .(THM1) SERVO AMPLIFIER 07-34 14-1
THERMAL SW.(THSW1) BACKPLANE 07-08 14-1
THERMAL SWITCH (THSW) POWER SUPPLY (PSU) 07-12 14-1
TRANSFORMER TF1 BOTTOM OF CABINET 07-24,SH1 14-1
THERMAL SWITCH TH1 & TH2 TF1 07-27 14-1
200VAC INP,VT FROM TF1
22>
02-0 1
CP -1 CP1-2 CP1- 3
02-0 2
NOTE : REMOV E R SY GY
JUMPER IF USING (POWER SUPPLY UNIT)
02-03 ON
Or r EXTERNAL ON/OFF
02-04
f ° - I I
a a
FILTE R
I 1
OR DOOR INTER -
LOCK
02-0 5 I 1 C1
02-0 6 CRR-4 RR-4 RR-4

R-4 AmLPARY 24VDC PWR SUPPL Y
8 SUPPLY
02-0 7
x
w
OFF
M2 ON/OF F
CONTROL
- (M1)
'T
+
J P6 COM
02-0 8 1 200 VAC PWR qUT
J} RELAY S
02-0 9 C02-27)
JRAO
02-1 0 POWER ON
, O~Y---ter- ¢-~ z n <02-11 )
02-1 1 POWER OFF
-1 -) (02-08 )
02-1 2 BACKPLANE ALARM
BACKPLANE <02-13 )
02-1 3 ALARM
(02-08,2-27)
02-1 4
L ALARM LE D
MAI N a
(CPU)
02-1 5 PILOT LE D
La
fM 3=CI
02-1 6 15VDC OUTPUT O N

1(03 5 (02-17)
02-1 7
02-1 8
Er-
OPERATO R
02-1 9 NTERFACE AUXILLIARY 15VD C
PC B REGULATED OUTPU T
II
02-2 0 POWER FAILUR E
(02-20) <02-20)
02-2 1 ABNORMAL CONDITIO N
5VD C (02-12 )
02-22 M13
OPERATOR'S PANEL
(02-26)
(02-16 )
02-24 200VAC CP4 JEOFF

TO ALC RELA Y +24VDC +15VDC -15VDC +5VD C
02-2 5
<01-28 ) A30COM T T
AlaN Ml3 DISABLE POWER OU T
BI ALARM I N DISABLE POWER OU T
02-2 6 ALARM IN £O{KENF`
A
02 --]- (02-21,2-22 )
3 VOLTAGE MONITO R
02-2 7 B3<( -I4 RY 1
FB 3
(02-13 ) rets. 2Y
02-2 8
.1 .
5 (02-08)
+15VDC -15VDC +5VDC 4
T T T
02-2 9 MULTI-TAP DC POWER SUPPL Y
CABINE T
02-3 0 COOLING 24VD C +15VDC -15VDC +5VD C
FANS POWER POWER POWER POWE R
02-3 1
02-32
CP5
1<E 24
f 1a N M' a
B2a ONO
200VAC
02-3 3 B3~ 111
K02 2 CPEi
02-3 4 BC e4E
B2 O
B3~
02-3 5
02-3 6 1
11-14~ 24 E
5-8,66,68<< 24
02-3 7 21, 22 ,
17, 18 4 -15
02-3 8 36-55,96-115, 5
3,4,9,10,15,16 ND
19,20,23-3
02-39 61-654 7
69-9 5
02-4 0
Sl G1 R2, S22 G21
72 72 n 733 CP3 C33
02-41
i
, yu MAIN AC POWE R
-P 3 FANUC Robotics
FANU~~CppppRobotic . NaO, ktwdco,
DISTRIBUTIO N
sm N/A
CD k6un FBb 10 IS2800 1o1AL WETS
CT1
. P. COOMBS 3/22/93
MARMMOSHWO230I E
14-6
NOTES
24V
07-02 CA39C +24VDC

5v
OPTION 1 & 2 PCB
07-0 3 COOLING FAN
07-0 4
07-05
07-06 AXIS & MAIN PC B

COOLING FA N
07-0 7
07-08
E9- 2 14 ION if A2 nON }
RV <SVRO 015 '
07-0 9 SYSTEM _x.
OVERHEAT) - Ov
EMG & PSU PCB
CA39A
07-10 ,0VD C COOLING FAN
07-1 1
)CA39A CENTRIFUGAL
ALMA
07-1 2
07-1 3
ov PSU
07-14 TH1
02-08
~~
07-15 02-09 (
07-1 6
FROM PSU MODULE (SHEET 2)
07-1 7
SYMPTOM= ALM LED AT POWER O N
07-1 8
CRF 1 CRF1 Pt P1
AXIS PD nPD PD nPD
07-19 No. PIN NO. PIN NO . PIN NO . PIN NO.
INN ME 1111n11 MEMO NOTE. THE THERMAL OVERLOAD DATA IS TRANSFERE D
•1111.-IlENIF11.11I MI1•MIN MI =la# ALONG WITH THE POSITION DATA EN THE
)E= •1111IM111•11IM111111ININIcTillIL> • SERIAL DATA LINE FROM THE APC TO TH E
07-2 0 AXIS MODULE.
•MLUV =WIN
1111 1
07-2 1
07-2 2
07-2 3
07-2 4
01-14 a BBBB B11188®B®BE7 GmL9mcaom© m
Ht
07-2 5
01-15 `
Nyy
07-2 6 01-16 TF 1 N
y
TH1 TH 2
01-1 7
07-27 l fYYYYYYY'
01-1 8
07-28
01-19
07-29 01-2 0
07-3 0
01-2 1
01-22
07-3 1 K023
FROM TRANSFORMER TF1 (FROM SHEET 1 )
07-3 2
07-3 3 SERVO AMP (FROM SH8, SH9, & SH10 )

SERVO AMP #1 ONL Y
SRVO-04 9 THMI(90•C)
07-3 4 OH OHALI ALARM
~LSI-M LED=6
(SEE SHEET #10) ON SERVO
07-3 5 AMPLIFIER
07-3 6 0v
TI
SRVO-04 3 15
07-3 7 DCAL ALARM
LEO n5
ALL OTHERS WIL L
ON SE RVO
PLIFI E T1 1 6
BE JUMPERE D
52 DC
07-3 8
07-3 9 v
\i v
NV z
v Za v 0v
.)Y
U U V I (~
07-4 0
180•C
0%-41
THD C
RMDC
nnu OVERHEA T
FANUC: Ibbotts AND
COOLING
FAMIC Robotkt North kne.ke, Inc.
1044 B0t1S 90x0 N/A

rs
Mum Y 4632 26 200
RAN11 MI
P. COOMBS 3/22/93 .
NOTES
2 °m m
° w m ° ;
°
,a
mI
a sI
rIr r i oII °I NmI I
pI q mp
p
.AW c m S SN
V ti
5
k k
CO
W TY W V V W V_._ .
Q Q p Q Q
vg g WN b v g va fi W~f+ VV SfWU 6W~ 5
d ~4td 0i:d pd..rd d ud 4,d

_
*ad
SINGLE AXI S
SERVO AMPLIFIE R
FANUC Robotics
MC Robotic North krdrtz kw,
PRDA M0
. xri r. N/A
Rood
Arbor IRlk AE32 00 frt>t as lock sWt aaIN'4
Wadi en am
P, COOMBS 5/24/93
NOTES
p O O p p p O O
2 2 2 N N 2 10 12
0 10 ON 10 .D ~0 O O 2
~0 C $p ~0 $ ~0 O ~0 a a 0O
i I I I I I I 1 i 1 I I I I 1 1 I I 1 1 I 1 1 1 I 1 1 1 1 1 I 1 1 1
C.3
0 N W
CO V tw
11 A W N N CO V m CA A ))
.
C. N o W CO V 0~ N A C
IJ N ~` o N Co + N a
V N N
r
q
Ir IIIIJLt L ll _1~ • I~
J
~- _ _L
_ R A
--
L ^~~J
J
A DUAL AXI S
FANUO Robotics SERVO AMPLIFIE R
DU Robotic" North Mato", be.
(WITH DYNAMIC BRAKES)
Mt N0
. ,WOAD N/A
Album 6tr, W 48328-2800 NV t4 101k 0 418 DkW"3 u0
.
DRUM . DUFi
P. COOMB S 5/24/93
NOTES
W W W W W W W W W M W
b O W
OWO O O o OWO W O O O
WOWO
o a 0
i
0 o. 0
.
0 0 0 0 0 0 0 0 O O O O
. 1
0. OI 0t 1 . 1 I 0. 01 1 I 1 1 1 . . 1 1 II14
q p 1 1 1 5'
► co N N N IL ) •I 0q 0
.W.. W
co to V C UI
• A co N ON CO V N NA W fU O W i "W 0 2 W 0~ UI O
A W N O
a a
N m is
W
g 3 1
VRD C
vsn C
VTDC
VH gl
• •I
N
N
CNR
a-
I
iti
a a s
1~ fl u
1
vv v vvvvv v
ovv v vVv~ u u
T~~vF •,3 Q
1 9 Gm
F
a
m
e1 t
•
3
2 I
a
X
0
a
N
r
"1II DUAL AXI S

SERVO AMPLIFIE R
.FANUO %boncs
(WITHOUT DYNAMIC BRAKES)
FMA1C Make NNeal lx(% he.
Wh.Adurits Hl6a llo. svik N/A
Album Hilti W 4&326-2
2800 BEET I.a lock REFS OA)400 ) a
r11 am
R COOMBS 5/24/93
14 . OVERHEAT CIRCUITRY
NOTES
11-0 1
11-0 2 1
11-0 3
Si
11-04
11-0 5
11-0 6 8
11-0 7
11-0 8 L
11-0 9 T1-8 INTL (10-20) AMP#3 o-

11-10 d
T1-8 INTL (10-20) AMP#2
11-11 T1-B INTL (10-20) AMP C4
11-12 #lla' l
T1-7 1000 (10-19) AMP#3 a' Dig
11-13 T1-7 1000 (10-19) AMP#2I el
11-1 4 T1-7 1000 (10-19) AMP#1 e' CL
11-1 5 r 1ii
J.AAJL
11-1 6
11-1 7
11-1 8 EMG 1000UTI (03-14) a- r
1(CCA MCCB MCCC
11-19 TBDCR All IA2 All p All Ip2
I
11-20 T1-17 RC (10-38) AMP#31 a- ~
11-'21
11-2 2
11-2 3
11-2 4 TI-19 RE (10-38) AMP#3l e'
11-2 5
11-2 6 T1-17 RC (10-38) AMP#2 e" l
11-2 7
11-28
11-29
05 1
11-30 T1-19 RE (10-38) AMP#2l gt-l
11-3 1
11-3 2 T1-17 RC (10-38) AMP#1l d
11-3 3
11-3 4
11-3 5 VI
11-3 6 T1-19 RE (10-38) AMP#ll e'
11-37
11-3 8 TF1-51 (01-331 el
11-39
as ~CRR11 - J
11-40 TF1-52 (01-34)LV--- -
14-1.5
NOTES
N N N N N N N N N N . . N N N N N N N N N N N N N
N N 1
Nt N1 N1 N1 1 1 N
1 1 1 1
N1 N1 1 1
N N1 N
a w w W w w w w W N r 1 1
o W OD V Os N . () N o U) N V N LLA . C.)
) N N 0 . . N N A WN O mm m N1
m . W N
N
m
<
a3
-o
nW LS na f vg na Ci n4~ 2 NRa n$s g nai g

n A n n n n n n n n
I I
s a
VV
c)
AAA P
Cl m C, m
V V
. 2'2'2' g'-Rs' g''# ''

r,
Y~g Y% Y4R 4
0 I I li T TiTii i
WI EMI I I ii i
I I
1 I
P,
u mm
u 0
AAA Y
3
-0
LSI MODUL E
SERVO AMPLIFIE R
FANUO Robotics.
otics w~arn,,kn.l% Na
MC RobWh doe N/A
NAum rib, M. 48326Rood2800 ' mho. tOtk 9€L1 OAN% NO.
P . COOMBS I dm 3/22/93
14- 1 8 MARMMOSHW02301 E
NOTES
Figure 14-1 shows the location of the components involved in th e

overheat circuitry. Figure 14-2 and Figure 14-3 shows the heat exchang e
system.
Figure 14-1 . Location of Components for Overheat Circuitr y
THM1 SERVO AMP BACK PLAN E

~- o- o 0 0 ; o o o o- I
CAS 39B - m
N o 00 0o o- o
MARMMOSHW02301 E
14-20
Figure 14-2. Heat Exchange System, B-Size Controlle r

FAN 1
Fan Unit
A05B-2302-C901
Fan (Alone)
A901-0001-0219 #A
FAN 3 FAN 2
Fan Unit Fan Unit
A05B-2302-C902 <<-z% A05B-2302-C90 0
Fan (Alone) Fan (Alone )
Figure 14-3. Heat Exchange System, C-Size Controlle r

FAN 1
Fan Unit
A05B-2301-C90 1
Fan (Alone )
A90L-0001-0219 #A
FAN 2
Fan Unit
A05B-2302-C900
Fan (Alone )
A$OL-0001-0213#A
15
MARMMOSHW02301E .
BRAKE CIRCUITRY
The brake circuit consists of circuits on the EMG module, the AXI S
15- i
module and the brake coil that is integral to each servo motor. The brakes
in the servo motors are released by applying 100VDC to the brake coil ,
which then pulls the brake pads away from the brake rotor .
The brakes to any or all axes are applied any time the 100VDC is remove d
from the brake coil(s) .
This can occur under any of the following conditions :
Loss of 100VAC to bridge rectifier DS 1
Loss of 100VDC from bridge rectifier DS 1
Loss of 10VDC to FET drivers

15. BRAKE CIRCUITRY
MARMMOSHw02301 E
15-2

NORMAL OPERATION
01-23 Transformer TF1 applies 100VAC through the ALC contacts and fuses F 4
and F5 to the EMG module on connectors 100IN1 and 100IN2 . During
normal operation, one leg of the 100VAC is applied to the brake circui t
03-04 through 03-17 bridge rectifier DS1 through the closed contacts of the operator's pane l
E-stop push-button, the two external E- stop inputs, EMGIN1 an d
EMGIN2, and the closed contacts of relay, RL-3(Brake Enable) : The
other leg of the 100VAC is applied to BRG1 through the contacts of relay ,
SHEET 03 RL-1(SON, servo on) . This same 100VAC lights the SON LED on th e
EMG board.
Loss of 100VAC to bridge rectifier DS 1 can be caused by :
01-25 - ALC relay turned off by PSU module (DC power failure an d
normal shutdown)
03-19 Operator panel E-sto p
03-09 - External E-stop (EMGIN 1 or 2)
05-27 - Teach pendant E-sto p
05-40 - Teach pendant disconnecte d
05-37, 05-35 - Teach pendant on and deadman switches release d
05-37, 06-25 - Teach pendant off and fence circuit ope n
05-21 Hand brake detected
05-23 Robot overtravel detected
05-1 3 Axis control module disables RL3, enabling brakes
• For a more, in depth description of the E-stop part of the circuit, se e

Chapter 11, "EMERGENCY STOP"
03-17 • The bridge rectifier DS1 applies 100VDC through the 5A brake fus e
on the EMG module to six Field Effect Transistors, Q1-Q6 .
Loss of 100VDC from the bridge rectifier DS1 can be caused by :
03-19 - 5A fuse blown
- FET driver open or turned off (check for BRK LED out an d
100VDC at BKM on CRR5 )
15. BRAKE CIRCUITRY
SOLID STATE DEVICES

• , FET Q1 switches 100VDC to the brakes for axis 1 through terminal s
1A and 1B of CRR5 on the EMG module .
• FET Q2 switches 100VDC to the brakes for axes 2 and 3 throug h

SHEET 0 4 terminals 2A, 3A and 2B, 3B of CRR5 on the EMG module . .
• The brakes for all three minor axes are controlled by FET Q3 throug h
CRR5, terminals 1, 2, and 3C and 1, 2, and 3D .
+ FETS Q4-6 are for control of external, customer related, auxiliar y

axes.
04-27 thru 04-29 The FET's are turned on through solid state gates within the AXI S
module. These gates are closed by the software when the servo amplifiers
are in control of the motors . The 10VDC source of power to the common
side of these gates comes from a 10VDC regulated supply through soli d
03-33 state gate 9 (SSD #9) on the EMG module . The gates energizing soli d
state device 9 monitors :
03-33 • A 24VDC circuit connected to a second set of contacts on the operato r

panel EMERGENCY STOP button .
03-33 • A normally closed set of contacts to the RL13 on the EMG modul e
used to imply an EMERGENCY STOP at the teach pendant or fence i s
open .
03-2 5 • Current surges on the 10 and 100VDC brake circuits .
03-23 • Low voltage on the regulated 10VDC supply to the AXIS module
solid state gates .
Any one of these problems turn off SSD #9, turning off the FET's an d
engaging the brakes .
• Loss of 10VDC to FET drivers due to :

03-2 0 - Voltage and current monitoring circuit on EMG module show s
throug h error (FALM LED lit and 100VDC at CRR5 )
03-3 5
Axis control module turns on brake(s) (100VDC at BKP, no BRK
LED on that axis or those axes) (BRK LED will not be lit i f
04-05, 04-07 100VDC is missing) .
15 . BRAKE CIRCUITRY
MARMMOSHW02301 E
15-4
Brake Fuse Alar m

SRVO-008
03-32 The fuse alarm (SRVO-008 at the teach pendant) normally indicates th e
03-1 9 loss of the brake fuse, located approximately in the middle of the EM G
module, that supplies 100VDC to the brake solenoids in each servo moto r
and the 10VDC supplied to the FET transistors on the EMG module . It is
03-25 also accompanied by the FALM LED lighting on the EMG module .
A secondary cause for a brake fuse alarm is solid state device 8 on th e
EMG module . This device is energized when any current surge or voltag e
is felt across R10 by the operational amplifier . This monitors the current
of both the brake solenoids and the FET gate circuits . This fault will als o
light the FALM LED and is reset by powering down and then powering
back up . This circuit can and will be by-passed by placing the SE T
jumper to position 1 on the EMG module. It is recommended that thi s
jumper be left off, or in position 2 .
COMPONENT/ASSY LOCATION SCHEMATI C LOCATION

LOCATION FIG . NO.
ALC RELAY TRANSFORMER TF1 01-26 15-1
BRK LEDS EMG CONTROL PCB 04-06,04-27 15-1
CONNECTOR CRR5 EMG CONTROL PCB 04-10 15-1
DIODE BLOCK DS1 EMG CONTROL PCB 03-17 15- 1
E-STOP PUSHBUTTON OPERATOR PANEL 03-19 15-2
E-STOP PUSHBUTTON TEACH PENDANT 05-27,13-35 15-2
FALM LED EMG CONTROL PCB 03-32 15- 1
FUSE 5A (BRAKE) EMG CONTROL PCB 03-19 15- 1
FUSE F4 TRANSFORMER TF1 01-23 15- 1
FUSE F5 TRANSFORMER TF1 01-23 15- 1
RELAY RL-3 EMG CONTROL PCB 05-12 15-1
SENSITIVITY JUMPER (SET) EMG CONTROL PCB 03-26 15- 1
SON LED EMG CONTROL PCB 03-12 15-1
TRANSFORMER TF1 BOTTOM OF CABINET SH1 15-1
MARMMOSHW02301 E
15-6
NOTES
01-0 1
01-0 2 MAI N
DISCONNECT g
01-0 3 K00 3 g
K001-
01-04
01-05
30 A
01-0 6
01-07 CUSTOME R
SUPPLIE D i I 30 A
01-0 8 220-575VA C
01-0 9 50/60 H z
3 PH. ( II TS 30 A
01-1 0 I I I
01-1 1 I II ~_ j K00 2
01 .-12
01-1 3 1 I OPTIONAL I
01-1 4 CIRC EAKAG E
UIT/ L
BREAKER GIZI©GD0Q•0 13688®0Bn 1 9HHEI688
01-1 5 > >
m
01-1 6
01-17 I
I
I
1
L- _
TF 1 TH1 a TH2
Cn
1 ~7r "yyyyyYr ,yyyyyyr

01-1 8
01-1 9 MAI N r (120VAC )
XFORME R a
01-20 K022
uiu
01-21 -
SEE SECTION 'U ER I/O
01-22 AMPERAGE RATIN G TABLE 200VA C }INTERFACE' UL 1 AND UL 2
(102)
01-2 3 INPUT CIRCUIT LEAKAGE DISCONNEC T TO PSU
VOLTAGE BREAKER BREAKE R SWITCH (02-01)
01-24 (C.B,WITH
01-2 5 G.F.I .) FL1 IFL2~FL 3 A
ova GROUND CON NECTE D
01-2 6 220
24 0 50A 50A 50 A SWITCH/INDI C ATOR
01-27 38 0
41 5
01-2 8 46 0 200VAC IN {
01-29 480 30A 30A 30 A FROM PS U
500 7.5 A SERVICE OUT LET
01-3 0 55 0 (02-25)
01-3 1 575 20A
K023
01-3 2 CUSTOMER SUPPLY TO TF1 CONNECTION .
01-3 3 INPUT CONNECTION AT CONNECTIO N
VOLTAGE PRIMARY TAP STYL E THERMAL CIRCUIT
01-3 4 TO SERVO AMP # 1
01-3 5 Ll L2 L3 JUMPE R (08-36 & 08-37 )
220- 07 15 23 08-15 DELT A K020
01-3 6 240 06 14 22 08-14.16-2224-06 A
01-3 7 380 07 15 23
415-440 06 14 22
01-3 8 460 0412 20 200VAC 3PH .
480 04 12 20 08- 16 16-24 S TO SERVO AMP S
01-3 9 500 03 11 19 (08-24 thru 26 )
01-40 550 02 10 18 (09-24 thru 26)
575 01 09 17 _
PAGE NO.
15-07
NOTES
100VA C
FROM ALC RELA Y
03-01 (01-33 )
03-0 2
K02 1
03-03
03-0 4 CRR- 3 CRR- 3

1 3
EEMM 100IN1 100IN 2
03-0 5 (CINT, P,C .B .)
K036
CRR-3 DPI
03-0 6
OP E-STOP CRR43
OP2
03-0 7 4ff
CRR63'EH] J EMGINI
03-08
CRR-3 RL
EMGIN C 13
03-09 EXT . E-STOP - 1M EMGOUT RELA Y
SEE SECTION C05'10) (06-46,06-50 )
'USER I/ O
03-10 INTERFACE' CRR RL
C110) -- 10 l- EMGIN2 EMG RELA Y
(05-07> C06-11 .06-29)
03-11 K031 CRR- 3
03-1 2 T R SERVO O N
ME TE CRRi23 1000UT I
LED
03-13 CRRO
K021
03-1 4 (08-17)
(09-17) CRR ,3 100OUT 2
~TT O
03-1 5 28 9 CRR-3
:161s5 100IN 4
AUX.
03-1 6 INPUT 1 CRR- 3 RL
1001N 3
4H 3
(06-29)
03-1 7 CRR- 3 100 VDC T O
AUX.. BRAKE CIRCUI T
OUTPUT
03-1 8 CRR- 340 F USE
100OUT4
03-1 9 BLOWN FUS E
5A MONITOR
03-2 0
03-2 1 10VDC 10 VDC T O

REGULATO R BRAKE FET' S
03-2 2
03-2 3 ~7 - LOW VOLTAG E

'-'-<03-315 MONITOR
(03-27 )
03-2 4 SENSITIVIT Y
03-25 R85 RIO MOMENTARY SURG E
03-26
r;
L"
SET
z -1
J
DETECTIO N
(03-28 )
NORMAL w
03-27 I-H I ALLOW BRAKE
(03-23)03-33 ) RELEASE
8 (03-33 )
03-28 10 HOLD AT SURGE
<03I25) DETECTIO N
10 (03-29,03-31 )
03-29 II --
(03-28) 24E
03-30
03-31 FUSE/SURGE ALAR M

(03I28) (03-23 )
03-32 E/SURGE ALAR M

BACKPLANE FALM RL
I A° - INTERNAL (TO RJ)
03-3 3
(05- 0) 9 E-STOP DETECTE D
AXI S (03-27> (03-27 )
03-3 4 CONT . P .C.B . 24E
FUSE ALARM A2 Jf60
03-3 5 RV 15
HYB3
SRVO-008
03-3 6
!OVDC TO AXIS SWITCHING, ,BRAKEC SOOLENOID S
(04-03) (04-03)
03-3 7
03-38
03-39
03-4 0
TO SHEET 4 .
03-41

FANUO booties 100VAC E-STOP CIRCUI T
OOVDC BRAKE CIRCUIT (1 OF 2 )
v No WON/A
nW' =omit mum*.
NOTES
FROM SHEET 3
04-0 1
04-0 2
04-0 3 ~ov uRN

<03-37) (03 V37)C00 \
BACKPLAN E I E
04-0 4 CCN TWAR E )
SWITCHING
M T . P .C .B .)
JRA2 I JRAO I
04-05
JRA2 JRAO BRK1 D1
04-06 >4
01 1 SBKI-1 S :K1-2~1
( JRA2 JRAO I B +pil D2
04-0 7 4 •I L°?
j SBK2-1S :K2-2~C 2
JRA2 JRAO~ BRK3
04-08 03
kk , 41 , SBK3-1R S :K3-2 . C3
04-09 K11 6 K071 i
J1 M M1 CRR -
04 -10 t B << 1 << IA BKP1
BRAKE AXIS #1
SOLENOI D JI M Ml CRR-
04-1 1 D« BKM 1
8 CE IB <<
04-12 J2 M M1 CRR-5
B< 2 2A BKP2
<< <<
BRAK E L AXIS #2
04 -13 SOLENOI D J2 M MI CRR-l BKM2
B C< 9 C 2B << •
04-1 4
J3 M M1 CRR-5 BKP3
04-15 B << 3 << 3A «
BRAK E L AXIS #3
SOLENOI D J3 M MI CRR-S HKM3
04-1 6 D <( 10 tt 3B <<
04-1 7 J4 B K MI CRR-5 BKP4

A « 4 C iC tt
BRAK E L AXIS #4
04 -18 SOLENOI D J4 BK MI CRR-S BKM4
B tt 11 o iD C
04-19
J5 BK M1 CRR-5 BKP 5
04-20 A« 5 << 2C t<
BRAK E L AXIS #5
SOLENOI D J5 BK M1 CRR-3 BKM 5
04-21 B-<t 12 < Pn
04-2 2 J6 BK M1 CRR-3 BKP 6

A 6 C 3C <
23 BRAK E L AXIS #6
04 -SOLENOI D J6 BK MI CRR- BKM 6
B << 13 <,< 3D tt
04-2 4
II
04-2 5 (C(]NT. P .C .B .)
BACKPLANE
SOFTWARE
SWITCHIN G
04-2 6
HYB2 RA2 J 8A «
04-2 7 -JRA2 JRAO I BRK4 D4
~O--RY3 3 tt N _ lQ4 E
•f a
04-2 8 Q5 SBK4-1 SK4-2 C4
7,,5 ( JRA2 JRAO I

<
B #
6
SBK5-1 Y
Ifi
SBK5-2
E
5
C5
04-2 9 ( JRA2 JRAO I D6 -4F-
B
« t 06
nk
6 E
04-3 0 7 } =rz
L_ SBK6-1 SK6-2
" N C6 •
ti {j ~ "`Tr"T
04-3 1
CRR1
04-3 2
CRR-3
04-33 16
04-34 CRR1
1
AUXILLIARY
04-35 AXES OUT CRRi~
04-3 6
CRR1\
04-3 7 1
RR2
04-3 8
04-3 9
04-4 0
04-41
EMG STOP & BRAKE CONT ,

FANUO %botics . 100VDC BRAKE CIRCUI T
FANUC Rosolks North kns co. be. (2 OF 2)
IWO rick IA sous N/A
Mum %' M 4326- #W r a ro . sas ceMua
n
P . COOMBS 3/22/9 3
15-1 2 MARMMOSHW02301 E
NOTES
N.
05-01 EMG 24E OV
(CONT. P.C.B.)- I
05-0 2
05-0 3 ROBOT 'd tw DII
K070
ARM 17 226.3850 RL RL
05 .-04 it 14
05-05
xHBK Dt t
~
(05-- (06-27)
7<E .0 RL
05-06
0V 7L 12 9
05-07 it • II . SERVO O N
K11 3 (05-37) (05-21)(05-23)
05-08 R RL (03-10)
DII
23<< :ROT1 28 L
7 16
05-•0 9
05-1 0 J3OT N. ms-37)5) NO E-STOP
PRESENT AT T .P.
8
AXIS *3 KM 1
C06-27 ) 03-09,03-33,06-16)
05-1 1
05-1 2
05-1 3 BRAKE ENABL E
'03-15)
05-1 4 (OPERATOR'S PANE L
05-15 CONNECT/D
~ i BRAKE ENABLE
J2OT K1 03-16)
05-1 6
05-17
AXIS 2 MOM,ii -- RL
JIOT 9
05-18 J1LS AXIS *1 1 OVERTRAVEL RELEASED
05-19
05-2 0
K112 L_1 (05-23) 03-09 ) 0
05-2 1 K115 J ! HAND O K

05-2 2 (05-07)
05-23 MAI N NO ROBOT OVERTRAVE L
24T 24T
K04 0 (CPU) 05-07,05-18 )
05-2 4
TEACH PENDAN T HI
05-25 24T J15N
05-26 T kA • to RV
ESTOP P.B . EMGTP
05-27 )7""
EMGBI TPREL • )163 24T
05-28 RLY PDO14 RV TEACH PENDAN T
EMGB2 SRVD-OD 'OWER SOURC E
05-29 nE-STOP
SRVO-002 ,6 EMGTP
05-3 0
05-31
:DEAD-MAN *1 • EMGDM A4 62 EMGBI
05-3 2
EMGB2
05-3 3
05-3 4
DEAD-MAN #2 EMGDM 7 ,1 T .P. DEAD-MAN HELD
05-3 5
C05-05 )
05-3 6
OFF ON 14~ EMGEN 19 c T,P. OF F
05-3 7
TP. ENABLE EMGEN TPDISC 21 05-07.05-09)
05-3 8
05-3 9
05-40 T .P . CONNECTE D
TPREL 12 (05-30,05-46)
05-4 1
SERIAL DATA TxTP
05-4 2 $Agi SERIAL DATA
OUTPUT LINES nTXTP 1 4y REQUEST
05-43 LINES T.P . DISC. ENABL E
7 Y CRR-4
RXTP A02 05-28,05-46 )
05-4 4 SERIAL DATA E-STOP ENGB I
REQUEST *RXTP T',cp2 SERIAL DATA
OUTPUT LINES PUSH BUTTON) `YI RL L T.P . RELEAS E
05-45 LINES ON TEACH CRR-4 15 10 (05-09 )
05-4 6 PENDANT EMGB2 20 ,1171
05-4 7 TPDSC ))B05 (5-43) C05-40)
05-4 8 0v B
DV
05-4 9
05-50 I
24 E OV
05-51 (06-05) <06-OS )
05-5 2
05-53
1 5 -13
15 ., BRAKE CIRCUITRY
NOTES
Figure 15-1 and Figure 15-2 show the location of the component s
involved in brake circuitry.
Figure 15-1 . Location of Components for Brake Circuitr y
1 100IN1
2OP1
3 100IN2
4 OP2
5 100IN3
6 EMGIN 1
7 100IN4
8 EMGIN C
SENSITIVITY EMG CONTROL PCB
9
10 EMGIN2
JUMPER 11 1000UT1
12 1000UTI
13 100OUT2
14 100OUT2
15 BKP4
16 BKM4
17 BKP 5
18 BKM5
19 BKP 6
20 BKM6
1 100OUT3
2 EMGOU 2
3 100OUT4
4 EMGOUTC
5 FENCE 1
6 EMGOUT 1
7 FENCE2
8 EX-O N
9 OV
10 EX-CO M
11 OV
12 EX-OFF
13 5v
14 DIL1
15 15V
16 DIL 2
17 -15V
18 EMGB 1
19 +24V
20 EMGB2
RL13
CRR 4
VIOLET BLUE VIOLET BLU E

BKM3 BKP3 BKM2 BKP 2
BKM3 BKP3 BKM2 BKP 2
BKM3 BKP3 BKM1 BKP1
MULTI-TAP TRANSFORME R
TF1
MARMMOSHW02301 E
15-16
Figure 15-2. Brake Circuit

16
MARMMOSHW02301E
SERVO CONTROL
The velocity and position of each axis in the FANUC Robotics robot i s
16-1
controlled by a digital closed loop servo system. This chapter describes

this servo system's major components and how they interact . It also
describes how faults are detected by the system .
16. SERVO CONTROL
The components which make up the servo loop are shown in Figure 16_1 .
A brief description of these components is provided below.
The Main CPU board plugs into slot JRA1 of the Main Backplane PCB . It
is responsible for computing the tool center point (TCP) path or position
and the velocity at which each axis should move . The Main CPU PCB
provides the motion information to the Axis Control Board through the
backplane.
There is one Axis Control Board . There are however, add-on, upgrading
modules which plug into the Axis Control module. The number of these
depend on how many axes are to be controlled . The axis control module
receives motion commands from the CPU and provides the control signal s
to each of the Servo Amplifiers . The Axis Control module plugs into
connector JRA2 on the Main Backplane PCB .
There are six Servo Amplifiers in the R-J 420 robot system. The Servo
Amplifier receives the *MCON (motor contactor) signal from the Axi s
Control Board to initiate power up of the amplifier, and six Pulse Widt h
Modulated signals (*PWM) to control a power transistor module (TM) .
A servomotor is used to drive each axis . The servomotor is a
synchronous, 3-phase, AC motor with an eight pole permanent magne t
rotor.
The APC (Absolute Pulse Coder) mounts directly onto the end of th e
servomotor shaft . The APC is an optical encoder that provides digita l
information regarding rotor position and velocity. The APC has batter y
backed-up RAM on board to store this information when the controller i s
powered down . A more detailed description of the Servo Control Syste m
is contained on the following pages .
16 . SERVO CONTROL
MARMMOSHW02301E 16_3
Figure 16-1 . Servo Components
SERVO SERVO
AMPLIFIE R MOTO R
1 AXIS 1
SERVO SERVO
AMPLIFIE R MOTO R
2 AXIS 2
SERV O SERVO
AMPLIFIE R MOTO R
3 AXIS 3
Backplane
V
C
MAIN AXI S SERV O
CPU CONTRO L SERVO
PCB BOARD AMPLIFIE R MOTO R
4 AXIS 4 ~
SERV O SERVO
AMPLIFIE R MOTO R
5 AXIS 5
SERV O SERVO
AMPLIFIE R
6
MOTO R
AXIS2 0
16. SERVO CONTROL
MARMMOSHW02301 E
16-4
16.2
AXIS CONTROL
BOARD OVERVIEW

08-02 through 16 As shown in Figure 16-2, the Axis Control Board is the analog interfac e
between the system controlling software (Main CPU) and the robot : The
Axis Control Board communicates back and forth with the Main CPU an d
creates the signals necessary to turn "on" the Servo Amplifier (*MCON)
and to control the velocity and position of the robot (PWM) . The Axis
Control Board also receives signals (feedback) from the robot's Absolut e
Pulse Coder (APC) relating to the velocity, and position, and current dra w
of each servo control motor. It also receives current feedback of eac h
motor from the servo amplifier. By communicating the feedback
information back to the Main CPU, the PWM signals can be readjusted b y
the controlling software . This forms the servo closed loop.
The Axis Control Board consists of a main printed circuit board (PCB) ,
with at least one plug-in PCB called a Digital Servo Interface Modul e
(SIF-M), and at least one plug-in PCB called a Digital Servo Outpu t
Module (DS-M) .
An SIF-M and DS-M is required for every two axes to be controlled . (For
a six-axis system, three SIF-Ms and three DS-Ms are required .)
The DC voltages necessary to operate the Axis Control Board (+24E ,
±15V, +5V) are supplied from the Power Supply Unit through backplan e
connector JRA2.
16. SERVO CONTROL
16.2 .1
Connections
AXIS CONTROL MODUL E
08-02 through 16 The Axis Control Board is linked to the Main CPU by the backplane.
Connectors JV1-6 link the Axis Control Board to each Servo Amplifier.
Signals on the JV connector include PWM and *MCON signals to the
Servo Amplifier, also the Drive Ready (*DRDY), current feedback (IS ,
IR), and alarm code (ALM) signals from the Servo Amplifier.
The Axis Control Board is also linked to the six Absolute Pulse Coders
(APC) through connector CRF1 . This information transferred back an d
forth between the Axis Control PCB and APCs is transmitted serially. The
signals include a serial data request from the Axis Control PCB . They als o
include position, velocity, and alarm from the APCs.
16. SERVO CONTROL
16 .2 .2
Pulse Width Modulate d
Signals
08-2 through 08-30 The Axis Control Board generates, upon command from the Main CP U
controlling software, the Pulse Width Modulated (PWM) signals necessary
to move each robot axis . The width of the pulse and the frequency of th e
pulses generated determines the velocity of the axis .
The Digital Servo Output Module (DS-M) plug-in board generates six
PWM signals for each axis to be controlled . The duty cycle and frequency
of the PWM signals are determined by the Main CPU . The velocity and
position of each axis is monitored by the Absolute Pulse Coder (APC )
located at each servo motor . This information is sent back to the Axi s
Control Board to be read by the Main CPU . Based on this feedback
information, the Main CPU will adjust the PWM signal or determine if a n
error has occurred. The constant communication between the Axis Contro l
Board and the Main CPU is accomplished digitally through a large scal e
integrated circuit located on the Axis Control Board .
The PWM signals generated by the Axis Control Board are sent to th e
Servo Amplifiers to switch the 200VDC of each servo amplifier via th e
transistor module (TM) .
16. SERVO CONTROL
MARMMOSHW02301E 16_ 7
16.2.3
Servo Amplifier
Overvie w
08-01, 08-1 5 The Servo Amplifier consists of a main printed circuit board (PCB) an d
three plug-in modules ; LSI-M, DV M, and ALM-M . The LSI-M handle s
the digital information (PWM, alarm input, for example) . The DV-M
buffers by optically coupling the PWM signals from the LSI-M to the
power transistors. There is one DV -M for each axis . The ALM-M
08-32, 08-3 6 monitors voltage and temperature information on the Servo Amplifier and
sends this to the LSI-M . Each Servo Amplifier has its own DC powe r
supply (+24V, ±15V, +5V) .
01-3 6 Transformer TF1 supplies the AC voltages necessary to drive the motor s
and operate the power supply. These voltages are applied at terminal strip
08-24, 08-2 6 T1 of each amplifier module. In addition to the plug-in modules, relays ,
and power supply unit, there is a rectifier module (DS1) that converts th e
200VAC (three-phase) to 200VDC supply for the Darlington powe r
08-22, 08-3 5 transistor module (TM) . Approximately 200VDC are applied at each T M
(one for each axis) and then switched ON or OFF according to the bia s
applied by the PWM signals. The plug-in modules LSI-M, DV-M,
ALM-M and the DS 1 and TM modules can be replaced separately.
08-10, 08-14 A 7-segment display on the Servo Amplifier is used to indicate an alarm
condition . Also, on the 7-segment display circuit board are test points t o
monitor the current feedback IS & IR for each axis and the 5VDC and
OVDC supply.
16 .2.4
Current Feedbac k
08-24, 25 The Axis Control Board constantly receives motor current feedback fro m
each servo motor (IR, IS) . The IR and IS are detected at each motor across
a small resistor in two of the three motor drive lines between the output o f
the Servo Amplifier and the input of the servo motor . It is measured as a
voltage, amplified at the Servo Amplifier and sent to the Axis Contro l
Board plug-in SIF-M. The Axis Control PCB will use IR and IS to
determine normal or abnormal servo control and set alarms as necessary .
16 . SERVO CONTROL
MARMMOSHW02301 E
16-8
16.2.5
*MCON & *DRD Y
08-08, 09 Upon command from the Main CPU, the Axis Control Board will send a
motor contactor (MCON) signal to the Servo Amplifier that begins th e
amplifier power-up sequence . There is one *MCON signal for each axis t o
be controlled . *MCON is generated at the Servo Interface Modul e
(SIF-M) .
If the power-up sequence is successful at the Servo Amplifier and n o
alarms are detected, the Servo Amplifier will send a Drive Read y
(*DRDY) signal to the Servo I/F module on the Axis Control Board .
There is one *DRDY signal for every axis to be controlled . When the
*DRDY signal is received, the PWM signals are generated and the servo
loop begins . Any faults or alarms detected during robot operation will
cause the *MCON signals to be removed and the Servo Amplifier to b e
turned off .
16 . SERVO CONTROL
Figure 16-3. Servo Loop Block Diagra m
To MAIN CP U
JRA2
Backplane Connector
Axis
Contro l
Board
*MCON Globa l
0 Interface
*PWM OUT/*ALM IN SIF- M (FBI)
20F 2
*DRDY
Digital
SI F-M Servo
1 OF 2 Output
10 -Buffers
Module
-Registers
(DS-M )
-Drivers
IR/IS }
CRF1 CRM 1
Connecto r Connecto r
CN 1 A
Connector
IR/Is
*PWM * LED-M IS O
Robot I/0 ,
Overtravel ,
Hand Break,
LIS M 7-Segment Curren t Lo Pressure
Display Feedbac k
Robot
Tn
Powe r
ALM-M
Transistors 0 Battery
Alarm
Detection DV- M
200 VAC 3 Phase

RL1
RL2
MCC
A Contactor 03
c EM G Custome r
Supplied
Module
Servo 3 Phase
Transformer voltage
100 VAC TF1
SERVO AMPLIFIER
16. SERVO CONTROL
MARMMOSHW02301 E
16- 10
16.3 .
NORMAL OPERATION S

01-36 The multi-tap Transformer, TF1, supplies 200VAC, three-phase vi a
normally open contacts of the ALC relay, fuses F1-3, to the Serv o
08-23, 08-26 Amplifier on terminal block T1, terminals 2, 3, & 4 (labeled L1, L2, and
L3).
01-33, 01-34 The multi-tap Transformer, TF1, also supplies 100VAC to the Servo
03-14, 03-15 Amplifier via normally open contacts of the ALC relay, fuses F4 and F5
on multi tap transformer, through the Emergency Stop Circuitry on the
EMG Board then to terminal block T1, terminals 5 & 6 (labeled 100A &
08-17, 18 100B).
08-31, 08-37 The two voltage supplies, 200VAC and 100VAC, are prerequisites for th e
Servo Amplifier to activate . The 200VAC will provide the Power Supply
(PS-M) on the Servo Amplifier with power. The PS-M supplies all of th e
DC voltages necessary to operate the amplifier except the 200VDC to th e
08-21, 08-28 power transistor module (TM) which drive the motors . This 200VDC i s
supplied by the 200VAC (when the MCC relay contacts close) throug h
DS1 .
08-03, 04, 05 The Axis Control Board sends the *MCON signal to the Servo Amplifier
LS 1-M . Provided there are no faults, RLY1 and RLY2 will energize ,
closing contacts for RLY1 & RLY2 . The RLY1 & RLY2 contacts are i n
the 100VAC loop (100A & 100B) with the MCC relay coils, thu s
energizing the MCC coils.
When the MCC coils are energized, the following sequence is generated :
08-23 through 27 1 . All MCC contacts are either opened or closed .
2 200VAC, three-phase, will be supplied to DS1 (AC-to-DC) rectifier .
08-09, 10, 11 3 . An interlock signal, INTLK1 (INTLK2 for two-axis), is returned to th e

LSI-M.
4 . When the INTLK signal is present at the LSI-M and no faults ar e

detected, the LSI-M will send a *DRDY signal to the Axis Contro l
Board. This indicates a successful power-up thus enabling the PW M
signals from the Axis Control Board .
08-24 through 29 The PWM signals will enter the LSI-M, then to the DV-M, for bufferin g
and then optically coupled to the transistors in the TM network . The
switching actions caused by the 200VDC biased transistors will generat e
the three-phase AC signal to drive the axis motor . This signal is output to
terminals 9, 10, 11 (U, V, W) on terminal block T1 .
16. SERVO CONTRO L

09-32, 09-3 5 At amplifier 4 (two-axis), the signals generated by the second TM network
are output to terminals 20, 21, and 22 on terminal block T1 .
04-05, 04-08 After a slight delay upon receiving the *DRDY signal from the Serv o
Amplifier, the brakes on the servo motors are released.
16.3 .1 There are many alarms, (or error codes), that can occur with the SYSTEM
Alarms R-J controller. They are read on the teach pendant and contain informatio n
about the system involved (code number, severity, and description o f
alarm).
Several alarms can occur during servo motor operation . These alarms can
originate at the servo motor, the APC, the cables, the Servo Amplifier, o r
the Axis Control Board .
Servo alarms (errors, faults) shut off the drive power to the Servo Contro l
system and pause program execution . Servo alarms cause the operato r
panel FAULT light and the teach pendant FAULT LED to go on. Servo
alarms are usually caused by hardware problems . Alarms within the Servo
Control are displayed with a SRVO prefix ; followed by a code number, an
abbreviation of the condition, and a code description . For example:
SRVO-XXX LVAL-xxxxx x
Alarms in the Servo Control can be described as those detected by th e

Servo Amplifier and those detected by the Axis Control Board .
Alarms Detected By the The alarms detected by the Servo Amplifier generally relate to abnormal
Servo Amplifier AC and DC supply voltages and temperatures . If an error is detected on
the Servo Amplifier, it will display a number on the 7-segment displa y
(LED-M) indicating the nature of alarm . It will also send to the Axis
Control Board on the PWM/ALM lines digital information on the alarm
(error code, axis involved, and so forth) .
Each 7-segment display number will have an associated error code . Se e
Table 16_1 .
Alarms Detected By the The alarms detected by the Axis Control Board generally relate t o
Axis Control Board problems with robot velocity, position and current load . The Axis Contro l
Board has status and alarm LED indicators . Normal operation is indicate d
by all four of the green status LEDs being illuminated . When an alarm has
occurred, one of the red alarm LEDs will be illuminated, depending upo n
the nature of the alarm . See Chapter 4, Lights and LEDs .
16. SERVO CONTROL
MARMMOSHW02301 E
16-12
Table 16-1 . Servo Amplifier LED Function s

Name Indication Description
Overvoltage(HV) An abnormally high DC voltage was detected in the powe r
supply of the main circuit of the servo amplifier .
Refer to Error code : SRVO-044* for troubleshooting informa -
tion .
Insufficient voltage of the contro l An abnormally low voltage was detected in the control powe r
power supply (LV5V) supply of the servo amplifier . (Rating: +5V)
Refer to Error code : SRVO-047*' for troubleshooting informa -
tion .
Insufficient DC link voltage (LVDC) An abnormally low DC voltage was detected in the powe r
supply of the main circuit of the servo amplifier .
tion .
Faulty regenerative control circuit The regenerative energy discharge was too large for a shor t
(DCSW) time . This alarm occurs when the regenerative energy dis-
charge circuit is defective .
tion .
Excessive regenerative discharg e The average regenerative energy discharge was too large .
(DCOH) This alarm occurs when the frequency of acceleration an d
deceleration exceeds a predetermined value . Refer t o
Chapter 14, Overheat Circuitry .
tion .
Servo amplifier overheat (OH) The thermostat in the servo amplifier operated . (Thermostat
contact opened) . Refer to Chapter 14, Overheat Circuitry .
tion .
Welded electromagnetic contactor The contact of the electromagnetic contactor in the serv o
(MCC) amplifier fused .
tion.
Overcurrent (HCL) An overcurrent was detected in the main circuit of the one -
axis servo amplifier or the L-axis main circuit of the two-axi s
servo amplifier.
Refer to Error code : SRVO-045* for troubleshooting informa-
tion.
Overcurrent (HCM) An overcurrent was detected in the M-axis main circuit of th e
two-axis servo amplifie r
Refer to Error code : SRVO-045* for troubleshooting informa-
tion .
Overcurrent (HCLM) An overcurrent was detected in both the L-axis and M-axi s
main circuit of the two-axis servo amplifier.
tion .
16 . SERVO CONTROL
Table 16-1 . (Cont'd) Servo Amplifier LED Function s

Name Indication Descriptio n
Servo amplifier not ready The electromagnetic contactor in the servo amplifier is turne d
off and is not ready to drive the motor. See teach pendant
display for error code information .
Servo amplifier ready The electromagnetic contactor in the servo amplifier is turne d
on and is ready to drive the motor.
Figure 16-4. Axis Control Board Status/AlarmIndicators

1 6. SERVO CONTROL
MARMMOSHW02301 E
16-44 :
1 6.4 This section contains information about how to recover from servo alarms .
SERVO ALARM S
SRVO-021 ER_ SVAL1 SRDY off (Group :i Axis :j)
The axis control pcb asserts the *MCON (*HRDY) signal to the serv o
amplifier. The servo amplifier asserts *DRDY (*SRDY) . If *DRDY
(*SRDY) can not be asserted and the servo amplifier cannot determine th e
problem, this alarm occurs .
NOTE *MCON (*HRDY) is the signal from the axis control PCB to th e
servo amplifier . It is used for energizing or de-energizing the MCC of the
amplifier. *DRDY (*SRDY) is the signal from the servo amplifier to th e
axis control PCB . It indicates if the MCC turns on or off When the axis
control PCB attempts to turn the MCC on and the MCC cannot be turned
on, an alarm occurs .
08-1 7 • Check the input voltage (100V) at servo amplifiers terminal T15 an d
09-18 6.If the input voltage is lower than 85V, the cable for the 100V inpu t
could be damaged or disconnected .
SRVO-022 ER_SVAL1 SRDY on (Group :i Axis :j)

*MCON (*HRDY) is the signal from the axis control PCB to the serv o
amplifier. It is used for energizing or de-energizing the MCC of th e
amplifier. *DRDY (*SRDY) is the signal from the servo amplifier to th e
axis control PCB . It indicates if the MCC turns on or off . When the axis
09-01 through 09 control PCB attempts to turn the MCC on and the MCC is already on, a n
alarm occurs .
SRVO-023 ER_SVAL1 Stop Error Excess (Group :i Axis :j)

The servo error is in excess of the commanded position when the robot i s
stopping, or the robot is stopped and it will not move. The torque
necessary to decelerate an overloaded motor could cause this alarm t o
occur.
• Check whether the load exceeds the specification . If it exceeds the

specification, reduce the load .
• Check for proper brake release .
• Check for mechanical binding .

16. SERVO CONTROL
SRVO-024 ER_SVAL1 Move Error Excess (Group :i Axis:j)

The servo error is too big when the robot is moving, or the robot move s
when it is supposed to be stopped.
• Same as SRVO-023, Stop Error Excess .
SRVO-025 ER_SVAL1 Motn Dt Overflow (Group :i Axis:j)

The motion command exceeded specification .
SRVO-036 Inposition Time Over (Group :i Axis :j)

The robot is not in position for the specified period, or the servo error is in
excess of the commanded position when the robot is stopping, or the robot
is stopped and it will not move. The torque necessary to decelerate an
overloaded motor could cause this alarm to occur.
• Check whether the load is over specification . If it is over

specification, reduce the load .
Check for a binding axis . Replace if necessary.
08-24, 25, 26 • Check whether the three-phase input voltage is lower than the FANU C
specification (170V ' 253V) . If it is lower, the available torque o f
the motor decreases . Increase the input voltage within the rated
voltage. Check transformer TF1 for the proper tap setting .
Replace the servo amplifier.
If the problem persists, replace the motor .
SRVO-037 ER_SVAL1 IMSTP Input (Group :i Axis :j)

IMSTP (immediate stop) UOP input asserted .
• If using a UOP, determine the cause and repair. If not using UOP,
select the I/O menus and zero UOP mapping .
16. SERVO CONTROL
MARMMOSHW02301 E
16_16
SRVO-038 PULSE MISMATCH (Group :i Axis :j)

When the controller was powered up, one or more of its axes was at a
different position from when it was powered off.
This might occur when a motor is replaced or when a CPU from on e
controller is installed in another.
Set system variable $MCR.$SPC_RESET to True .
• Press the MENU key.

• Select System.
• Press [TYPE] . Select System Variables.
• Cursor down to $MCR, and press the RETURN key .
• Cursor down to $SPC_RESET.
• Press F4 TRUE . The display will still show "false " . This is normal.
• Perform a cold start.
• If necessary, master the robot.
SRVO-042 ER_SVAL2 MCAL Alarm (Group :i Axis :j)

The servo amplifier magnetic contactor (MCC) is welded closed. If th e
contact of the magnetic contactor is already closed when the contactor i s
turned on, this alarm circuit regards the contact as welded closed and th e
MCC alarm occurs .
08-24, 25, 26 • Check whether the alarm occurs with SRVO-049 . If it does, check fo r
the absence of input three-phase voltage . Correct as necessary.
• Check whether the alarm occurs with the OH1 alarm . If it does, turn
off the controller power for fifteen seconds and turn it on again . If stil l
present, replace the connector CN1 or CN2 of the problem axis o r
check its associated cable and connector at the axis module .
If the problem persists, replace the servo amplifier.

16. SERVO CONTROL
SRVO-043 ER_SVAL2 DCAL Alarm (Group :i Axis j)

The regenerative energy produced by the motor exceeded the specification.
NOTE The amplifier supplies the energy (velocity energy) to the moto r
when the axis (without gravity) moves at the acceleration and constant
speed . When the axis moves at the deceleration and constant speed an d
with gravity (gravity energy), the motor supplies this energy (velocity
energy plus gravity energy) to the amplifier. This energy from motor to
the amplifier is the regenerative energy . The amplifier discharges thi s
energy by converting this energy to heat energy through the discharg e
resistor. If the charged energy exceeds the discharged energy, this alar m
occurs.
Check the LED of the amplifier, then perform the followin g

troubleshooting procedure .
• Check whether a "4" or "5" is indicated on the servo amplifie r

7-segment display.
08-37, 09-3 7 If a "4" is indicated (DCSW alarm) when the regenerativ e

transistor is on continuously for one second or longer, reduce th e
load of the robot. If the error still persists, replace the serv o
amplifier.
08-39, 09-3 9 If a"5" is indicated (DCOH alarm), the DCOH alarm is caused
when the regenerative resistor overheats and is sensed by th e
thermostat or the thermostat in transformer TF1 opens . The alarm
occurs when the acceleration/deceleration frequency is high o r
gravity energy at the axis is large . Relax the operating conditions .
For robots with extended axes :
When a separate regenerative discharge unit or power transforme r
for the servo controller is used, check the wiring for the thermosta t
according to the connection diagrams for proper wiring .
08-03, 09-03 - If a "4" or "5" is not indicated, check for short to ground or an
open circuit in the PWMC line of the specified axis between th e
axis control PCB and servo amplifier (connector JV-1 through 7) .
Swap digital output modules in the axis control PCB . If the alarm
indicating moves with the module, replace the module .
If the above does not solve the problem, replace the serv o
amplifier.
16. SERVO CONTROL
MARMMOSHW02301 E
16-18
SRVO-044 ER_SVAL2 HVAL Alarm (Group :i Axis:j)

The DC voltage on the main power circuit of the servo amplifier exceeded
specification
• Check the three-phase voltage to the servo amplifier input. It should
not exceed 253 VAC phase-to-phase . Check the cabling between the
servo amplifier and the axis control PCB if no alarm is indicated on
the servo amplifier 7-segment display .
08-24, 25, 26 • Check whether the voltage of the three-phase input is higher than 1 . 1
09-23, 24, 25 times the rated voltage . (When the robot is accelerated or decelerated
01-18 rapidly and the three-phase input voltage to the amplifier is 1 .1 times
the rated voltage, an HVAL alarm could occur .) If the voltage i s
higher than 1 .1 times the rated voltage, lower the voltage of the inpu t
within the rated range. Check transformer TF1 taps.
• Check whether the load of the robot is within the specification . Even
if the three-phase input is within the rated voltage, this alarm occurs
by the charge of the regenerative energy when the load exceeds th e
specification . If the load exceeds the specification, reduce the load o f
the robot.
• Check the connection of the separated regenerative discharge unit . If
one is being used, it should be wired across terminals
T117 and 19 o f
and connected to terminals 1 and 2 of T3 on the discharge unit. There
should be no jumper connecting terminals 17 and 18 . If connected
incorrectly, connect correctly.
08-39 • Check the resistance of the built-in regenerative resistor of th e
amplifier or that of the separated regenerative resistor (14 ohms) acros s
terminals 17 and 19 of T1 . If the measurement shows an open circuit ,
replace the amplifier or the separated resistor unit .
For robots with extended axes :
• The operator condition (frequency) might not be appropriate for the
specification of the motor or the amplifier. If this occurs, relax the
operating conditions or select a larger motor or amplifier.
Replace the servo amplifier.
SRVO-045 ER_SVAL2 HCAL Alarm (Group :i Axis :j)

The current in the main power circuit of the servo amplifier exceeded
specification. The servo amplifier LED should display "8", "9", or "6 ".
• If no alarm is indicated on the servo amplifier 7-segment display ,
check the cabling between the servo amplifier (CN1) and the axis
control PCB (JV1-10) .
08-24, 25, 26 • Disconnect the motor power lines from the amplifier terminals an d
turn on the power . This alarm will re-occur if:
16. SERVO CONTROL

08-20 - Transistor module is defective .
08-29 - Resistor R3 has opened or raised impedance .
12-30,12-35 - ALM module is defective .
10-31,32 - LSI module is defective .

Repair or replace these components as necessary or replace the servo
amplifier.
08-24, 25,26 • If the alarm did not reoccur, remove the motor power lines from the
amplifier terminals and check continuity between GND and each of
the lines U, V, and W that go to the motor.
08-24, 25, 26 - If any are short-circuited, remove the power lines at the robot' s
motor connector (J1-6) and recheck the continuity between (GN D
and each of U, V, and W to the robot motor. If any are shorted, the
motor is defective . Replace the motor. If all are open, the powe r
lines to the motor are defective . Repair or replace the line that wa s
shorted to GND .
08-24, 25, 26 - If no short with the power lines removed, measure the resistance
between U-V, V -W, and W--U on the servo amplifier, using a
measuring instrument sensitive enough to detect small resistances.
08-12,13 If the three measured values are different, replace the SIF modul e
on the axis control PCB . If the alarm no longer occurs, the SI F
module was defective .
08-24,25, 26 - If the three measured values are the same, remove the power line s
from the motor connectors and remeasure the resistance betwee n
U-V, V-W, and W-U using a measuring instrument sensitiv e
enough to detect small resistances . If the three measured value s
are different, the motor is defective . Replace the motor. If the
three measured values are the same, the power lines are defective .
Replace them .
• If the three measured values are different, replace the servo amplifier .
• If the alarm still occurs, replace the SIF module on the axis control
board, or replace the axis control board itself.
• If the alarm still occurs, replace the APC on the motor.
• Check whether you are using the robot under conditions that excee d
the specification . For example, load, duty, and so forth . If there is no
mechanical reason (binding, and so forth) to cause this alarm, thi s
alarm might occur under conditions that exceed the specification . If
you are using the robot over the specification, relax the operatin g
conditions .
16. SERVO CONTROL
MARMMOSHW02301 E
16-2 0
SRVO-046 ER_SVAL2 OVC Alarm (Group:i Axis j)

The average current calculated by the servo software exceede d
specification.
08-24, 25, 26 0 Check for the three-phase 200VAC input voltage to the serv o
01-15,16 amplifier. If low or missing, check transformer TF1 taps and fuses .
• Check for mechanical binding on each of the robot axes.
• Check whether you are using the robot under conditions that excee d
the specification. For example, load, duty, and so forth . If you are
using the robot over the specification, relax the operating conditions . -
08-11, 12,13 • Replace the SIF module on the axis control PCB for the specified axis .
If the problem no longer occurs, the SIF is defective . If the alarm
occurs again, the motor is defective .
SRVO-047 ER_SVAL2 LVAL Alarm (Group :i Axis .-j)

The DC voltage on the main power circuit of the servo amplifier is lowe r
than the specification even though the MCC is on .
• If no alarm is indicated on the servo amplifier LED, check the cabling

between the servo amplifier and the axis control PCB .
08-23, 24, 25 • Check whether the LED of the servo amplifier indicates a "2 ." A 442"
indicates that the 5V control voltage is too low.
- Check for 200VAC input power to terminals 13 and 14 of the

servo amplifier. If low or missing, check transformer TF1 taps
and fuses .
- If 200VAC is present, check for 5V on the +5V test pin on th e

front of the servo amplifier.
- If 5V is missing, verify that fuse Fl of the servo amplifier is good.

Replace the fuse if defective . Replace the servo amplifier if the
fuse is good, or if the fuse blows again when replaced .
08-23, 24, 25 • Check whether the LED of the amplifier indicates a "3 ." A 443 "
indicates the DC current in the main power circuit is too low .
- Check whether the circuit breaker on the servo amplifier tripped .
If a circuit breaker trips, this alarm will occur incidentally . If a
circuit breaker trips, turn on the breaker . If it trips again, replace
the servo amplifier.
MAKMMVbHW UZJU11
16-21

• Check for the three-phase 200VAC input voltage to the serv o
amplifier. If low or missing, check transformer TF1 taps and fuses .
• Check whether the LED of the amplifier indicates a "7 ." This alarm
could occur when the contact of the magnetic contactor is melte d
(welded together) . Refer to the SERVO-042 MCAL Alarm.
- SRVO-049 ER_SVAL2 OHAL1 Alarm (Group :i Axis :j)

08-10 The servo amplifier overheated. Servo amplifier LED indicates "6" .
• If no alarm is indicated on servo amplifier 7-segment display, chec k
cabling between the servo amplifier (CN1 ; and axis control modul e
QV 1-6).
Relax the operating conditions (duty) . If the alarm no longer occurs,

the operating conditions of the robot exceeded the specification .
10-36 • Replace LSI module on servo amplifier .
Replace servo amplifier.
SRVO-050 ER_SVAL1 CLALM Alarm (Group :i Axis:j)

The servo software detected a disturbance torque that was too high or a
collision occurred and tripped a collision detection alarm .
• Check whether a collision occurred . If a collision occurred, reset th e

robot by using the teach pendant to reset and jog the robot away fro m
any obstructions .
• Check whether the load exceeds the specifications . When the robot
moves over the specifications, the estimated disturbance torque migh t
become larger and this alarm could occur .
08-23, 24,2 5 • Check for the three-phase 200 VAC input voltage of the serv o
01-1 7 amplifier. If low or missing, check transformer TF1 taps and fuses .
SRVO-051 ER_SVAL2 CUER Alarm (Group :i Axis:j)

The feedback current is abnormal .
• Replace the SIF module for the specified axis at the axis control PCB .
08.11, 12,13 • If the alarm still persists, replace the servo amplifier .
16. SERVO CONTRO L
MARMMOSHW02301 E
16_22

SRVO-061 ER_SVAL2 CKAL Alarm (Group :i Axis j)
The clock for the rotation counter in the pulse coder is abnormal .
• Check whether a SRVO-068 DTERR, SRVO-069 CRCERR, or a

SRVO-070 STBERR occurred with this alarm. If one of them
occurred, this alarm is only shown on the teach pendant by th e
communication alarm . If shown, disregard this alarm and refer to th e
remedy of any of the other three alarms .
• Replace the pulse coder and perform the mastering procedure .
SRVO-062 ER_SVAL2 BZAL Alarm (Group :i Axis j)

08-21 The battery voltage for the pulse coder is zero volts .
• Check whether a SRVO-068 DTERR, SRVO-069 CRCERR, or a

SRVO-070 STBERR error occurred with this alarm . If one of the
alarms occurred, this alarm is only shown on the teach pendant by th e
communication alarm . If shown, disregard this alarm and refer to the
• Check whether the LVAL alarm occurred before this alarm occurred .
- If the LVAL alarm occurred, the battery's voltage has dropped t o
zero volts .
- Replace the battery.
- Set system variable $MCR.$SPC_RESET to True.
• Press the MENU key.
• Select System.
• Press [TYPE] . Select System Variables .
• Cursor down to $MCR, and press the RETURN key.
• Cursor down to $SPC_RESET.
• Press F4, TRUE . The display will still show "false Tin s
is normal .
• Perform a cold start .
• If necessary, master the robot .
- If the LVAL alarm did not occur, the cable of the battery migh t
intermittently short circuit or open . Check the battery cable.
SRVO-063 ER_SVAL2 RCAL Alarm (Group :i Axis :j)

The built-in rotation counter on the pulse coder is abnormal .
• Check whether a SRVO-068 DTERR, SRVO-069 CRCERR, o r

• If the alarm still persists, replace the pulse coder and master the robot .
16. SERVO CONTROL
MARMMOSHw02301E 16-23
SRVO-064 ER_SVAL2 PHAL Alarm (Group :i Axis :j)

The relationship between the analog signals on the pulse coder ar e
abnormal .
• If the alarm still persists, replace the pulse coder and master the robot.
SRVO-065 ER _WARN BLAL Alarm (Group :i Axis-.j)

08-21 The pulse coder batteries are low .

remedy of any of the other three alarms.
• If the alarm persists, replace the battery. Remaster the robot i f

necessary.
NOTE Replace the battery as soon as possible when this alarm occurs ,
otherwise, if the battery voltage goes to zero volts, a SRVO-06 2
ER_SVAL2 BZAL Alarm will occur and the robot will requir e
remastering .
SRVO-066 ER_SVAL2 CSAL Alarm (Group:i Axis :j)

The pulse coder ROM checksum data is abnormal .

• If the alarm persists, replace the pulse coder and master the robot .
SRVO-067 ER_SVAL2 OHAL2 Alarm (Group :i Axis :j)

07-16 through 07-22 The pulse coder overheated .

16. SERVO CONTROL
MARMMOSHW02301 E
16_24
• Check whether the operating conditions (load, duty, and so forth )

exceed the specifications . If the operating conditions exceed th e
specifications, relax the operating condition within the specification .
Reduce the load, change the program, and so forth .
• Turn off the motor and when the temperature of the motor returns t o
normal, turn it back on.
- If the alarm immediately occurs again, the built-in thermostat i n
the pulse code is defective . Replace the pulse coder.
- If the alarm occurs again, but not immediately, the motor i s
generating too much heat . Replace the motor.
SRVO-068 ER_SVAL2 DTERR Alarm (Group :i Axis j)
The axis control PCB sent the serial data request signal to the pulse coder ,
but did not receive serial data from the pulse coder .
08-16,17,18 • Check for connection and continuity of the feedback cable . Repair or
replace if necessary.
• Replace the pulse coder and master the robot .
08-01 through 10 • Replace the SCM (servo control module) .
08-10,11, 12 • Replace the SIF module .
SRVO-069 ER_SVAL2 CRCERR Alarm (Group :i Axis :j)

The serial data from the pulse coder changed during communication to th e
axis control pcb .
08-16,17,18 • Check for connection and continuity of the feedback cable . Repair or
08-01 through 10 • Replace the SCM (servo control module) .
08-10, 11, 12 • Replace the SIF module .
SRVO-070 ER_SVAL2 STBERR Alarm (Group :i Axis j )

The communication stop and start bits are abnormal .
08-16,17, 18 • Check for connection and continuity of the feedback cable . Repair or
08-01 through 10 • Replace the SCM (servo control module).
08-10,11, 12 • Replace the SIF module .
16. SERVO CONTROL

SRVO-071 ER_SVAL2 SPHAL Alarm (Group :i Axis .-j)
The feedback velocity exceeds the specifications .
• Check whether this alarm occurs with any other alarm . If another
alarm occurred, this alarm is caused by another alarm of the serial
pulse coder. Refer to the other alarm for details .
• Reduce the load within the specifications .
SRVO_081 ER_WARN EROFL Alarm (Track encoder :n )

Line Tracking Overflow Error.
• Check the connection between the controller and the line tracking
device (absolute encoder or pulse generator) .
• Check that line speed is within FANUC specification . If not withi n
specification, relax the line speed .
SRVO-082 ER _WARN DAL Alarm (Track encoder :n)

Line Tracking Pulse coder is disconnected .
• Check for correct axis control pcb for line tracking and prope r
connections .
• Check line tracking pulse coder cables .
• Replace the SIF module on the axis control PCB .
• Replace the SCM module on the axis control PCB .
• Replace the pulse coder.
SRVO-083 ER_WARN CKAL Alarm (Track encoder :n)

The clock for the rotation counter in the line tracking pulse coder i s
abnormal .
• Refer to SRVO-061 remedy.
SRVO-084 ER_WARN BZAL Alarm (Track encoder :n)

The battery voltage for the line tracking pulse coder is zero volts .
• Refer to SRVO-062 remedy,
SRVO-085 ER _WARN RCAL Alarm (Track encoder :n)

The built-in rotation counter on the line tracking pulse coder is abnormal .
SRVO-086 ER _WARN PHAL Alarm (Track encoder :n)

The relationship between the analog signals on the line tracking puls e
coder are abnormal .
9 Refer to SRVO-064 remedy.
16. SERVO CONTRO L
MARMMOSHw02301 E
16_26
SRVO-087 ER_WARN BLAL Alarm (Track encoder :n)

The line tracking pulse coder batteries are low .
SRVO-088 ER-WARN CSAL Alarm (Track encoder :n)

The line tracking pulse coder ROM checksum data is abnormal .
SRVO-089 ER _WARN OHAL2 Alarm (Track encoder :n)

The line tracking pulse coder overheated .
SRVO-090 ER _WARN DTERR Alarm (Track encoder :n)

The axis control PCB sent the request signal, but did not receive serial dat a
from the line tracking pulse coder.
• Refer to SRVO-068 remedy
SRVO-091 ER_WARN CRCERR Alarm (Track encoder :n)

The serial data from the line tracking pulse coder changed durin g
communication to the axis control PCB .
SRVO-092 ER _WARN STBERR Alarm (Track encoder :n)

The communication stop and start bits for line tracking axis are abnormal .
SRVO-093 ER _ WARN SPHAL Alarm (Track encoder :n)

The feedback velocity exceeds the specification for line tracking axis.

LOCATION FIG . NO.
ALC RELAY FRONT OF TF1 01-26 16- 8
ALM-M SERVO AMPLIFIER SH .12 16-6,16-7
APC (ABS . PULSE CODER) ROBOT ARM SH .8 & 9 16- 9
AXIS CONTROL MODULE PCB RACK - 16-8,16-9
CIRCUIT BREAKER (NFB) SERVO AMPLIFIER 08-24,09-23 16- 4
CRF1 AXIS CONTROL PCB 08-16,09-16 16- 9
DIODE BLOCK DS1 SERVO AMPLIFIER 08-22,09-21 16-6,16-7
DISCHARGE RESISTOR SERVO AMPLIFIER 08-39,09-39 16-6,16-7
DISCHARGE TRANSISTOR SERVO AMPLIFIER 08-35,09-ti36 16-6,16-7
DV-M SERVO AMPLIFIER SH .11 16-6,16-7
FUSE F1 SERVO AMPLIFIER 08-32,09-32 16-6,16-7
JV CONNECTORS (JV1-6) AXIS CONTROL PCB 08-01,09-01 16- 9
LED DISPLAY SERVO AMPLIFIER 10-26 16- 4
LSI-M SERVO AMPLIFIER SH .10 16-6,16-7
MAIN (CPU) MODULE PCB RACK - 16-8,16-9
MCC RELAY CONTACTOR SERVO AMPLIFIER 08-14,09-11 16-6,16-7
SERVO MOTOR ROBOT ARM SH .8 & 9 16- 9
SIF-M AXIS CONTROL PCB 08-12,09-12 16- 9
TERMINAL BLOCK T1 SERVO AMPLIFIER SH .8 & 9 16- 5
TRANSFORMER TF1 BOTTOM OF CONTROLLER SH .1 16- 8
TRANSISTOR MODULE (TM) SERVO AMPLIFIER SH .8 & 9 16-6,16-7
01-0 1
01-0 2 MAI N
01-0 3 DISCONNECT_K00 3
K001--
01-0 4
01-0 5
01-0 6 k I 30 A
01-0 7 CUSTOME R
SUPPLIE D
0 L 30 A
01-0 8 220-575VA C
50/60 H z I J L
01-0 9
3 PH . `~-- 30 A
01-1 0 I I
01-1 1 f l .
_
K002 K004-- -
01-1 2 11 I I
01-1 3 1 I OPTIONA L
01-14 I CIRCUIT/LEAKAGE I I
BREAKER p 0©G©DO111G Q6EI9MOIRE 89E3888M 8 < TF 2
01-1 5 I 1 ' USE R
R S
a a aa >>>
p m
01-1 6
01-1 7
i
L
~
___ofo~7~--J
I I
I
TF 1 n N . Y n
re m
TH1
n
TH2
n Yf >>>>> >
g R fr r f
XFORME R
'YYYYrYr
01-1 8
01-1 9 -ala-~7r' MAI N (120VAC )
XFORME R
01-20 K022
L ,-L U
01 = 21 -o
01-22 AMPERAGE RATING TABLE INTERFACE' UL1 AND UL 2
200VA C
01-23 INPUT CIRCUIT LEAKAGE DISCONNECT TO PS U =a (102)
0
VOLTAGE BREAKER BREAKER SWITCH (02-01 ) M 1a=I
01-2 4 (C.B.WITH ± 1 *1
01-25 G.F .L) FL1IFL2(FL 3 3 07
220 C c dzeot'o--04 GROUND CONNECTE D

01-26 24 0 50A 50A 50A
6
SWITCH/INDICATO R
01-2 7 380
415
01-2 8 46 0 200VAC I N
30A 30A 30 A
01-2 9 480 FROM PS U 7,5A a , SERVICE OUTLE T
50 0
01-3 0 550 (02-25) 4
575 20A
01-3 1 K023
01-3 2 CUSTOMER SUPPLY TO TF1 CONNECTION
01-3 3 INPUT CONNECTION AT CONNECTIO N
VOLTAGE PRIMARY TAP STYL E THERMAL CIRCUI T
01-3 4 ®- TO SERVO AMP # 1
01-3 5 Ll L2 L3 , JUMPE R (08-36 & 08-37)
220 - 0715 23 08-1516-23 24-07 DELT A K020
01-3 6 240 0614 22 08-1416-2 2, 24-06 6, _
01-3 7 380 07 15 23 -
415-440 06 14 2 2
01-3 8 460 05 13 21 200VAC 3PH ,
STA R TO SERVO AMP S
480 04 12 20 08-16 16-24
01-3 9 (08-24 thru 26)
500 0311 1 9
01-40 550 0210 1 8 (09-24 thru 26)
575 01 09 1 7
RAGE NO.
1 6 -29 ;
16 . SERVO CONTROL
16-30
NOTES
100VAC
FROM ALC RELAY
03-01 <01-33)
03-02
03-03
03-0 4 CRR- 3 CRR- 3

1 3
03-0 5 IOOINI 100IN2

K036 (CI]NT . P .C.B .)
CRR-3 OP 1
03-0 6
OP E-STOP CRR3
OP 2
03-0 7
CRR-3 EMGIN1
03-0 8
03-09 EXT . E-STO P - - - - - -

CRR-3 EMGINC kaiy, RL
13
EMGOUT RELAY
SEE SECTIO N (05-10) (06-46,06-50)
R I/O
03-1 0 INTERFACE' CRR-3 RL
(110) ~
ll~ EMGiN2 EMG RELAY
- 3<HI 4
03-11 K03 1 1
CRR 13
C
(05-07) (06-11,06-29 )
ME TTER SS. SON

03-12 CRR-3
2 1000UT1 SERVO O N
LE D
14
03-13 CRR1-3
K021
03-14 (09-17) $O CRR1 , 100OuT 2
AMPS
03-15 CRR 3 100IN 4
AUX.
03-1 6 INPUT { CRR- 3 100IN3 4 2 3
4
03-1 7 (06-29) 100 VDC T O
CRR-3 1000Ur3 BRAKE CIRCUI T
AUX . (( 1
OUTPUT J
03-1 8 l CRR-3 F USE
l 1000UT4
OPERATOR' S
03-1 9 PANEL BLOWN FUS E
O .P. 5A MONITO R
E-STOP
03-2 0
03-2 1 10VDC 10 VDC T O

REGULATOR BRAKE FET'S .
03-2 2
03-2 3 OPERATO R LOW VOLTAGE

INTERFAC E C03-31 ) MONITO R
PCB N (03-27 )
03-24 5 5F) SENSITIVITY
03-2 5 8> RIO 8 MOMENTARY SURG E

SE T DETECTION
(03-28 )
03-2 6 -0 1 2 -1
L_ -9J
NORMA L m
K35 ALLOW BRAKE
03-2 7 IH
(03-23)(03-33 ) RELEASE
8 (03-33 )
03-2 8 HOLD AT SURGE
DETECTION
C03-29,03-31 )
03-2 9
03-3 0
10
(03-28) <03-23 >
03-3 2 E/SURGE ALARM

BACKPLANE
JRgO
03-33 INTERNAL <TO RJ )
C05- 0) E-STOP DETECTE D
(AXI S C03- (03-27 )
03-3 4 CONT . P .C .B. 24 E
FUSE ALARM AE JR6O

F 15
03-3 5 RF
1HYB 3
SRVO-00 8
03-36
BRAKE 0 V BIAS RETURN 10VDC TO AXIS SWITCHING! BRAKEC SOLENOID S
(04-03) (04-03) (04-03)
03-3 7
03-3 8
03-3 9
03-40
TO SHEET 4
03-41
'la EMG STOP & BRAKE CONT .

. FANUC Robotics 100VAC E-STOP CIRCUIT
100VDC BRAKE CIRCUIT (1 OF 2 )
FAMIC Rob:6m North Amerka, Inc.
rxa. Ma vim N/A
rn
i . 40326
I Rood800 HEFT xo. TOTAI 4tTrs o04nh3 p0
.
mwh en am
P : CDOMBS 5/22/9 3
16. SERVO CONTROL
NOTES
FROM SHEET 3
04-0 1
04-02
04-03 ~UV B1A~ R 1 URN 10VDC 100Nd

IISS (033
- 7) (03-37)( 0
CCON7, P,C,BJ
BACKPLANE
04-04 SOFTWAR E M . P .C .B .>
(GLINT
SWITCHING (E
JRA2 JRAO I
04-05 <I
?
JRA2 JRA0
<I BRK1 D1I
04-06 >4 N
1 LO t
SBK1-1 Q
•f~
SBKI-2
d N
C1
JRA2 JRA O
04-0 7 > « •~ 02 .
d N
SK2-24-3 ~
e
S111(2-Iv
( JRA2 JRAO ~ B % H
04-0 8 03
kk SBK3-1 Q S K3-24
)31 - •
04-09 KI]6 K07 1
04-10
BRAKE L AXIS #1
JI M <<
B
Ml
i « 1 CRR-5 BKP 1
1A «
SOLENOI D JI M MI CRR-5
04-1 1 D« A « 1B « BKM 1
04-1 2 J2B M Ml2 CRR-S 9KP2

« 2A «
BRAK E L AXIS #2
04 -13 SOLENOI D J2 M M1 CRR-5 -5 BKM2
D« 9 « «
04-1 4
J3 M M1 CRR-5
3 C 3A « BKP3
04-15
BRAK E AXIS #3
SOLENOI D L J3 M MI CRR -S « BKM3
04-1 6 D « 10 « 3B
04 -1 7 J4 B K M1 CRR-3 BKP4
A « 4 IC «
BRAK E L AXIS #4
04 -18 SOLENOI D J4 B K M1 D CRR-S
1 B« 11 « I C BKM4 .
04-1 9
J5 B K CRR-
2C 5 BKP5
MI5
04-20 A« «
BRAK E L AXIS #5
SOLENOI D J5 B K M1 CRR-5 BKM5
04-21 B« 12« PD <
04-22 J6 B K M1 CRR -
3C < BKP6
A « 6 «
BRAK E
04-23SOLENOI D
LAXIS #6
J6 B K MI CRR-5
B 13 « 3D « BKM6
04-24
04-25 (CONT . P.C .B. )

BACKPLAN E
SOFTWARE
SWITCHING
04-26
HYB4)~ RA2 JR8
04-2 7 '-r ( JRA2 JRAO I BRK4 D4

3 -« d N
04 -2 8 SBK4-1 SK4-2p CI
"J
S
'JRA2 JRAO I 6 D5
°
5 y
las SBKS-1 b S•'IK5-2 N Cs
04-2 9 Y Y
7 JRA2 JRA0 D6 )ham
04-3 0 SBK6-1g SBK6-2~~~
04-3 1
CRR1)
04-3 2
(CRR
04-3 3 ~
16
04-3 4 CRR-?
AUXILLIARY
04-3 5 AXES OUT CRRj 391
tf
04-3 6
CRR -
04-3 7
CRR2
04-3 8
E
C ONT . P.C .B. )
04-3 9
04-4 0
04-41
1fe EMG STOP & BRAKE CONT ,

FANUC I ics 100VDC BRAKE CIRCUI T
FMNC Robotti No~rth knerka. Ox. (2 OF 2)
2000 uth. .AlbWmHio ( 48f26
ny A LN0. MO N/A
28800 scar W TOUT MIS ONqUG N 4
ovum as
P . COOMBS 3/22/93
16. SERVO CONTROL
NOTES
0 0 0 0 0 0 o e o 0 0 0 0 0 o e a a a a a o e o o e e o 0 0 o e o e e o
m tb m m m m m m m m m m m m m m m m 0
1 a1 1 1 1 1 m1 m1 1 m1 m co co m m m à m m m m
1 1 1 1 1 1 1 m1 m1 m1
1 I $ 1 1 1 m1 m1
A 4) W W t~1 t~1 W l~ tai ~N! !y N N N N !~u!1 !ryy1 N, r v
o .O m V UI A W IV .0 m V N N A tJ N c3 ,,-'8
, m V O. CA A W N 0 s m A A 2' N "Q'
7
y
f) 0
0\
C3
CNe
rr
V
A M to
S S
W,
• oof !:E3
tae-t"
R q 9 i E3 @ C
~g
V_V V V V V V V V V
Isd Rd ~4d RGd RESd R. Id u

d-Au d
IJ
4.0
16. SERVO CONTROL
16-3 6 MARMMOSHW02301 E
NOTES
K
09-01 r2 AXI S +24V
cm.
09-02
I SERVO AMPLIFIER
PVM-AL CALM-IL)
PVN-BL CALM-1.)((5
33 pvH-AL -i
PVI4-CL CALM-4L)((7 pvm-cL

,
PVM-DL CALK-8U(,13 13 . ._ WK-I L
09-03
PYM-EL (15 I 154 P'K-EIL_
09-04 4 PVM-fL >)17

4 I r-
- i (.4
• DID I GLOBAL
09-05 imam
» 1°
I 10L N10lKE , .1 I/F
I;
oom K 4
PWM-AM CALM-11b 3
09-0 6
PMI-B14 WJ4-21b pv$4-og _I
8
PVM-C14 CALM-4$0 7
09-0 7 PVM-04 I LJ
PVM-DK CALM-810 13 PWM-114 ;1
PWM-EM 1 5 M4-EN
09-08
PVM-f14 17 -I
Dv aDRDYK 20
09-09 20 L
*cow 10
SKI PVMtKJT AOL-HCL
09-1 0 PVIOUT A64-FK6
RLYI L :DOH CLOCK
09-1 1 1 14 O 9- :2 L89.2a
09-12
09-021
tAl1o"MDO: Aa r CA)
(SEE SKFET 014>
1 I ~ltL
ISL . .n
~-6L. I
09-13
RLY2 L
09-14 31 14 .
04CC249 0609-2309-2509-363
09-15
09-16
09-1 7
09-1 8
09-1 9
09-20
09-21
09-22
09-23
09-24 01-36
09-2 5
09-2 6
09-2 7
09-2 8
09-29
09-30
09-31
09-32
09-33
09-34
09-35
09-36
09-37
09-38
09-3 9
09-40 PACE R 0
16-37
16. SERVO CONTROL
NOTES
CN11
10-01 2 AXIS +24V 67 PVM-AL CALI4-1() >>
JVI~
PVM-AL
SERVO AMPLIFIER 14 68 ♦
10-02 CRLY1.10-1U PWM-BL CALM-2L) »5 5 •
69 •
P1 M-C1. CALM-40 7 7
•
10-03 70 PWM-DL CALM-BD \13 LY« PVII-0 . ,
71 PVN-EL ((15 15 PVM-EL
LSI-M <(
10-04 72 PVM-FL C>17 17 PVM-FL _
CSEE SHEET 112)
CRLY2.10-14) 15 08 n ORDYL ~>20 0
2 O(C DIGITAL
Q)TPUT
10-0 5 McC1 meow 10a MJDULE
0pl gy INTLK1 16 04114 JV1-6
10-0 6 73 PVI4-AM CALM-114) 3
p( INRK2 ' 17 74 PVM-BM W.N-2M0 35 PVN-BM
0C-t 75 PVM-cl( uu.M-41c
a r PVM-a Co
10-07 T14&90'f7 7<4 1 GS
OH _ 91 76 PVM-DM CALM-810 13 13.
77 to PkM-EM
10-08 Cu
~(1
PVN-FM »17 7 17. PvM-FM \
e11RDYN .,,20 2D. It)
10-09
60 AcoNt( 10 to
SKI PVMIDUT AI -FM
PVMOUT AGM-+14G LED-!
10-1 0
RLY1 CLOCK
nORDYL~
44 AIM-1L in, ,
10-1 1 O* d-10-051D-2G10-23, ALM-2L
tl{-02) 10-25.10-36)
ALM-M ALM-4L DIGITAL
10-12 CANS efa0 MIL JV1-6L ALM-EL . Cn
CA) ISL 1
I SERVO
OBOE SHEET 414) * 1SL
sKZ IRL 1 1RL
10-1 3
RLY2 MHC1
LILT
Bl m . n)tn.M MODULE 8
U
PSLV2 'IRDYM r
10-1 4 CMC02-10-0640-23,10-25.10-36) Trm WAIN ALM-1M
31 1 d
Wit 7M1
10-15 ALM-4M
JV1-614 ALM-8M
1). ISM
10-16 1 1R14
57
1
10-17
03-1 4 6n
10 .48 K070
7T1 BATTERY
10-19 0
11-09 Bn K071
10-20 0 K109
ID .14
10-21 16 . A
K115
I
0
M1 J4
10-22 14F8 tl5A/250V) I 22,23 ( B< AXIS M
2TI ran M1 J4
10-23 ~0 IJ 4 2930, C.
3 T1 00-11) NCB tl0-14) Ml J4

10-24 01-36
10-25
10-26
10-27 KI09 ]
10-28
BATTERY (AP
''I j
10-29
10-30
10-31
9L
10-32
aaa PS-M
14 n CPOVER M
10-33 SUPPLY)
10-34 12
G
t o
10-35 !
11
IC116
10-36 /77 -4 5- TBO8R
CV C11-01)
C6
10-37 -i 1- T1 TI T1 Tl
16 15 19 18 17
V W-
10-3 8 Z
z
NC)V NNE
z z
N-'
z
0 u u u
._y_J
10-3 9 180'C
/77HEAT SINK CRR1I
-VW- C11-38) TBDCR
10-40 C11-20)
RMDC
11'6-39
16. SERVO CONTROL
NOTES
CU CU N
Cl_ n.
a x
a
CO m
CD
o
S./ v
11-0 1
- TBDBR
11-0 2
11-0 3 IRCDBR UNIT
11-0 4
11-0 5
11-0 6
11-0 7
11-0 8 CRR1 0
11-09 T1-8 INTL (10-20) AMP#3 QR.
11-10 T1-8 INTL (10-20) AMP#2
11-11 T1-8 INTL <10-20) AMP# 1 e' I
11-12 T1-7 100C (10-19) AMP# 3
11-13 T1-7 100C C10-19) AMP#2
11-1 4 T1-7 100C (10-19) AMP#1
11-1 5
11-1 6
11-1 7
II SI
C
L~~~J
SIC
11-1 8 EMG 1000UT1 003-14)

11-1 9
11-2 0
11-2 1
T1-17 RC (10-'38) AMP#3,I
TBDC R
i
MCCA
All le
•ccc
All
r
11-2 2
11-2 3
1
1 02
11-24 T1-19 RE (10 .38) AMP#3 I

11-25
11-26
11-2 7
I
T1-•17 RC (10-38) AMP#2I e'
11-2 8
11-2 9
I
11-30 .. T1-19 RE C10-38) AMP#2l eg
11-3 1
11-3 2
11-3 3
I
T1-17 RC (10•-38) AMP#ll e'
11-3 4
11-35
VI r. i
11-3 6
11-3 7 I
T1-19 RE (10-38) AMP#ll e'
11-3 8 TF1-51 (01-33)I v °-

1
I
e` e' CRRii - J
11-3 9
CU cn
11-40 TF1-52 (01-34)1 nx.
a a
xa
16 . SERVO CONTROL
NOTES
H H r r rN r .+ . .+ .. r r r
N N N N N N N N N I N N N N N fU N N N NNN N Nr l1 N .NN N N N N 1rh N I
1 f f . i I 1 I 1 f r f 1 1 1 1
.IV+ .IA O f O o 0 a
1N~ n.) ru Io
is o 0 00 . N W~ . '-'~ ~p ~ O~ (A . W N
~ W V m UI w N 'W' b T W V (A A W N
z
0 0
21- --,a H
P1
73
<
12! 0
lye 3
-D
A
V V a
<
N
H
Cl mfo w
No' A
2. 2YN2 + 2YW g 2Y 2
~L ~L v v v v v v v v v v
ysf vvv- o v53 v~4 v~ v 82 '22 lien
8
0
m
0
~, Wr
ts1~ I AAA
-o
LSI MODUL E
A
SERVO AMPLIFIE R
FANUO Robotics
Cn
FAM1C Robotic Noorth Mwfee, Ind.
s ML M0. lath NIA
Ac
20 F41b 1! 4832 26800 Mt IA tolk 9E0t3 aegZ 10 .
-P
W
P . COMBS ~d 3/22/93
16. SERVO CONTROL
16 11 MARMMOSHW02301 E
NOTES
13-01
13-02
13-03
13-04 DV- M
13-05
13-0 6
13-0 7
13-0 8
13-09
13-1 0
13-1 1
13-1 2
13-1 3
13-1 4
13-1 5
13-16
13-17
13-1 8
13-19
13-20
13-21
13-2 2
13-23
13-24
13-2 5
13-2 6
13-2 7
13-2 8
13-2 9
13-3 0
13-3 1
13-3 2
13-3 3
13-3 4
13-35
13-3 6
13-3 7
13-3 8
13-3 9
13-4 0
13-4 1
13-4 2
13-43
13-44
13-45
13-46
13-4 7
13-48
13-49
13-50
13-51
13-52
13-53
13-34
13-55
13-56
13-57
13-58
ov
13-59
DV-M MODUL E
FANUO IDbotfcs SERVO AMPLIFIE R
OUR Robotic .
s20 South NM°o
ans Road be oo.t. i0
. wet N/A
Noun tab. W 48328-2800 MR to. Talk 8 5 c # 3 to.
01 mot on tom
P. COOMBS 3/22/93
16 . SERVO CONTROL
NOTES
14-0 1 ALM-M 13V-2
REF)
_CN1 CN1
14-02 -65 P
- < >>5 S
14-0 3 REF2
FROM POWER SUPPLY CN1
(K) 61
14-0 4 VR e
665tg PSL
14-0 5
14-0 6 1 OV-2 T 5 .6
>>5.6
ova
14-0 7 15V-2 15V-2
14-0 8
14-09 CNI
n DCLKLV >>15,1 6 LoW VOLTAGE
CN l READING O N
14-1 0 DISCHARGE
42-4 3 VH CIRCUIT
14-1 1 OV
14-12
14-13
5V
14-14
14-15 CN1
DISCHARGE nHV 13,14 HIGH VOLT.
14-16 RESISTOR READING ON
(RMDC) DISCHARG E
CIRCUIT
14-1 7 OV
14-18 5V
14-19 .
CN1
14-20 n DCTRON 17,18 DISCHARGE
CNi » TRANSISTOR
77,76 VCE ON
14-2 1
OV
14-22
14-23 5V
14-24
CN1
14-25 PSLV POWE R
OV-2 SUPPLY
LOW VOLT.
14-2 6 REF2 0 MONITOR
oV
14-2 7
15V-2
14-2 8
OV-2 15V-2
14-2 9
14-3 0 LHC1 •HCL ;9,1'11 01 HIGH CURREN T

READING FRO M
FET DRIVE
14-3 1 PAK FO R
OV MOTOR V
14-3 2
TO THE COMMO N OV- 2 15V-2
EMITTER OF TH E
14-3 3 TRANSISTOR DRIV E 5V
BLOCKCS) AND TH E ISV-2
COME OUTPUT O F
14-3 4 THE DV-MIS)
5960<{ MHCI CN1
14-35 IHCM 1L12 HIGH CURRENT
READING FROM
FET DRIVE
14-36 PAK FOR
OV MOTOR •M
14-37
I I OV-2
14-38
15V- e
14-39
OV-2
14-4 0
VH
14-4 1
REF20 I5V-2
14-4 2
(I 2OOVD C
14-4 3 T --~ CHI
5q FET2
L-L <
vo
14-4 4
14-4 5
14-4 6
1
I L
747*
CN 1
VRDCI P 4~~
.2 AC1
VGE
CN 1
70.7 1
200 VAC IVSDC 31C < Acz
3 PHASE
14-4 7 I
CN1
VTDC 3D,39„, AC 3
14-4 8
I *- *
14-4 9
. +
14-5 0
J-
14-5 1 OV B
DIODE BLOCK
14-5 2 DS1
14-5 3
14-5 4
L J
14-55
ALM-M MODUL E
FANUC Robotics SERVO AMPLIFIE R
FAJAIC Robotics Math knniw, inc.
Rool 8bl r. N/A
bkvrn IflItih1 48325 2800 MT II). tma accts 10 I
10110
P: COOMBS 3/22/93
16. SERVO CONTROL
MARMMOSHW02301 E
16-48
NOTES
16 . SERVO CONTROL
Table 16-3 . Axes Identification Chart
AXIS NAME AXIS NUMBER SERVO AMPLIFIER NUMBE R

BASE 1
SHOULDER 2 2
ELBOW 3 3
YAW 4 4
PITCH 5 4
ROLL 6 5
Table 16-4. Terminal Block T i

Terminal Number Name Use Remarks
1 PE (G) Ground of the amplifie r
2 L1 (R) Power input of 200 to 230
VAC
3 L2 (S)
4 L3 (T)
5 100A Emergency stop input of 10 0
VAC .
6 100B
MC1
7 Signal for checking whether (*4 )
the electromagnetic contactor
8 MC2 is closed .
9 U (UM) Output for the AC moto r
10 V (VM )
11 W (WM )
12 G (GM) Ground of the moto r
13 L1C Power input of 200 to 23 0 Usually, L1(R) and L2(S) are
VAC for control strapped to L1C and L2C
14 L2C respectively. (*1 )
15 TH1 Thermostat input signal Usually the terminals ar e
strapped . (*2)
16 TH2
17 RC For regenerative resistor Usually, RC and RI are
strapped to each other . (*3 )
18 RI
19 RE
20 UL Output for the AC moto r
(2-axis only)
21 VL
22 WL
23 GL Ground of the moto r
*1: Power input for controlling the servo amplifier.

*2: On servo-amplifier #1 only, remove the strap from terminals TH1 and TH2 and connect the overheat signal of th e
multi-tap transformer, TF1, to them .
*3: Each R-J has a built-in regenerative discharge unit .
*4: Contact output for monitoring whether the power is supplied to the servo amplifier . It is a direct output of the signa l
from contact b in the electromagnetic contactor which can break the main circuit of the servo amplifier . The contact is close d
when the contactor breaks the main circuit . Rating : 24VDC, 10mA to 0.3 A.
16 . SERVO CONTROL
MARMMOSHW02301E
16-50
Figure 16-5 . Component Location 1 Axi s
UJ THM 1
MCC MCC
DS1 2
nlnl n NFB
i I I
0
R3
RLY2
U TERMINA L
BLOCK T 1
TM a
RLY1
SEE TABLE 16-4
FO R
TERMINA L
IDENTIFICATIO N
PS MODULE
RMDC & THDC / 3 .2A
FUS E
F1
ALM-MODULE
TRDC DV MODUL E
LS1-MODULE
I I LED
CN1
IL
puma
dd uuu a.
11 "
CN I
16. SERVO CONTROL
MARMMOSHW02301E
16-5 1
Figure 16-6 . Component Location 2 Axis
THM 1
MI
DS1
MCC MCC
2 1 nlnln. C.B .
I I NFB
RLY2 RLY1
DD TRDC
TM C
R3L
TERMINA L
MCC BLOCK T1
3 SEE TABLE 16- 4
FOR
TERMINA L
IDENTIFICATIO N
I;
PS-MODUL E i.
TMM
3.2A
FUS E
RMDC & THDC AI M-MODUI F F1
DV-MODULE (M)
DV-MODI II F (I )
I LSI-MODUL E
CN2
ii -D -1 f LE D
CN1M CN1 L
SI Ut'
CLAIM CNIL
16 . SERVO CONTROL
MARMMOSHW02301 E
16-52
Figure 16-7. Component Location R-J Controller

16. SERVO CONTROL
MARMMOSHW02301E
16-5 3
Figure 16-8 . Axis Control and Main CPU PCBs

MODULAR I/O : CIRCUITRY`
1?
MARMMOSHw02301E 17-1
The robots digital I/O is handled by a rack consisting of five or ten slots .
These racks are referred to as the I/O base unit and consist of the
Backplane, the Interface module and a number, up to five or ten
(dependent on the model backplane used), of Input and Output modules .
The interface module is plugged into the I/F connector . The input/output
modules are plugged into slots 1-10 on the backplane in any order. Once
the modules are in position, software is set up to reflect the physical
location of the modules within the rack through the I/O Setup menu . See
the Setup and Operations Manual for more information on setting I/O .
The Interface Module in line is connected to the Main CPU module(JD4 )
via a cable connected to JD1B .
The 24VDC power to the Interface module(s) is supplied by the EM G
module or some alternate source . The power (now internal to the Interface
module) is then fused by Fl and converted to 5VDC, fused by F2, and
then both the fused 5VDC and the fused 24VDC are routed to the othe r
cards in the base unit via the base units backplane .
Figure 17-1 shows the location of the components involved in the modular
circuity.
Sections 17.1 and 17 .2 details the specifications and connection
information for the various modular input and output units .
17 . MODULAR I/O CIRCUITRY
MARMMOSHW02301 E
17-2
17.1
MODULAR I/O INPUTS Table 17-1 . Input Modules AID32A and AID32B . Non-isulate d
Item AID32A AID32 B
Points/module 32 points 32 points
Points/common 16 points/common 16 points/commo n
Sink/source cur- Both directions Both direction s
rent
Input voltage 24VDC +10% -20% 24 VDC +10% -20 %
Input current 7 .5mA (average) 7.5mA (average)
ON voltage cur- Min. 18VDC min . 6 mA Min . 18 VDC min . 6 mA
rent
OFF voltage cur- Max. 6VDC max. 1 .5 mA Max. 6VDC max . 1 .5 m A
rent
Respo 20 This is the value from input to outpu t This is the value from input to outpu t
ns e OFF ') ON Max
ms in the module . The actual value is Max . 2 ms in the module . The actual value i s
Time - determined by adding it to the scan - - determined by adding it to the scan -
Max . 20 ning time depending on each sys - ning time depending on each sys -
ON OFF ms tem .
Max . 2 ms tem.
Input display Not provided Not provided

External connec- Connector (HONDA TSUSIN MR-50RMA) Connector (HONDA TSUSIN MR-50RMA)
tion
Termina l m : input circuit CM
connection and O Interna l
circuitry Circuit
29,45 ( 21,3 6
CMA-049,5 0 - CMC--O 40,41 -
AO -01 6
m --~-CO -0 07 m
-'--Al -03 2m -~--024
Cl m
-A2-04 8 m -'-C2-039- m
-A3-01 5 m - -C3-006 m
-~-A4 -03 1 m -- "-C4-023- m
--~-A5 -047 m --C5-038• m
-~-A6 --030 m -'-C6-022• m
- -A7-046 m -- D7 -o 37- m
- -BO-01 2 m - -DO-003• m
-B1 -028 m --~-D1 -020 m
--B2-044 m - -D2-035 m
- .- B3 - o 11 m -'- D3 -002 m
-'-B4 -o 27 m - -D4-0 19 m
-~ - B5 - 0 43 m -~ - D5 -0 34 m
- B6 -01 0 m -'- D6 -001 m
-'-B7-042• m ---D7-033 m
,O 13,17 -+24V ,O 04,08 -+24V
, 14,18-GND ,005,09-GN D
+24V or GN D can be selected for input common as abov e figure .

Note : Make sure to connec t all common (CMA, CMC) pins .
Table 17-2. Input Modules AID16C and AID16 D

Item AID16C AID16 D
Points/common 16 points/common 16 points/common
Sink/source current Source current type Sink current type
Input voltage 24VDC +10% -20% 24 VDC +10% -20%
Input current 7.5 mA (average) 7.5 mA (average)
ON voltage current Min. 15VDC min . 4 mA Min. 15 VDC min . 4 mA
OFF voltage current Max. 5VDC max . 1 .5 mA Max. 5VDC max. 1 .5 mA
Respons e This is the value from input t o This is the value from input to
Time OFF 0 ON
Max. 20ms output in the module . The Max. 20ms output in the module . The
actual value is determined by actual value is determined b y
ON OFF Max. 20ms adding it to the scanning tim e
depending on each system . Max. 20ms adding it to the scanning tim e
depending on each system .
Input display LED display LED display _
External connection Terminal block connector (20 terminals, M3 .5 Terminal block connector (20 terminals, M3 .5
screw terminal) screw terminal )
Terminal connection and
circuitry (C) (D) i
O 2
Al m
A2 0
' A3 5
+ A4
A5 6
Q~ m
- I m
A6 m
- + 1- A7 0® m
' B0 I M
' B1 ii m
B2 M
B4 © Q M
B5 1Q m
. B6 m
B7 ®
FOR AID16 C FOR AID16 D

m : input circui t m : input circui t
LED LED .,
1
~T vT ~
MARMMOSHW02301 E
17-4
Table 17-3. Input Modules AID32E and AID32 F

Item AID32E AID32 F
Points/common 8 points/common 8 points/common
Sink/source current Both directions Both direction s
Input voltage 24VDC +10% -20% 24 VDC +10% -20%
Input current 7.5 mA (average) 7.5mA (average )
ON voltage current Min. 15VDC min . 4.5 mA Min. 15VDC min . 4.5 mA
OFF voltage current Max. 6VDC max. 2 mA Max. 6VDC max . 2 m A
Respons e Max. 2 0 This is the value from input t o
Max . 2 ms This
OFF ON ms is the value from input t o
Time output in the module. The output in the module . The
- actual value is determined by actual value is determined b y
ON OFF Max.
ms
20 adding it to the scanning time
depending on each system. Max. 2 ms adding it to the scanning time
Input display Not provided Not provide d
External connection Connector (HONDA TSUSIN MR-50RMA) Connector (HONDA TSUSIN MR-50RMA )
Terminal connection an d
circuitry
m : input circuit 0
0--oAlAw-L
CMA --O 49,50 ~ CMC -0 40,41

'A0-016 m "C0-007 m
'- A1-032 m '-C1-024 m
A2-048 M - C2-039 m
-A3-015
~- C3-006
m m
'- A4-0 3.1 C4 23
T
T -'- A5-U47
-A6--030
ID
M
m T TI "-
- C5 -0
C6-022
m
M
m
"A7--y46 m- '- C7-937 19 -
i
'
CMB -6
- B0-012
49,50
m
CMD -021,3 6
.- D0-003 u
81-028 m -D1-020 11
82-044 m '- D2--035 i~
I -
'-
' '--B4
B3-011 m -- D3-002
T -'-
n
T 27 m -
8543 '- D5-034 ~-
u
B6-010 m D6-001 u
' -B7-942 m - D7 •33 u

17-5
Table 17-4. Input Module AIA16 G

Item AIA16 G
Points/module 16 point s
Points/common 16 points/commo n
Rated load voltage 100 - 155VAC ± 15%
Max. input voltage 132Vrms 50/60Hz
Input current 10 .5mArms (120VAC 50Hz )
ON voltage current 74Vrms min . 6mArm s
OFF voltage current 20Vrms max . 2.2mArms
Response This is the value from input t
Time OFF ON Max . 35 ms output in the module . Th e o
actual value is determined b y
adding it to the scanning tim e
ON OFF Max . 35 ms depending on each system .
Input display LED display
External connection Terminal block connector (20 terminals, M3 . 5
screw terminal)
Common 16 points/commo n
circuitry
A0 0--
Al ® ® tD--
A2 E
A3 ®
A5-{ j -m- -
a m- -
A7 ®® [a-
B0 io W-
B1 1 1 p}--
B2 i2 m--
B3 i s U
E
B4 ( m--
B5 ~-
B6 is [o----
B7 0 ® m -
m
20
+c-
Cp : input circuit
LED "'
rvuVi-IA
T~
MARMMOSHW02301 E
17-6
17. 2
MODULAR I/O
OUTPUTS
Table 17-5 . Output Module AOD32A, Non-isolated
Item AOD32A
Points/module 32 points
Points/common 8 points/common
Sink/source current Sink current type
Rated load voltage 5 - 24VDC +20% -15%
Maximum load current 0 .3A (however 2A/common )
Maximum voltage 0 .24V (load current x 0.852 )
drop when ON
Maximum leak current 0.1 mA
when OFF
Respons e OFF * ON Max .1 ms
Time
ON OFF Max. 1 ms
Output display Not provided
External connection Connector (HONDA TSUSIN MR-50RMA )
Terminal connectio n
and circuitry
: output circuit +5-+24
Internal
Circuit
L load CM C
+24A - 01 7 +24C -008
A0-016 CC C0-00 7
Al -032 G I! C1--039
A2-04 8
A3--015 Ci f 11 C3-00 6
A4 31 C423
A5 847 C5-03 8
C7- Q37
A7-046 C7 7
CMA (~49,5~ CMC 40,41
+24B -01 3 +24D --00 4

B0-012 D1 -020 C.
B1-028 V III D -035
B2-044 ~ D22-035 E
fl B3-011 L n D30
+-
- :~
~ B427
B5-043
r~ + ~11 D4- -Q19
D5-034
r~
C.
~" B7 X 42 [ice ~0 D-001
D77 33
CMB • 29,4 CMD 21,36
Table 17-6 . Output Modules AOD08C and AOD08 D

Item AOD08C AOD08 D
Sink/source current Sink current type Source current type
Rated load voltage 12 - 24VDC +20% -15% 12 - 24VDC +20% -15%
Maximum load current 2A (however 4A/fuse) 2A (however 4A/fuse)
Limit of load - Refer to load derating curv e
Maximum voltage dro p 0.8V (load current x 0 .452) 1 .2V (load current x 0 .652 )
when ON
Maximum leak current 0.1 mA 0 .1 m A
when OFF
Respons e This i s the value from input t o This i s the value from input t o
Time OFF ON Max . 2 ms output in the module . The Max . 2 ms output in the module . Th e
actual value is determined by actual value is determined by
addin g it to the scanning tim e addin g it to the scanning tim e
ON OFF Max . 2 ms Max . 2 ms
depending on each system . dependin g on each system .
Output display LED display LED display
External connection Terminal block connector (20 terminal, M3 . 5 Terminal block connector (20 terminal, M3 . 5
Fuse 5A, 1 piece for each output A0-A3 and A4-A7 5A, 1 piece for each output A0-A3 and A4-A7
circuitry Fuse s
t~
load load
L AO 0 O L AO 0 O
L Al 6 O L Al O
o°
L A2 0 O L A2 Q O
L A3 i 0 + L A3 o
+ - 11 - 11
- L A4 O - L A4 ® O
13 13
M A5 O L A5 O
15
e
15
Q A6 O L A6 O
n
17
L A7 O L A7 O
19 ~ 19
Fuse s
o : output circuit 0 output circui t

2 . 2
• Internal
Circuit
LED
x A
Internal
Circuit b SLE D
m m
17. MODULAR I/O CIRCUITRY
MARMMOSHW02301 E
17-8
Table 177. (Cont'd) Output Modules AOD16C and AOD16 D

Item AOD16C AOD16 D
Points/module 16 points 16 point s
Sink/source current Sink current type Source current typ e
Rated load voltage 12 - 24VDC +20% -15% 12 - 24VDC +20% -15%
Maximum load current 0 .5A (however 2A/common) 0.5A (however 2A/common )
Maximum voltage dro p 0.7V (load current x 1 .452) 0.7V (load current x 1 .40 )
when ON
Maximum leak curren t 0.1 mA 0 .1 mA
when OFF
Respons e This is the value from input to This is the value from input t o
Time OFF0O N Max . 2 ms output in the module. Th e Max. 2 ms output in the module . Th e
actual value is determined by actual value is determined b y
0 OFF adding it to the scanning time adding it to the scanning tim e
ON Max . 2 ms depending on each system . Max. 2 ms
External connection Terminal block connector (20 terminal, M3 . 5 Terminal block connector (20 terminal, M3 . 5
Terminal connection and L : load i L : load i
circuitry
L AO
0 2 O L AO
r1
2 0
L Al o~ L Al 3 0
+ ® L A O OS
O L A3 O
°OA2
_ L A4 6 0 - L A4 6 O
L
_L
L AS
A6
A7 -~ 9
Q
o
o
0 L
L A6
A7
-0
A5 ~~__ O~_ - O -
O 10 O
11 11
L BO -10 L BO LJ
L
L
Bl
B2
13
1 45
.
o
O
L B1
B2
13
12
14
0
B3 0 + © B3 15 O
_ L 76 V _ L B4 16
L B5 1© o IO B5 ur
L B6 ® 0 L B6 O
B7 19 0 L B7 l9 Q
0
0 : output circuit I a : output circuit
1
Internal LED Internal LE D

Circuit
circuit
Table 17-8 . Output Module AOD32 C

Item AOD32C
Sink/source current Sink current typ e
Rated load voltage 12 - 24VDC +20% -15 %
Maximum load current 0 .3A (however 2A/common )
Maximum voltage drop 0 .24V (load current x 0 .852)
when ON
Maximum leak current 0 .1 m A
when OFF
Response OFF I) ON Max . 2 ms This is the value from input to output in the module . The actual value i s
Time determined by adding it to the scanning time depending on each system .
ON OFF Max . 2ms
Output display Not provide d
External connection Connector (HONDA TSUSIN MR-50RMA)
circuitry O : output circuit +24
Internal
Circuit
:load
cm C
L
+24A -0 17
AO -016
+24C -008
co -0 07
~I Al -032
A2-048
lu~ :p Cl - 0 24
C- -U C2-039 IC
_
A4 ~3116
~V A5 --C47 -- .V C4 -023
38
®l C5
L lC
:II A6 .030 C= C6 -0 22 C~
A7 -046 C C7 03 7
CMA .9 49,50 CMC Q 40,41
+24B -013 +24D -004

BO -012
ID DO --003
- B1 -0 28
l~ C- Di -020
-min B2 -044 III D2 -035
+ B3 -011 ~- D3 02
- I II B4 27 D4 19
B5 43 D5 34
II B6 -0 10 C- n D6 01
B7 42 D7 -033
CMB 29,45 CMD
Y 21,36
Note : For the common (CMA, CMB CMC, CMD) make sure to use both of them .
MARMMOSHW02301 E
17-10
Table 17-9. Output Module AOD32 D

Item AOD32 D
Points/module 32 points
Sink/source current Source current typ e
Rated load voltage 12 - 24VDC +20% -15%
Maximum load current 0 .3A (however 2A/common)
Maximum voltage dro p 0 .24V (load current x 0.852 )
when ON
Maximum leak curren t 0.1 mA
when OFF
Respons e Max. 2 ms This is the value from input to output in the module . The actual value is deter-
Time OFF ON
mined by adding it to the scanning time depending on each system .
ON#OFF Max. 2ms
Output display Not provided
External connection Connector (HONDA TSUSIN MR-50RMA )
circuitry cm
o : output circuit Internal
Circuit 0
L :load 00
CMA -Q 49,5 0 CMC -0 40,41
AO --0 16 C (D CO -007
Al -032 ~~ Cl -0 24
•Ili A2 -048 Ca - C2 -Q 39
+- •~
. A3 -Q 15 C- + C3 -00 6
A4 31 [•`- - •~ C4 23 I3-
_ A5 47 C~ - C5 -038 C
A6-0 39 C6-22 •
•~ A7 --046 C~ P C7 •37 C
OA Q 1B OC •09
CMB -0 29,45 CMD -0 21,3 6

BO -012 DO -00 3
B1 -028 D1 - 0 25
II B2 -044 D2 --Q
Q 02 ~
Ci
+ •~ B3 --Q 11 lu~ 11
- B4 27 III D4 199 C
- Ii B5 43 C~ - ~ D5 34 ~.'•
II B6 -0 10 D6 ~ 0 1
II B7 -042 C- 0 D7 33
OB Y1 4 OD 05
Note: For the common (CMA, CMB CMC, CMD) make sure to use both of them.
MARMMOSHW02301E
Table 17-10. Output Modules AOA05E and AOA08 E

Item AOA05E AOA08 E
Points/common 1 point/common 4 points/commo n
Rated load voltage 100 - 230VAC ± 15%, 47 - 63Hz 100 - 230VAC f 15%, 47 - 63H z
Maximum load current 2A (however 5A/module) 1A (however 2A/common)
Maximum in rush current 25A (1 period) 10A (1 period )
Limit of load Refer to load derating curve -
Maximum voltage drop 1 .5Vrms 1 .5Vrms
when ON
Maximum leak curren t 3 .0mA (115VAC), 6 .0mA (230VAC) 3.0mA (115VAC), 6 .0mA (230VAC)
when OFF
Response OFF ON Max. 1 ms This is the value from input t o Max. 1 ms This is the value from input to
Time output in the module. Th e output in the module . Th e
Half of th e actual value is determined b y Half of th e
load actual value is determined b y
ON * OFF it to the scanning time adding it to the scanning tim e
frequency depending on each system . f oeq ue ncy depending on each system .
or less or less
External connection Terminal block connector (20 terminals, M3 . 5 Terminal block connector (20 terminals, M3 . 5
Fuse 3 .2A, 1 piece for each output A0 - A4 3 .2A, 1 piece for each output A0 - A3 an d
A4- A7
Terminal connection an d i t
circuitry _fl ©
L AO 0
IN Ao C ~ o
e
ICJ Ai
~O 0
-may 0 A2 O 0
o
Al A3 ~Og Fuse 0
11 o
e 11
0
L A2 I>! A4 12 0
l►,
7i A5
0 14 0
O 15
A3 ¢ I~ A6 16 0
0 A7 0
A4 O
O
load
~,
e
load
*
Fuse
0 : output circuit 0 output circuit
1U1
. /sz T
LED LED
0
MARMMOSHW02301 E
17-12
Table 17-11 . Output Module AOA12 F
Item AOA12 F
Points/common 6 points/common
Rated load voltage 100 - 115VDC ± 15% 47 - 63H z
Maximum load current 0 .5A/point (however 2A/common
)
Maximum in rush current 5A (1 period )
Limit of load Refer to load derating curve
Maximum voltage dro p 1 .5Vrms
when ON
Maximum leak curren t 1 .5mA (115 VAC)
when OFF
Respons e This is the value from input to
Time OFF ON Max. 1 ms
output in the module. Th e
actual value is determined b y
ON OFF Half of the load frequency or less adding it to the scanning tim e
Output display LED display
External connection Terminal block connector (20 terminal, M3 .5 screw terminal )
Fuse 3 .2A, 1 piece for each output A0 - A5 an d
B0 - B5
Terminal connection an d i
circuitry Load
L AO 1 0
L
L
Al
A2
O g
®--- 0 -
L A3 ~4 0
L A4 0
L A5 o-
0 0
o
O Fus e
10
L BO 11 0
L B1 0
L B2 13 0
L B3 ---L r -- O -
B4 15 Q
L B5 r1 (n1
17 0
o
Fuse
: output circuit
"Ni '/ T T LED

17. MODULAR I/O CIRCUITRY
Table 17-12 . Output Modules AOR08G and AOR16 G

Item AOR08G AOR16G
Points/common 1 point/common 4 points/commo n
Maximum load 30VDC/250VAC, 4A (resistance load) 30VDC/250VAC, 2A (resistance load )
Minimum load 5VDC, 10mA 1A (however 2A/common)
Maximum current - 4A/commo n
Limit of load Refer to load derating curve Refer to load derating curve
Response This is the value from input to This is the value from input t o
Time OFF ON Max . 15ms output in the module . The Max. 15ms output in the module . Th e
_ actual value is determined by actual value is determined b y
adding it to the scanning tim e
ON 0 OFF Max. 15ms depending on each system . Max. 15ms adding it to the scanning tim e
External connection Terminal block connector (20 terminals, M3 .5 Terminal block connector (20 terminals, M3 .5
Relay life Mechanical Min. 20,000,000 times NTn . 20,000,000 time s
Electrical Min. 100,000 times (resistance load) Min. 100,000 times (resistance load )
circuitry
CO O
Q 2 L AO
" ©- AO O L Al
L
D-- Al O L
A2
A3
0
O- A2 Oo L A4 OO
_
u ©- A3 O® _ L
A5
10 L A7 lp `-
v
ll
®
C
L BO
Ol
~_
12
v ©- A4 l3 _L B1 13
O 14
L A5 15 L B
L
3
©- A6 L B4 17
~} L B5 18
L A7 19 L - B6 lg
L - B7 20
v Direct current power or alternatin g 0, Direct current power or alternating

current power current powe r
1 7. MODULAR I/O CIRCUITRY
MARMMOSHW02301 E
17-14

LOCATION FIG. NO.
BACKPLANE (MOD . I/O) CONTROLLER 06-16 17- 1
VF MODULE BACKPLANE (MOD . I/O) 06-29 17-1
I/O BACKPLANE CONN (CNM1-10) BACKPLANE (MOD . I/O) 06-19 17-1
I/O MODULES BACKPLANE (MOD . I/O) 06-21 17-1
IF BACKPLANE CONN .(CNIF) BACKPLANE (MOD . I/O) 06-32 17-1
SERIAL CONN . (JD1B) I/F MODULE - 17-1

06-01
06-02 EM G
(CONT . P .C.B,)
06-03
06-04 24E OV
06-0 5 (05-50) (05-50 >
06-0 6
06-0 7
BACKPLANE
06-0 8
AXIS
06-09 (CONT. P.C .B,)
06-1 0
HYB 3
06-1 1
06-12 •
06-13
06-1 4
06-15
MODULAR I/O
06-16 BACKPLANE
1
06-17
06-18 I CNH
B3
cNM(x )
06-19 1 B-4)
06-2 0 CNN DM(X)
INPUT/OUTPUT AUDI Aunt>)
06-2 1
MODULE
06-2 2 CNN CNM(X)
»A3,B4A6112 AZB09 2
06-2 3
06-2 4
06-2 5
cNN CNMOO
FRS,, FENCE1
FACTORY [
06-2 6 JUMPERE D
06-2 7
.
06- 2 8
L 9R4FENCE2
~-4 L
4 SAFETY FENCE
(05-05,05-10,06-19 )
MODULAR INTERFACE UNIT OVDC
06-2 9 CNM(x) yR
B3» AIFOIA/B K016 lH {~5
023-1 )
5( 2 11' EIERGENCY 2
06-3 0 ovD c 1111 (03-16 )
06-3 1 CNMOO
06-3 2 X=I THROUGH 5
A20C-9001-0020/01
ALB11a 5VDC
a im
06-33 CN*x ) 15VD C
X=1 THROUGH 1 0 A3 ALB12»
06-34 A20C-9001-0040/01 -15VDC FR- 4
06-35 CNMO
O
Ala RR 4
06-36 24V
06-3 7
06-38 24V 316
06-39 -15vDC 35636
06-4 0 FROM 15VDC 3964 0
PSU PCB
06-4 1 5VDC 94.96.9E6100
06-4 3 O VOLT IN ON PINS,
81,83,&5,87.89.91 .93
06-4 4 9597.99
06-4 5 RL
EMGoUT1 ERR- 4 6
3
06-4 6 ~H
06-4 7 FOR CUSTOME R
CONNECTION T O EMGoUTC i RR,.;,4
06-4 8
It
EMGOUT RELAY
06-4 9 RL-6) RL
06-5 0
EHGWT2 --T 6
06-5 1 NOTE . RL1 - 6 ARE SOCKETED

06-5 2
06-53
71 77-1 5
17. MODULAR 1/0 CIRCUITRY
NOTES
Figure 17-1 . Location of Components for Modular I/O Circuitry

TEACH PENDANT
MARMMOSHW02301E 8 18- 1
This chapter describes the Teach Pendant internal circuitry and the signa l
interface between it and the rest of the R-J Controller.
18. TEACH PENDAN T

POWER
13-2 7 The +24VDC(+24T) necessary to operate the teach pendant is supplied
from the power supply unit (PSU) (+24E) through the Main Backplane t o
the EMG Board, through relay 15 normally closed contacts, back throug h
13-09 thru 13 the Main Backplane to the Main CPU Board, then on to the teach pendant .
On the Teach Pendant Control Board, the +24V is converted to +5 VDC t o
operate the control logic, and also, converted to -12VDC to drive th e
LCD .
SWITCHES/RELAYS
13-37 With the teach pendant connected to the Main CPU Board at connecto r
JRS1, RLY 10 on the EMG board is grounded (TPDSC) and become s
energized, closing the RLY 10 normally open contacts . This allows
+24V(EMGTP) to be present at the emergency stop button on the teac h
pendant. When the emergency stop button is in the released position, thi s
+24V is supplied (EMGTP2) to the two DEADMAN switches and th e
13-27 ON/OFF enable switch . When the Enable switch is in the OFF position,
the +24V signal (EMGEN) is supplied back to the EMG board, energizing
RLY7 and closing the normally open RLY7 contacts . If there are no fault s
present in the Hand Break, Overtravel, or Safety Fence circuits, the th e
RLY9, RLY12, and RLY14 normally open contacts will be closed and the
servo ON relay(RLY1) will energize, allowing servo power to be present at
the Servo Amplifiers . When the enable switch is in the ON position, th e
+24V EMGEN signal is removed from EMG board RLY7, opening th e
RLY7 normally open contacts, thus de-energizing the Servo O N
13-31 relay(RLY1). RLY1 can now be energized only by depressing one or both
DEADMAN switch which supplies the +24V EMGDM signal to RLY1 1
on the EMG board, closing the normally open RLY11 contacts . When the
emergency stop button is depressed, the +24V EMTP2 signal to th e
DEADMAN and enable switches is removed, thus removing either th e
EMGEN signal to EMG board RLY11 or the EMGDM signal to EM G
board RLY11 and de-energizing the servo or relay(RLY1) ; shutting of f
servo power to the Servo Amplifiers .
KEYBOARD
13-02 thru 1 2 The teach pendant keyboard is on eight row/eight column matrix (thre e
switches are not used) Four signal lines send a binary coded decima l
signal to a BCD-to-decimal decoder . This decoder then strobes one side o f
the keyboard switches of KCOM0-KCOM7 one row at a time . If a key
has been pressed, the signal is felt on one of the keyboard input line s
13-30 KEY00-KEY07 . The MPU can then determine what key has bee n
depressed and transmit this information on the serial data signal lines t o
the Main CPU Board (*TXTP & TXTP) .
18. TEACH PENDANT

LCD
13-04 The information shown on the teach pendant LCD is generated by th e
onboard microprocessor which, except during diagnostics, gets it s
information from the Main CPU . This information is then sent onto the
LCD controller on the teach pendant control board . This information i s
13-1 4 sent digitally in a format understood by the LCD Board control logic .
+5VDC and 0V is supplied to the LCD to operate the digital control logic .
A -12VDC signal (VLCD) is also supplied to drive the liquid crystal .
Variable resistor VR1 on the TP Control Board is used to vary th e
-12VDC signal which changes the contrast of the alpha/numeric character s
on the LCD . The digital display logic sent to the LCD from the LC D
controller is controlled by the teach pendant microprocessor RAM, an d
13-28 from IC's on the control board . The content and format of the information
is dependant upon the application software loaded into the R-J controller,
teach pendant keypad selections, and serial communication between th e
teach pendant microprocessor and the Main CPU Board .
During a power down sequence, the current screen information is still
stored in RAM on the Main CPU Board. When a Hot Start power up
occurs, this screen information is redisplayed . If power up is a Cold Start,
this information is lost and the CPU will show the default menu .
LEDS
13-14 thru 24 Each LED on the LED Board of the teach pendant is controlled
individually by the MPU on the TP control board . The MPU transmits the
information over the address and data lines to a network of non-inverting ,
tri-state drivers . The drivers decode the information and sends an active
LO(0V) signal to each LED that needs to be illuminated . The MPU will
determine the necessary information to put on the address/data lines based
on communication with Main CPU board by way of serial dat a
RECEIVE/TRANSMIT lines *RXTP, RXTP, *TXTP, AND TXTP .
18 . TEACH PENDAN T
MARMMOSHW02301 E
18-4
Figure 18-1 . Teach Pendant Internal/External Connector s
Teach Pendant
External Connecto r
CN 1
2 3 2 1
*RXTP RXTP *TXTP . TXT P
10 9 8 7 6
*24T 24T
16 15 14 13 12 11
EMGB2 EMGB1 EMGEN EMGDM EMGTP
20 19 18 17
0V 0V TPDSC
LCD Board
Backlight
CNEL P LCD Board
CNLC D
01 EL P
LED Board 01
02 0V +5V
CNLED
02 0V
01 * LED0 1 03 VLC D
02 * LED02 Control Board 04 . LP
03 * LED03 CNTP 05 WF
04 * LE D04 A B 06 YDIS
05 * LE D05 01 TXTP *TXT P 07 YSCL
06 * LE D06 02 RXTP *RXTP 08 YD
07 * LE D07 03 09 XSCL
08 * LE D08 04 EMGDM EMGEN 10 XECL . .
09 * LE D09 05 *24T TPDSC 11 XD0
10 * LED10 06 0V 0V 12 XD1
11 * LED11 07 EMGTP 0V 13 . XD2
12 +5V 08 EMGB1 EMGB2 14 XD3
Keyboard
CNKB
01 * KEY00 02 * KEY0 1
03 * KEY02 04 * KEY03
05 * KEY04 06 * KEY05
07 * KEY06 08 * KEY07
09 * KCOM0 10 * KCOM 1
11 * KCOM2 12 * KCOM 3
13 * KCOM4 14 * KCOM 5
15 * KCOM6 16 * KCOM 7
Enable Switch DEADMAN Switch #1 DEADMAN Switch #2 Emergency Stop Butto n

CNENB1 CNDM1 CNDM2 CNEMG 1
01 EMGTP2 01 EMGTP2 01 EMGTP2 01 EMGTP
02 EMGEN 02 EMGDM1 02 EMGDM2 02 EMGTP 2
03 *KEY01 03 *KEY03 03 *KEY02 03 EMGB 1
04 ENBL4 04 DM1 04 DM2 04 EMGB 2
18 . TEACH PENDANT
Table 18-1 . Component Location

COMPONENT/ASSY LOCATION SCHEMATI C LOCATIO N
LOCATION FIG . NO.
CONNECTOR JRS1 MAIN (CPU) MODULE 05-26,13-26 18-2
EMG MODULE PCB RACK 3-6 18-2
ENABLE ON/OFF SWITCH TEACH PENDANT 05-38,13-21 18-2
MAIN (CPU) MODULE PCB RACK - 18-2
18 . TEACH PENDAN T
MARMMOSHW02301 E
18-6
NOTES
05-0 1 EMG 24E ov
(CONT . P .C .B )
05-02 - v v saw
[ROBOTLi0) tar. ta
05-03
ARM
t
mi C T. PC )
24E BACKPLANE
05-04 31.4
.1XAD
05-05 26
n HBK la 1
05-06
OV
05-07 14
K11 3 SERVO ON
05-08 D11
(03-10)
CRM1 '
nROTI 19
05-09 23<<
NO E-STOP
05-1 0 P1 CRM1( PRESENT AT T .P.
05-1 1 »64 18 < 03-09,03-33,06-16)
05-1 2 al
05-1 3 BRAKE ENABL E
05-1 4 (OPERATOR'S PANEL 03-15>
05-15 C CT BRAKE ENABLE
05-16 J1LS
K1 9
OPTIONAL)
~.F 03-16 ) A
05-17 Ao
J1O T
05-18
05-19
JILS AXIS #1 i OVERTRAVEL RELEASED
03-09 )
B (<
05-2 0
K043
05-2 1 K115 c HAND O K
05-2 2 <05-07)
05-23 MAIN NO ROBOT OVERTRAVE L
(CPU) 24T 24E 24E 24T
K04 0 05-07.05-18 )
05-2 4
05-25
TEACH PENDANT
24 T
T H1
T TPDISC
05-26 B► RV
E-STOP P.B. EMGTP MD-0M 24T
05-27 -lw 61 Ai 5A1
05-28 RL Y PDUI4 $63 24T 53.k

I RL
15
TEACH PENDANT
RV
SRVO-01 (05 3) OVER SOURCE
05-29 *E-STO P RL
SRVO-002 EMGTP 10
05-30 6 22
05-3 1
1-aLO- > 62 EMGB1
05-3 2 DEAD-MAN #1 •-o a 11 • 18
05-3 3 EMGB2
05-3 4
05-35 ru DEAD-MAN #2 - M EMGDM 17
T T.P . DEAD-MAN HEL D
s4 (05-05)
05-3 6
1
05-37 OFF ON a p4 EMGEN 19 T.P. OF F
EMGEN 14 1 TPDISC
05-38 T.P. ENABLE .-- )R04 214 05-07,05-09>
05-39
05-4 0 TP. CONNECTE D
TPRE L C05-30,05-46)
05-4 1
05-4 2 SERIAL DAT A TXTP $A01
SERIAL DATA
OUTPUT LINES *TXTP 801 y~ RL NES
05-4 3 US ES T .P. DISC. ENABLE
05-4 4 SERIAL DATA
REQUES T
RXTP TA02
SERIAL. DATA
E-STOP EMGB!
CRR- 4
18 I 05-28,05-46 )
05-4 5 *RXTP TBOP PUSH BUTTO N RL T.P . RELEASE
LINES OUTPUT LINES RL
ON TEACH CRR-4 15 10
05-4 6 PENDANT 04458220 ) (05-09 )
-H
TPDSC 1009 43) (05-40)
05-4 7
05-4 8 OV 1006
05-4 9 DV
05-50
05-51 24 E OV
(06-05) (06-05)
05-5 2
05-53
P cN0.
18-07
18 . TEACH PENDANT
NOTES
06-01
06-02
(CONT. P.C.B)
06-03
06-04 24E OV
06-0 5 C05-50) (05-50)
06-0 6
06-0 7
06-0 8
06-09 AXIS 8
(CLINT. P .C.B .)
06-1 0
06-1 1 HYB3
06-1 2 RV
06-13
06-14 RV
06-15
NODULAR I/O
06-16 RV
, BACKPLANE
06-1 7
06-1 8 I CN M CuMC1o
06-1 9 »83 23»
06-2 0 CN14 CNM00
06-21 INPUT/OUTPUT »ANB11 A&BI1)>
MODULE
06-22 CNMOC)
06-23 >>A3,B4,A&B12 A3 52
06-24 CNM CNM00

06-25
06-26
06-2 7
06-2 8
L SAFETY FENCE
(05-05,05-10,06-19)
06-2 9 CN14(X) MODULAR INTERFACE UNI T
EMERGENCY2
AIF01A/B K016
06-3 0 B3»- (03-16)
06-3 1 CNM(X)
06-3 2 A&B11n 5VDC
X=1 THROUGH 5
A20C-9001-0020/01
06-33 CNMCX ) 15VDC C R- 4
06-34 X=1 THROUGH 10 A3,A&B12»
A20C-9001-0040/01
06-35 =15VDC-
R
CNM X)
06-36 A2)
24 V
06-37
06-3 8 31&3.13,8
A8-IR
24V
06-3 9 -15VDC 35636 (
06-4 0 FROM
15VDC 39640
PSU P,C.B,
06-4 1 5VDC 94,96,98,100
06-4 3 8 VOLT IN ON PINS .
8183,85,87,89,9193 .
06-4 4 95.97.99
06-4 5 RL
EMGpUTI FR-4 6
06-46 yy 3
C03-09)
06-47
FOR CUSTOMER EMGOUTC F R- 4
06-4 8 CONNECTION TO
EMGOUT RELAY
06-4 9 RRL-6)
06-50 EMGOUT2 S
06-5 1
NOTE. RLI - 6 ARE SOCKETED
06-5 2
06-53 PAGE NO.
18- 9
18 . TEACH PENDANT
NOTES
15-01
15-02
15-03 CNTP 5v v -
[--7
rEN CD5
15-04 s' sr
Y
; «
KEYBOARD IN
MICROPROCESSO R
(V255-5 )
T 1
Y Y Y Y Y Y Y RAM PROM LCD CONTROLLER 1 '

15-0 5 _L J_ I _L _L-- _L -1_ icmm 320x8 32Kze 4-14
+0 0+0 0+0 0+-0 0+0 04-0 0+0 0-4-0 0 RxTP 4
15-0 6 _L _L L . _L_ J._ -_L- _I_ _J_- q *RXTP t
W 0+0 0+0 0+0 04-0 0+0 0+0 0+0 0 BCD TxTP
15-07 _L. I _L J_ --L .- _1_ -L -KCOM2 *txtP
,-0 0+0 0+0 0+0 0 .0 040 0+0 040 0 8
15-08 _1-- -I_ _i_ .L -_ _L _L_ -L K(de3
+0 0+0 0+0 0+0 0-0-0 0+0 0+0 040 0 ,___,-
15-09 __L_ _L -]_ -.L-. _1_ _L- _L -L KCG14 BCD IN
0-0 0+00+0 0+0 0+0 0+0 04-0 040 0 1
15-10 BCD-TO-DECIMAL DECODE R
+0 0+0 0 .0 0+0 0+0 0+0 0+0 0+0 0
DECIM/~L OU T
15-11 .J. _1_ J. _J.._ .-L- _I_ _L -1 K(:II46
15-12
15-13
0-0 0+0 0+0 0+0
-0 04+0 04-0
0-0-0 0+0 0+0
O+0
0
0+0 0
040
Ktd(7
1 0- IT XF
17
W
15-14
KEYBOAR D 1 24T
LI Y
W
15-15 z
e-
LCDON
15-1 6
5V
15-17
15-18
R VR2
KEYO3
15-19
(15-
1 34))
OFF
15-2 0
OV
15-2 1
D1ws
Y .12 81
15-2 2 ENABLE
15-23 FRO M
15-24
15-25
15-26
15-27
41
2 RLI6
15-28
15-29 REVD FELD

41 I_„
(03-45)
M3MD1I rCN11141 k
16
15-3 0 KEY03
AXIS
15-31 a DEADMAN SV2 (CONT . P .C .B,)
15-32 W
/T
0'091 (( .` 11r,,CNENGI
15-33 K *
3 OV
15-34 EM G
5 E-STOP
(15-19)
15-35 2
15-36 w
FIRR-4
15-37
TEACH PENDANT
EMERGENCY STO P
15-38
15-39 -
15-40 TEACH PENDA \IT OV

-1
PAGE NO.
18-11,
18 . TEACH PENDANT
NOTES
18. TEACH PENDANT
Figure 18-2 shows the loaction of the components involved in the teac h
pendant circuitry.
Figure 18-2. Location of Components for Teach Pendant Circuitry

~9
MARMMOSHW02301E
CRT/KB
19-1
The built-in CRT/KB unit is composed of a 9" monochrome CRT house d

within the CRT display unit, a 66-key full ASCII keyboard, a 7-ke y
software keyboard, and a control board . The Control Board has a
microprocessor that processes the serial communication to and from th e
Main CPU.
The CRT control circuit within the control board generates a video signa l
based on the data contained in the video RAM . Specific video display an d
processing information is tailored to the application by the EPRO M
contained on the control board . All power used to operate the built-i n
CRT/KB unit is converted from the +24VDC originating at the Powe r
Supply Unit (PSU) on the Main Backplane .
The +24VDC and (0V) is supplied to the built-in CRT/KB unit from th e
PSU through the Main Backplane to the Main CPU PCB, from the Mai n
CPU PCB to the operator interface board, then to the RS-232-C interfac e
board located on the operator panel, and then from the RS-232-C board t o
the CRT Control Board .
A jumper (ST1) is located on the Control Board . Jumpering to SIDE B
gives an alphanumeric display . Jumpering to SIDE A gives a katakana +
alphanumeric display. SIDE B is the standard setting .
19. CRT/KB
MARMMOSHW02301 E
NORMAL OPERATION S
If the initial power-up sequence is successful, the Main CPU Board i s
activated and at the same time, +24VDC (and 0V/signal ground) i s
supplied to the Built-In CRT/KB unit from the Power Supply Unit (PSU) .
On the control board of the built-in CRT/KB unit, the +24VDC is
converted to the voltages necessary (+12VDC, -12VDC, +5VDC) t o
operate the circuitry on the board . The +24VDC is also sent to the CRT
display unit to activate it . With voltages now present, a power-on signal i s
generated (*CLR) that resets the control board digital circuitry and seria l
communication can now begin .
When the Control Board is ready to receive data from the Main CPU, a
data terminal ready (*DTR) signal is sent to the CPU. Data is received on
the *TXD signal line . The control board sends data to the Main CPU o n
*RXD signal line after first sending a request to send signal to the Mai n
CPU on the *RTS signal line .
The CRT control circuit on the Control Board will send to the CRT
Display Unit a video signal based on the information contained in th e
Control Board video RAM . The information in the video RAM is decided
by the serial communication between the Main CPU and Control Board .
The video signal (*VIDEO) sent to the CRT Display Unit is also sent wit h
horizontal and vertical sync (HSYNC & VSYNC) signals . These signal s
lock in the video display . The +24VDC that is supplied from the Contro l
Board to the CRT Display Unit is used to operate the control circuitry a s
well as be converted to the 10KV supply necessary to illuminate the CR T
With the initial video menu now displayed on the CRT, the CRT system i s
waiting for input from the operator.
Communication between the operator and the CRT/KB system is don e
through the keyboard .
The control board reads the keyboard on an eight row/eight column matrix .
Four signal lines send a binary coded decimal signal to a BCD-to-decima l
decoder. This decoder then strobes one side of the keyboard switches o f
KCOM0-KCOM7 one row at a time . If a key has been pressed, the signa l
is felt on one of the keyboard input lines KEY00-KEY07 : The MPU can
then determine what key has been depressed and transmit this informatio n
on the serial data signal lines to the Main CPU Board (*TXD & *RXD) .
19 . CRT/KB
ADJUSTMENTS
CRT Display Unit The following can be adjusted at the CRT Display Unit:
• Brightness (BRIGHT)
• Contrast (CONT)
• Focus
• Horizontal size (H-SIZE)
e Vertical size (V SIZE)
• Horizontal Hold (H-HOLD)
• Vertical Hold(V-HOLD)
• Vertical linearity (V-LIN)
A WARNING
Keep fingers and tools away from the CRT display uni t
when first turning the power on . Use caution at the display
unit anytime when power is on because 10-11 KV i s
present .
Locate the corresponding variable resistor or adjustable coil on the back of

the CRT Display Unit. Then make adjustments as described below :
Brightness Turn to the brightest level possible before raster (scanning lines) appear on
the screen.
Contrast Adjust the CONT variable resistor until display characters achieve an easy
to read brightness level. Too much contrast can distort the characters .
Focus Adjust FOCUS variable resistor to sharpen characters .
Horizontal Size (Width) Adjust the H-SIZE coil if picture width appears too small or distorted o n
the sides .
Vertical Size (Height) Adjust the V-SIZE variable resistor if the picture height appears too smal l
or distorted at the top.
Horizontal Hold Adjust the H-HOLD variable resistor if the picture rolls or shifts
horizontally (or diagonally) .
Vertical Hold (V:HOLD) Adjust the V-HOLD variable resistor if the picture rolls vertically .
Vertical Linearity (V-LIN) Adjust the V-LIN variable resistor to obtain equal character size verticall y
in the upper and lower parts of the screen .
MARMMOSHW02301 E
19-4
The following can be adjusted at the CRT/KB Control Board :

+5VDC +5VDC supply : Monitor the "+5 VDC" test point and adjust variable
resistor VR1 until + 5VDC ± 0.1V is obtained.
STI
Jumper Setting Note:

STI SIDE A = KANA + ALPHA NUMERI C Standard setting B-SIDE
SIDE B = ALPHA NUMERIC
TROUBLESHOOTIN G
NO DISPLAY (SCREEN DARK )
• Check all cabling between the CRT Control Board and CRT Displa y
Unit . Also between the control board-to-RS 232 Interface-to-Mai n
CPU connections . Check for blown fuse FSI on Control Board .
• Perform Control Board test point measurements .

- If all measurements were OK, check whether +24VDC is presen t
at the CRT Display Unit connector CN2 .
If +24VDC is present, replace the CRT Display Unit .
If +24VDC is not present, determine why +24VDC is not gettin g
from the Control Board to the CRT Display Unit.
- If any measurements were not OK, during test point
measurements, determine whether +24VDC is present .
If +24VDC is not present, find the cause . The +24VDC is
supplied from the Power Supply Unit, through the Mai n
Backplane, through the Main CPU, to the RS-232 Interface board ,
then to the Central Board.
If +24VDC is present, replace the Control Board .
DISPLAY SHOWS FULL RASTER, BUT N O

CHARACTERS
• Make sure the software is loaded in the system and that there are no
fault codes displayed on the teach pendant .
• Check for continuity between Control Board connector CN5, and CR T

display unit connector CN1 .
- If there is continuity, replace the Control Board .
- If there is no continuity, replace the cable .

19. CRT/KB
19-5
DISPLAY SHIFTS OR ROLL S
• Adjust the H-HOLD and/or V -HOLD variable resistors on the back o f

the CRT Display Unit until the picture is stable.
• Check for continuity between CRT Control Board connector CA5 an d

CRT Display Unit connector CN1 .
If there is continuity, perform the test point measurements .

If the measurements are OK, replace the CRT Display Unit.
If the measurements are not OK, replace the Control Board .
If there is no continuity, replace the cable .
NO RESPONSE FROM KEYBOAR D

• The system software might be locked-up or in an endless loop. To
reset, turn on the controller from a Cold Start . Also, check continuity
of the cable from the CRT Control Board to the keyboard .
• Activate each key of the keyboard .
If some, but not all, keys respond, replace the keyboard .
If none of the keys respond, replace the Control Board .

19 . CRT/KB
MARMMOSHW02301 E
19-6
COMPONENT/ASSY LOCATION SCHEMATI C LOCATIO N

LOCATION FIG . NO .
ASCII KEYBOARD CONTROLLER DOOR - 19- 1
CONNECTOR CN3 OPER . INTERFACE PCB - 19- 1
CONNECTOR CN5 OPER . INTERFACE PCB - 19- 1
CONNECTOR JRM5 MAIN (CPU) MODULE - 19- 1
CRT CONTROLLER DOOR - 19- 1
CRT/KB CONTROL PCB CONTROLLER DOOR - 19- 1
EPROM CHIP CRT/KB CONTROL PCB - 19- 1
JUMPER ST1 CRT/KB CONTROL PCB - 19- 1
SCC-M MODULE MAIN (CPU) MODULE - 19- 1
VRI (5VDC ADJUST) CRT/KB CONTROL PCB 19- 1
VIDEO RAM CHIP CRT/KB CONTROL PCB - 19-1
19 . CRT/KB
Figure 19-1 . CRT/KB Component Locatio n
Operator Panel PCB

READING PRINTS
A-1
This appendix is designed to assist you with the interpretation of th e

electrical schematics used through this manual . Cross-references between
prints, relays, relay contact, and so forth are explained . The method use d
for designating cables, connectors, drivers, and receivers also is described .
A. READING PRINT S
A-2 MARMMOSHW02301 E
A. 1 There are two sets of prints used in this manual :

PRINTS USED IN THI S • Troubleshooting schematics
MANUAL • Total circuit diagrams
A.1 .1 These drawings can be found in the Chapter 7, "Prints," section of thi s
Troubleshooting manual . The primary purpose of these prints is to assist you in tracing an y
faults on the hardwire circuits and their interface with the printed circui t
Schematics boards (PCB).
This manual was written for SYSTEM R-J FANUC Robots Be sure yo u
are reading the correct print for the model robot you are troubleshooting .
A.1 .2 These drawings form Chapter 6 . These prints depict all of the component s
Total Circuit Diagrams in the controller cabinet, the robot mechanical unit, and the cables tha t
interconnect them . They are designed to be used in conjunction with the
second section of Chapter 5, cable diagrams .
A . READING PRINTS
MARMMOSHW02301E A-3
A. 2
ELECTRICAL PRINTS
FORMAT
A.2. 1 Along the left side of each print is a reference bar that displays the shee t
Cross-Reference Bar and the line number . Figure A-1 shows part of sheet 1, lines 14 through
26.
Numbers appearing within parentheses on the same or other sheets refer t o
this bar.
The number (02-01) indicates that the 200VAC power to the power suppl y
module continues on sheet 2, line 1 .
Figure A-1 . Cross-Reference Ba r
01-1 4
I-l'I"I+I n TlÎ I' I
01-1 5
01-1 6
01-1 7
ITF 1
01-1 8 I m
01-1 9
01-20
01-21 L
01-22 200VAC {
01-23 TO PS U
01-24 (02-01 )
01-25
01-26
A. READING PRINTS
A.2.2 Along the right side of the drawings is a cross-reference that indicates th e
Relay Cross-Reference name of the relay and where its contacts are used .
Figure A-2 shows the Servo On relay RL1 . The number 03-10 means tha t
a contact can be found on sheet 3, line 10 . An underline means that is a
normally closed set of contacts .
Relay RL1 is a plug in type as indicated by pin 1 and 5 contacts .
Relay RL13 is soldered to the printed circuit board .
Figure A-2 . Relay Cross-Referenc e
SERVO O N
03-10 )
NO E-STO P
PRESENT AT T,P ,
k03-09,03-33 .06-16)
A . READING PRINT S
MARMMOSHW02301E A-5
A.2.3 Relay contacts are reference in Figure A-3 . The example shows a contact
Relay Contacts of relay RL0 is the terminal number while (04-25) indicates that relay RL 0
coil can be found on sheet 4 line 25 . Throughout the prints you will find
the three different relay connection points . On Figure A-3 (A) the
connections are done through screw terminals . On Figure A-3 (B) the
terminals are soldered to a printed circuit board (PCB) . Figure A-3 (C)
shows the terminal through pins, in this case, a plug-in type of relay .
Figure A-3 . Relay Contacts
ROL
10 11
0-o-H I oe
(04-25 )
RL
0
HH
(04-25 )
RL
0
<H H>
(04-25 )
A.2.4 Figure A-4 shows terminal block T1, where T1 is the terminal block
Terminal Blocks number. The screw terminals are 17, 18, and 19 . Terminal block T1 might
have more terminals and might be shown in the same print or other print s
with the rest of the screw connections .
Figure A-4. Terminal Block s

A. READING PRINT S
A.2.5 Plugs or connectors are drawn as depicted in Figure A-5 . In exampl e

Plugs or Connectors A-5(A), connector JRA2, pins 67, 10, 63, 66, and 68 are displayed . The
dotted line indicates that all of these pins are part of connector JRA2 . In
some prints a connector designation could be shown with the pins as i n
Figure A-5 (B) . In such cases, the dashed line will not be present .
Special connectors used on the EMG module allow the customer to attac h
wiring to a screw terminal and then unplug the terminal without having t o
remove the wiring. These connection type CRR3 are shown as in Figur e
A-5(C).
Figure A-5 . Plugs or Connector s
24 E
CRM1 (CONT . RCM)
31,49- SOFTWARE
A FACTORY SWITCHES SOFF
CRM1 JUMPERED I .. -l 3-JRA
67
2
20< ' B mBRKE *10
B
(HBK SRVO-006
SRVO-005
q TREE r
3163 A
IRV l HBKD ~66
CRM1
19 << I xROT
3V'B
CRMB1
1--
ERR-
C- i -
A. READING PRINT S
MARMMOSHW02301E A-7
A.2.6 The location of most components is depicted on the electrical schematic s

Component Location as shown in Figure A-6 . All the components located in a common plac e
will be enclosed in a dashed line box . This box can be a printed circui t
board (PCB), a module, the teach pendant, etc .
The name of the board or module will be written inside the box, normall y
in the top left corner unless there is not enough space in that area . In this
case the name will appear in some other area inside the box . Figure A-6
shows the operator interface PCB, which is mounted in the operator panel .
Figure A-6 . Component Locatio n
02-17
in it) in
02-1 8
UN U(~t~, COM_ UN
OPERATOR
02-19 INTERFACE
PCB
zM
c_)a
z
cmt
02-2 0 cs¢
ON 1
02-2 1
OF F
02-22
OPERATOR'S PANEL
A . READING PRINTS
A.2.7 The interface between hard-wired circuits (relays, push buttons, lights ,
Drivers and Receiver s limit switches, and so forth) and the electronic circuits in the various PCB s
is done through the use of semiconductor devices referred to as Driver s
(DV) and receivers (RV) . Drivers are output devices, and receivers are
input devices . The symbol used for the Driver and Receiver has a numbe r
that indicates the appropriate chip on the printed circuit board .
Drivers Figure A-7 shows the software switching driver, HYB 1, controlling
BRAKE FETS Q1 through Q3 . Driver HYB1 provides a path for the 10V
to flow from pin 2 to pins 1, 4, and 6 of the chip .
Figure A-7. Drivers
Receivers Input receivers can be normally high as shown in Figure A-8 (A) . Pin 1 5
is tied to +24V, which will keep pin 15 high until the relay contact closes ,
bringing pin 15 to ground potential .
Figure A-8 (B) shows a receiver input, which is normally low . When the
relay contact closes, +24V will be supplied to pin 61 .
In both (A) and (B) cases, the receiver is monitoring a change of state i n
its input side, which will determine a response on its output side .
A. READING PRINTS
A-9
Figure A-8. Receivers
AXI S
CONT, P .C .B .
FUSE ALARM JRA2
15
A SR (04-25)
L SRVO
:3-008
ov
AXI S
(CONT, P,C,B, ) - 1 24 V
HYB 3 ROL
B SRVO-001 THR U
1 HH RV
SRVO-00 4
(04-25)
RV
HH SRVO-002
I LJ
A. READING PRINTS
A.2 .8 Throughout the electrical prints, you will see representations such as the
Special SymbolS on shown in Figure A-9 .
In Figure A-9 (A), +24V is drawn above a short line . This indicates tha t
+24V is taken from the printed circuit board . This symbology simplifies
the drawing by reducing the number of lines across the schematic, makin g
it easier to read.
Figure A-9 (B shows how OV also is taken from the printed circuit board .
To find out how the +24V and 0V get into the board, you should locate th e
connector that brings the power into the PCB . In Figure A-9, connectors
CA39A and CA39C are serving this function .
Figure A-9 . Special Symbols
A
A I
I PRINTED CIRCUI T
BOAR D
T
24V 24V
CA39C
1
J~
G,
~
0i r >
3A39 A
B
-i
I°
OV
1
ov~
A . READING PRINTS
MARMMOSHW02301E A-1 1
A.2.9 All wires in the electrical schematics are grouped in cable numbers . The
Cable IdentIfICation cables are designated by the letter "K" followed by the cable number.
The cable designation will assist you in finding all wires that form part o f
a cable and the pinout of the connectors at both ends. Refer to Chapter 5 ,
"Connectors ."
Figure A-10 depicts different methods used in this manual to represen t
cables. Figure A-10 (A) shows a single wire that is part of three differen t
cables. Figure A-10 (B) shows cable K70 and K115 . Notice the two way s
used to group the wires in a cable ; K115 is grouped by a dashed line box
while K70 is grouped by a single dashed line .
Figure A-10. Cable Identificatio n
W~ k13 k15 K7 0
A DII
7 E
I PI
~~4 0
v v v
OBOT Ww Wn W 17 K7O
Pt
I R ARM 40
xHBK jtt ~
OV
K11 3
PI
23 XRUTI
J30 T
AXIS #3 MR Pi
I
3
I B
4
J2O T
AXIS 2 JILAS
I KI 9
J10 T
AXIS # 1
co~ .. cu I JILS
aS
K112
L
J2J3OT K115
AXIS
A. READING PRINTS
A-12 MARMMOSHW02301E
A.3 Within the Axis, PSU, and EMG modules are standard Transistors, SCR' s
and other solid state devices .
SOLID STATE DEVICES
To better describe the circuitry in ladder logic, these solid state device s
have been redrawn to represent "solid state" relays, gates (contacts) and
switches . A box on a ladder rung with a number inside it is one of thes e
"solid state" relays . See Figure A-11(A) .
The gated output looks similar to a normal relay contact except that th e
number above it is also boxed . See Figure A-11(B) ,
It is important to keep in mind that these "relays" and "contacts" cannot b e
tested with a multimeter as if they were relays and contacts . It is ,
however, easier to follow circuit flow .
When referred to in the circuit description, the solid state device relay wil l
be called a "solid state device" (SSD) .
Its contact(s) will be referred to as a "gate
Figure A-11 . Solid State Devices
1 POWER O N
CD2-il
l
O
2 I POWER OF F
wa-io >
a
I (02-08 )
ERROR CODES AND RECOVER Y
MARMMOSHW02301E B B-1
Errors occur because of
0 Hardware problems - a broken cable or tooling, for example .
• Software problems - incorrect program or data, for example .
9 External problems - an open safety door or an overtravel has occurred ,

for example .
B . ERROR CODES AND RECOVERY
B-2 MARMMOSHW02301 E
Depending on the severity of the error, you must take certain steps t o
recover from it.
Use Procedure B-1 as the recommended error recovery procedure .
Procedure B-1 Error Recovery Recommendatio n
Conditio n n An error has occurred.

Step 1 Determine the cause of the error .
2 Correct the problem which caused the error .
3 Release the error.
4 Restart the program or robot.
If the basic recovery procedures do not clear the error, try restarting the
controller . Refer to Table B-1 for the methods of starting the controller .
First try a cold start. If cold start does not solve the problem, try a
controlled start . If the problem still exists, refer to the SYSTEM R-J
Software Installation Manual .
Table B-1 . . Start Methods

Star t Description Procedure
Method
Cold start Initializes changes to system Press OFF, press and continu e
variables pressing RESET, and press ON .
Initializes changes to 1/0 setup Release RESET.
Displays the UTILITIES Hints
scree n
Recovers the C-WORK
temporary memory area
Controlled Allows you to set up application Press OFF, press and continu e
start specific information pressing USER PB#1 and USE R
Allows you to install options PB #2, and press ON . Release
and updates the buttons .
Allows you to save specifi c
informatio n
Allows you to start KC L
Allows you to print teac h
pendant screens and th e
current robot configuratio n
Allows you to unsimulate all 1/0
MARMMOSHW02301 E
B-3
BA An error message consists of:

OVERVIEW • The facility name and number
• The severity of the error
• The message text of the error
The error message will be displayed as follows :
FACILITY-NUMBER SEVERITY Error message tex t
For example :
APSH-003 WARN REMOTE switch must be REMOT E
In the example, the facility name APSH corresponds to facility code 38 .
The error code number is 003 . Facility codes are used in error handlin g
from a KAREL program. The facility codes are listed in Table B-2 an d
Table B-3.
Table B-2 . Error Facility Codes, 0-2 5
Facility Facility
Facilit y
Cod e Code Descriptio n
Name
(Decimal) (Hexadecimal
OS 0 0x0 Operating syste m

SRIO 1 0x1 Serial drive r
FILE 2 0x2 File syste m
PROG 3 0x3 Interprete r
COND 4 0x4 Condition handle r
ELOG 5 0x5 Error logge r
MCTL 6 0x6 Motion control manage r
MEMO 7 0x7 Memory manage r
OPIF 8 0x8 Operator interfac e
TPIF 9 0x9 Teach pendant user interface
FLPY 10 0xa Serial floppy disk syste m
SRVO 11 0xb FLTR&SERVO in motion sub-syste m
INTP 12 0xc Interpreter error s
PRIO 13 0xd Digital 1/0 subsyste m
TPAX 14 0xe Aux task/subsyste m
MOTN 15 0xf Motion subsyste m
VARS 16 0x10 Variable manager subsyste m
ROUT 17 0x11 Interpreter built-in s
WNDW 18 0x12 Window 1/0 manage r
JOG 19 0x13 Manual jog tas k
APPL 20 0x14 Application manage r
LANG 21 0x15 Language utility
SPOT 23 0x17 Spat applicatio n
SYST
SCIO 24 0x18 - Facility code of syste m
25 0x19 Syntax checking routine for teach pendan t
programs
Table B-3 . Error Facilitv Codes, 26-6 5

PALT 26 0x1 a Pallet
UAPL 27 0x1b UAM R
32 0x20 Vision system
DICT 33 0x21 Dictionary processor
KCLI 34 0x22 KC L
TRAN 35 0x23 Translato r
TKSP 36 0x24 Translator/KCL scanner/parse r
KT 37 0x25 KAREL tools
APSH 38 0x26 Application shel l
CMND 42 0x2a Command processor
RPSM 43 0x2b Root pass memorizatio n
LNTK 44 0x2c Line tracking
WEAV 45 0x2d Weavin g
TCPP 46 0x2e TCP speed predictio n
TAST 47 0x2f Through-arc seam trackin g
MUPS 48 0x30 Multi-pass motion
MIGE 49 0x31 MIG-Eye trackin g
LSW 50 0x32 Laser weldin g
SEAL 51 0x33 Sealing
PAIN 52 0x34 Paint application error s
ARC 53 0x35 Are weldin g
TRAK 54 0x36 TRACK softpart
CMCC 55 0x37 CMC softpart
SP 56 0x38 Softparts utility loade r
MACR 57 0x39 MACRO optio n
SENS 58 0x3a Sensor interface
COMP 59 0x3b Computer interface
THSR 60 0x3c Touch sensin g
DJOG 64 0x40 Detached jo g
OPTN 65 0x41 Option installation
Use Procedure B-2 to display the log of alarms that have occurred .
Procedure B-2 Displaying the Alarm Lo g
Condition n An error has occurred.
Step 1 Press ALARMS .
3 Select Alarm Log . The alarm log will be displayed. This lists al l
errors. See the following screen for an example .
MARMMOSHW02301E
B-5
The most recent error is number 1 .

To display the complete message for a message that does not fit on th e
screen, press and hold the SHIFT key and press the right arrow key .
4 To display the motion log, which lists only motion-related errors ,
press Fl, [TYPE], and select Motion Log .
5 _ To display the system log, which displays only system errors, pres s
Fl, [TYPE], and select System Log .
6 To display the application log, which displays only KAREL errors ,
press Fl, [TYPE], and select Appl Log .
7 To display more information about an error, move the cursor to the
error and press F5, HELP . The error help screen displays informatio n
specific to the error you selected. When you are finished viewing the
information, press PREV.
8 To remove all of the error messages displayed on the screen, press
and hold SHIFT and press F4, CLEAR .
B. ERROR CODES AND RECOVERY
B-b MARMMOSHW02301 E
B .1,1 The severity of the error indicates how serious the error is, and is displaye d
Severity DeSCrIptions after the error number as shown in the following example :
APSH-003 WARN REMOTE switch must be REMOT E
WARN WARN errors only warn of potential problems or unexpecte d

circumstances . They do not directly affect any operations that might be i n
progress . If a WARN error occurs, you should determine what caused th e
error and what, if any, actions should be taken.
For example, the WARN error Singularity position indicates a
singularity position was encountered during a move . No action i s
required . However, if you do not want the motion to encounter a
singularity position, you can reteach the program positions .
PAUSE PAUSE errors pause program execution but allow the robot to complete it s
current motion segment, if any are in progress. This error typically
indicates that some action must be taken before program execution can b e
resumed . PAUSE errors cause the operator panel FAULT light to go on
and the teach pendant FAULT LED to go on .
a Depndigothac srequid,yomghtbalersu
paused program at the point where the PAUSE error occurred after yo u
have corrected the error condition . If the program can be resumed, you
can either select the RESUME function key or press the operator CYCLE
START button, depending on the position of the REMOTE keyswitch.
STOP STOP errors pause program execution and stop robot motion . When a
motion is stopped, the robot decelerates to a stop and any remaining par t
of the current motion segment is saved, meaning the motion can b e
resumed . STOP errors usually indicate that some action must be take n
before the motion and program execution can be resumed .
Depending on the action that is required, you might be able to resume th e
motion and program execution after correcting the error condition . If the
motion and program can be resumed, you can either select the RESUM E
function key or press the operator CYCLE START button depending o n
the position of the keyswitch .
MARMMOSHW02301E
B-7
SERVO SERVO errors shut off the drive power to the servo system and paus e
program execution . SERVO errors cause the operator panel FAULT light
to go on and the teach pendant FAULT LED to go on.
SERVO errors are usually caused by hardware problems and could requir e
trained service personnel However, some SERVO errors require you t o
reset the servo system by pressing the operator panel FAULT RESE T
button or the teach pendant RESET key . Others require a cold start of the
controller.
ABORT ABORT errors abort program execution and STOP robot motion . When
an ABORT error occurs, the robot decelerates to a STOP and th e
remainder of the motion is canceled . An ABORT error indicates that the
program has a problem that is severe enough to prevent it from continuin g
to run.
You will need to correct the problem and then restart the program .
Depending on the error, correcting the problem might mean editing th e
program or modifying the data .
SYSTEM SYSTEM errors usually indicate a system problem exists that is sever e
enough to prevent any further operation . The problem could be hardware
or software related .
You will need the assistance of trained service personnel to correc t
SYSTEM errors . After the error has been corrected, you will need to rese t
the system by turning off the robot, waiting a few seconds, and turning o n
the robot.
If a program was executing when the error occurred, you will need t o
restart the program .
ERROR ERROR errors occur during the translation of a KAREL program . When
an ERROR error occurs, translation is stopped and a PC file is no t
generated. Fix the error in the program and retranslate it . When you
translate a program and no ERROR errors occur, translation is successful
and a PC file is generated . Table B-4 summarizes the effects of error
severities .
Table B-4. Effects of Error Severit y
Severity Program Robot Motion Servo Motors

WARN No effect No effect No effect
PAUSE Paused The current move is completed then th e No effect
robot stops .
STOP Paused Decelerated STOP ; motion retained No effect
SERVO Paused Decelerated STOP ; motion retained Power shutdow n
ABORT Aborted Emergency STOP motion canceled No effect
SYSTEM Aborted Emergency STOP, motion canceled Power shutdow n

Requires turning off/turning on the robo t
ERROR No effect No effect No effect
B.2 This section contains procedures for recovery from certain errors . These
GENERAL ERROR errors are:
RECOVERY • Brake control releas e
A Overtravel release
PROCEDURES • Hand breakage recovery
8,2.1 To recover from some error codes, you might have to release the brakes .
Brake Control Release Use Procedure B-3 to release or engage the brakes .
Procedure B-3 Releasing or Engaging the Brakes
Step 1 Press and release the EMERGENCY STOP button .
NOTE Do not press RESET. The servos must be off to release th e

brakes.
2 Press MENUS .
3 Select NEXT PAGE.
4 Select SYSTEM .
6
7 Highlight the number of the axis you want to release or engage .
A WARNIN G
Releasing a brake could cause the robot to move . To
STOP the robot immediately, press the EMERGENCY STO P
button or press F2, ENG-SEL to engage the brake .
B-9
8 To release or engage a single brake :

a Select an axis to be released or engaged ; press F4, YES.
b Release the brake on the selected axis; hold the SHIFT key and
press F3, REL-SEL.
c Engage the brake on the selected axis; press F2, ENG-SEL .
9 To release ALL brakes:
A WARNIN G
Performing Steps 9a through 9b will release ALL brakes ,
regardless of whether they have been selected with F4 ,
YES. This could result in robot movement . Be prepared
for all brakes to be released, which could cause the robo t
to move, otherwise personnel could be injured o r
equipment damaged.
a Press > to display the next page of function keys .

b Hold doWn the SHIFT key and press F3, REL-ALL to release all
of the brakes .
10 To engage ALL brakes :
A WARNIN G
Performing Steps 10a through 10b will engage ALL brakes ,
regardless of whether they have been selected with F4 ,
YES. Be prepared for all brakes to be engaged, otherwis e
personnel could be injured or equipment damaged .
a Press > to display the next page of function keys .

b Press F2, ENG-ALL to engage all of the brakes .
11 When you are finished, press RESET.
NOTE If you are unable to jog the robot after releasing the brakes, pres s
and release the EMERGENCY STOP button, and then press RESET t o
clear the fault .
B . ERROR CODES AND RECOVER Y
B.2.2 An overtravel error occurs When one or more of the robot axes move s
Overtravel Release beyond the softWare motion limits . When this happens one of the
overtravel limit sWitches is tripped and the system does the folloWing :
• Shuts off drive poWer to the servo system and applies robot brake s
• Displays an overtravel alarm error messag e
• Lights the operator panel FAULT ligh t
• Turns on the teach pendant FAULT status indicato r
• Limits motion for the axes involved in the overtrave l
Use Procedure B-4 to recover from an overtravel error .
Procedure B-4 Recovering from an Overtravel Erro r
Condition n An axis (or axes) are in overtravel and the overtravel alarm ha s
occurred . If you are jogging in JOINT the axis number indicating th e
axis (or axes) in an overtravel Will be displayed in the error log .
Step 1 If you have not already done so, continuously press and hold the
DEADMAN sWitch and turn the teach pendant ON/OFF sWitch to ON .
2 Hold doWn the SHIFT key and press RESET.
3 Press COORD until you select the JOINT coordinate system.
4 Jog the axis in overtravel off of the overtravel sWitch .
If you cannot jog the robot off of the overtravel switch th e

wrong motion inhibit flag has been set ; therefore, continu e
to the next step . Otherwise, the axis (or axes) are no longe r
in overtravel and you can end the procedure now .
5 Press MENUS .
6 Select MANUAL FCTNS .
8 Select OT Release. See the folloWing screen for an example .
TRUE indicates an axis is in overtravel . FALSE indicates an axis is not i n

overtravel .
MARMMOSHW02301E
B-11
9 Move the cursor to the OT PLUS or OT MINUS value of the axis i n

overtravel . The status of OT PLUS or OT MINUS for that axis i s
TRUE.
14 Press and hold SHIFT and press F2, RELEASE .
11 Press and hold SHIFT and press RESET.
12 Press COORD until you select the JOINT coordinate system .
13 Continuously press and hold the DEADMAN sWitch and turn th e
teach pendant ON/OFF sWitch to ON .
14 Jog the axis off of the overtravel sWitch .
15 Turn the teach pendant ON/OFF sWitch OFF and release the
DEADMAN sWitch.
B.2.3 A hand breakage error occurs When the hand breakage detection sWitch i s
Hand Breakage tripped on robots equipped With hand breakage hardWare . The sWitch i s
tripped When the robot tool strikes an obstacle, Which could possible caus e
Recovery the tool to break . The system
• Shuts off drive poWer to the servo system and applies robot brake s
• Displays an error message indicating that the hand is broke n
• Lights the operator panel FAULT ligh t
• Lights the teach pendant FAULT LED
The status of the hand breakage detection sWitch is displayed on th e
STATUS Safety Signals screen.
Use Procedure B-5 to recover from a hand breakage.
Procedure B-5 Recovering from a Hand Breakag e
Condition n The hand breakage error message is displayed .

Step 1 If you have not already done so, continuously press and hold th e
DEADMAN sWitch and turn the teach pendant ON/OFF sWitch to ON .
2 Hold doWn the SHIFT key and press RESET . The robot can noW b e
moved.
3 Jog the robot to a safe position.
4 Press the EMERGENCY STOP button .
5 Request a trained service person to inspect and, if necessary, repair th e
tool.
6 Determine what caused the tool to strike an object, causing the hand t o
break.
7 If the hand breakage occurred while a program Was being executed ,
you might need to reteach positions, edit the program, or move th e
object that Was struck .
8 Test run the program if it has been edited, if neW positions have bee n
recorded, or if objects in the work envelope have been moved .
MARMMOSHW02301 E
Error codes in this section are listed alphabetically . Percent signs (% )

followed by a letter or letters indicate that a program name, file name, o r
variable name actually appears in the error message When the error occurs .
For example, the error message for APSH-015 is listed in this section a s
Program %s not loaded . When this error occurs, the actual name of th e
program that Was not loaded Will appear on the teach pendant error lin e
instead of %s .
If you receive an error that does not appear in this section, Write doWn al l
of the events that lead to the error. Try to cold start the controller . If the
error still occurs, folloW your normal procedure for unresolved errors .
CMCC Error Codes
MARMMOSHW02301E
B-1 3
CMCC Error Code s
CMCC-001 SWARN CMC global variable failure

Cause : IntelliTrak variables are not loaded .
Remedy : Perform a controlled start and initialize the motion softparts .
CMCC-002 SWARN CMC data area not found

Cause : Program data area cannot be found .
Remedy : No action required.
CMCC-003 SSTOP CMC schedule no . not retrieved

Cause : IntelliTrak schedule number error .
Remedy : Select program and use DETAIL page to check/modify schedule number to within 0 to 3 .
CMCC-004 SSTOP CMC error allocating data are a

Cause : A system error occured while allocating the internal data area .
Remedy : Cold start the controller to reset the error. If the error strill occurs, record the events that led
up to the error and call your FANUC Robotics technical representative .
CMCC-005 SSTOP CMC system variable failur e

Cause : An IntelliTrak variable was not loaded .
Remedy : Perform a controlled start and initialize the motion softparts .
CMCC-006 SSTOP CMC illegal schedule number

Cause : The schedule number is not within the range of 0 to 3 .
Remedy : Select a program and use DETAIL page to set the schedule number correctly .
CMCC-007 SSTOP CMC illegal cmc typ e

Cause : $cmc_type is not within the valid range of 0 to 2 .
Remedy : Set $cmsch[selected schedule num] . $cmc_type correctly .
CMCC-008 SWARN Unsupported function cod e

Cause : Internal execution error.
Remedy : Cold start the controller to reset the error . If the error still occurs, record the events that led
CMND Error Codes B . ERROR CODES AND RECOVERY
CMND Error Code s
CMND-001 WARN Directory %s not foun d

Cause: The specified directory can not be found .
Remedy: Check the device and path that you entered . If none entered, check the system defaul t
device from the FILE Menu or from the KCL command, CHDIR .
CMND-002 WARN File %s not found

Cause : The specified file could not be found .
Remedy : Check to make sure the file has been spelled correctly and that it exists . Also verify th e
device and path name are correct .
CMND-003 File %s cannot be overwritte n

Cause : The file already exists and could not be overwritten .
Remedy : Make sure the overwrite option has been specified .
CMND-004 WARN File %s already exist s

Cause : The file could not be created because it already exists .
Remedy : Delete the existing file before you create a new one .
CMND-005 WARN Cannot create file % s

Cause : The file could not be created .
Remedy : Verify the device and path names are correct . If you are writing to floppy, verify that the disk' s
write protection is set to off .
CMND-006 WARN Self copy not allowed : %s

Cause : A file can not be copied to itself .
Remedy : Change the name of the destination file so it is different from the source file .
CMND-007 WARN Input file not foun d

Cause : The specified input file could not be found .
Remedy : Check to make sure the file has been spelled correctly and that it exists . Also verify the
device and path name are correct .
CMND-008 WARN Output file not foun d

Cause : The specified output file could not be opened .
Remedy : Check to make sure the file has been spelled correctly and that it exists . Also verify th e
device and path name are correct . If you are writing to floppy, verify that the disk's writ e
protection is set to off .
CMND-009 WARN Position types are the sam e

Cause : N/A
Remedy : N/A
CMND-010 WARN Source type code is invalid

Cause : N/A
Remedy : N/A
CMND Error Code s
MARMMOSHW02301E B-1 5
CMND-011 WARN Destination type code is invali d

Cause: N/A
Remedy : N/A
CMND-012 WARN Type codes do not matc h

Cause : N/A
Remedy : N/A
CMND-013 WARN Representation mismatc h

Cause : N/A
Remedy : N/A
CMND-014 WARN Positions are not the same

Cause: N/A
Remedy : N/A
CMND-015 WARN Both arguments are zero

Cause : N/A
Remedy : N/A
CMND-016 WARN Division by zero

Cause: N/A
Remedy: N/A
CMND-017 WARN Angle is out of rang e

Cause : N/A
Remedy : N/A
CMND-018 WARN Invalid device or pat h

Cause: An invalid device or path has been specified .
Remedy : Check the device and path that you entered . If none entered, check the system defaul t
device from the FILE Menu or from the KCL command, CHDIR .
CMND-019 WARN Operation cancelle d

Cause : The operation was cancelled because CTRL-C or CTRL-Y was pressed .
Remedy : None .
CMND-020 WARN End of director y

Cause : The directory listing is finished .
Remedy : None .
CMND-021 WARN Can not rename fil e

Cause : The destination file name contained both alphanumeric characters and the globa l
characte r '*'.
Remedy : Use only alphanumeric characters or a single global character when renaming a file .
COND Error Codes B . ERROR CODES AND RECOVERY
B- 1 6 MARMMOSHW02301 E
COND Error Codes
COND-001 WARN Condition does not exis t

Cause : Specified condition does not exist .
Remedy: Check for condition statements to verify if the specified condition has really been created o r
not .
COND-002 WARN Condition handler supersede d

Cause : The specified condition number already exists in the system, and has been superseded b y
the new condition .
Remedy : This is just a notification, and you do not have to do anything for this warning message .
COND-003 WARN Already enabled, no change

Cause : The specified condition is already enabled . No change has been made .
Remedy : N/A
COND-004 WARN Already disabled, no chang e

Cause : The specified condition is already disabled . No change has been made .
Remedy : N/A
COND-005 WARN No more conditions define d

Cause : No more conditions are defined for the specified task .
Remedy: N/A
COND-009 WARN Break point encountere d

Cause : Break point has been encountered .
Remedy : N/A
COND-010 WARN Cond exists, not supersede d

Cause : Specified condition already exists . Condition was not superseded .
Remedy : N/A
COND-011 ABORT Scan time took too lon g

Cause : There are too many conditions defined . It took too long to scan them all .
Remedy : Reduce the number of conditions defined .
DICT Error Codes
MARMMOSHW02301E B- 17
DICT Error Codes
DICT-001 WARN Dictionary already loade d

Cause : A dictionary cannot be reloaded if it was loaded into FROM .
Remedy : Load into a different language and use KCL SET LANG to set the language .
DICT-002 WARN Not enough memory to load dic t

Cause : There is no more permanent memory available in the system to load another dictionary.
Remedy : Clear all unnecessary programs, dictionaries or variables .
DICT-003 WARN No dict found for languag e

Cause : There are no dictionaries loaded for the specified language .
Remedy : Use the DEFAULT language or a language in which a dictionary has been loaded .
DICT-004 WARN Dictionary not found

Cause : The specified dictionary was not found .
Remedy : Use KCL LOAD DICT to load the dictionary into the DEFAULT language or the curren t
language .
DICT-005 WARN Dictionary element not foun d

Cause : The dictionary element was not found .
Remedy: Check the dictionary or element number to be sure it is specified correctly .
DICT-006 WARN Nested level too deep

Cause : Only five levels of dictionary elements can be nested .
Remedy : Fix the dictionary text file to include fewer nested levels .
DICT-007 WARN Dictionary not opened by tas k

Cause : The dictionary was never opened .
Remedy : Remove the close operation .
DICT-008 WARN Dictionary element truncate d

Cause : The dictionary element was truncated because the KAREL string array is not large enough t o
hold all the data .
Remedy : Increase either the size of the string or the number of strings in the array .
DICT-009 WARN End of language lis t

Cause : The language list has completed .
Remedy : None .
DICT-010 WARN End of dictionary lis t

Cause : The dictionary list has completed .
Remedy : None .
U
DICT Error Codes B. ERROR CODES AND RECOVERY

DICT-011 WARN Diet opened by too many task s

Cause : Only five dictionaries can be open by one task at one time .
Remedy : Load the dictionary to CMOS or close an unused dictionary.
DICT-012 WARN Low on FROM, loaded to CMOS

Cause: Not enough memory exists in FROM so the dictionary was loaded to CMOS .
Remedy : None required .
DICT-013 WARN Cannot open dictionary fil e

Cause : The dictionary file does not exist on the specified device or in the specified directory .
Remedy : Select the proper device/directory and try again .
DICT-014 WARN Expecting $ in dictionary fil e

Cause: The dictionary text incorrectly specifies an element without a $ .
Remedy : Make sure all dictionary elements begin with $ .
DICT-015 WARN Reserved word not recognize d

Cause : A reserved word was not recognized in the dictionary text .
Remedy : Check for misspelling or look up the correct word in the KAREL Reference Manual.
DICT-016 WARN Ending quote expecte d

Cause : The dictionary text incorrectly specifies an element without using quotes .
Remedy: Make sure all dictionary text is surrounded by double quotes . Use a backslash if you want a n
actual quote to appear in the text . For example, \"This is an example\" will produce "This is
an example" .
DICT-017 WARN Expecting element name or nu m

Cause : A reference to another element is expected .
Remedy : Use the element number to reference the element .
DICT-018 WARN Invalid cursor positio n

Cause : The cursor position is specified incorrectly or the values are outside the limits .
Remedy : Make sure the cursor position is valid . For example, use (@1,1 for the first row and co l
respectively .
DICT-019 WARN ASCII character code expected

Cause : A series of digits are expected after the # to specify an ASCII character code .
Remedy : Remove the # or look up the ASCII character code in the KAREL Reference Manual .
DICT-020 WARN Reserved word expected

Cause : An identifier is expected after the & to specify a reserved word .
Remedy : Remove the & or look up the reserved word in the KAREL Reference Manua/.
DICT-021 WARN Invalid characte r

Cause : An unexpected character was found in the dictionary text file .
Remedy : Make sure all dictionary text is correct .
DICT Error Code s
MARMMOSHW02301E
B-1 9
DICT-022 WARN Dict already opened by tas k

Cause : Dictionary is already open by the task .
DICT-023 WARN Dict does not need to be opene d

Cause : Dictionaries loaded to FROM and CMOS do not need to be opened .
Remedy : Do not try to open the dictionary file .
DICT-024 WARN Cannot remove dictionary fil e

Cause : Dictionaries loaded to FROM cannot be removed .
Remedy : Do not try to remove the dictionary .
DICT-028 WARN No FROM write, loaded to CMO S

Cause: Not enough memory exists in FROM so the dictionary was loaded to CMOS .
Remedy: None required .
DICT-029 WARN Help element not foun d

Cause : The help dictionary element was not found .
Remedy: Check the dictionary to be sure the help dictionary element was specified correctly . The hel p
dictionary element must be specified with a question mark (?) followed by the elemen t
number.
DICT-030 WARN Function key element not foun d

Cause : The function key dictionary element was not found .
Remedy: Check the dictionary to be sure the function key element was specified correctly . Th e
function key element must be specified with a caret ( A) followed by the element number .
DICT-040 WARN Expecting element num after $

Cause : The dictionary text incorrectly specifies an element number .
Remedy : Make sure all dictionary elements begin with $ followed by the element number .
DICT-041 WARN Expecting element name after ,

Cause : The dictionary text incorrectly specifies an element name .
Remedy : Make sure all dictionary elements are specified as ",element_name" after the add constan t
name .
DICT-042 WARN Expecting add constant nam e

Cause : The dictionary text was specified incorrectly .
Remedy: Make sure all dictionary elements are specified as "+add_const_name" after the elemen t
number.
DICT-043 WARN Element number out of sequenc e

Cause : The dictionary text was not specified in sequence .
Remedy: Make sure all dictionary elements are specified in sequential order .
DICT Error Codes B . ERROR CODES AND RECOVERY
DICT-044 WARN Warning - large hole in ele se q

Cause : The dictionary text has a large gap between element numbers .
Remedy : Reduce the gap in the element sequence . Each missing element uses up five bytes o f
memory.
DICT-045 WARN .LIT or .END mismatch

Cause: The dictionary text was specified incorrectly .
Remedy : Verify that each .LIT is matched with a .END .
DICT-046 WARN Command already encountere d

Remedy : Remove the extra command .
DICT-047 WARN File extension require d

Cause : The dictionary compressor expects a file extension .
Remedy : Use the .etx file extension for error text, the .utx file extension for uncompressed text, or th e
.ftx file extension for form text .
DICT-048 WARN Invalid file extensio n

Cause : Dictionary compressor did not recognize the file extension .
Remedy : Use the .etx file extension for error text, the .utx file extension for uncompressed text, or th e
.ftx file extension for form text .
DICT-049 WARN Expecting file name

Cause : The dictionary compressor expects a file name .
Remedy : Specify a file name after the command .
DICT-050 WARN Expecting facility numbe r

Cause : The dictionary compressor expects a facility number in the .KL command .
Remedy : Specify the facility number after the file name .
DICT-051 WARN Symbol invalid for dictionary typ e

Cause : An invalid command was specified for this type of dictionary file .
Remedy : Check the command and if a form is used, verify the file extension i s
DICT-052 WARN Expecting .ENDFORM symbo l

Remedy : Verify that each .FORM is matched with a .ENDFORM .
DICT-053 WARN Cannot open include fil e

Cause : The include file could not be created .
Remedy : Make sure a valid file name has been specified .
DJOG Error Codes
DJOG Error Code s
DJOG-000 WARN Unknown error (DJOG )

Cause : Internal execution error .
Remedy : Cold start the controller to reset the error. If the error still occurs, record the events that le d
DJOG-001 WARN DJOG overtravel violation

Cause : DJOG overtravel.
:
Remedy Release overtravel.
DJOG-002 WARN Motion control prog aborte d

Cause : Program abort during DJOG enable .
Remedy : Run the program .
DJOG-003 WARN Manual brake enable d

Cause : Manual brake enabled .
Remedy : Engage all the brakes and reset .
DJOG-004 WARN TP enabled during DJOG

Cause : TP enabled during DJOG .
Remedy: Disable TP, RESET, resume Prog .
DJOG-005 WARN Prog has MCTL of DJOG group

Cause : DJOG attempt on attached group .
Remedy : Disable DJOG, RESET, resume.
DJOG-006 WARN Robot not clear for DJOG

Cause : Robot not clear of DJOG cell .
Remedy : Move robot or disable DJOG .
DJOG-007 WARN DJOG station fence open

Cause : Fence safety violation .
Remedy : Insert fence connector, RESET.
DJOG-008 WARN DJOG axis limi t

Cause : DJOG Axis limit reached .
Remedy : Reset limit value if required .
DJOG-009 WARN Max group number exceede d

Cause : Max group number exceeded .
Remedy : Reduce number of DJOG groups .
DJOG Error Codes B . ERROR CODES AND RECOVERY
DJOG-010 WARN Max input number exceeded

Cause : Max input number exceeded .
Remedy : Reduce starting point number .
DJOG-011 WARN Max output number exceede d

Cause : Max output number exceeded .
Remedy : Reduce starting point number .
DJOG-020 ABORT Unexpected DJOG packet

Cause: Internal execution error.
Remedy: Cold start the controller to reset the error . If the error still occurs, record the events that led
DJOG-021 ABORT Bad data in DJOG packe t

DJOG-022 ABORT Uninitialized DJOG I/ O

Cause : Uninitialized I/O .
Remedy: Inspect I/O and/or I/O setup .
DJOG-023 ABORT Uninitialized DJOG data

Cause : Uninitialized variable .
Remedy : Inspect DJOG vars .
DJOG-030 STOP Motion control taken by prog

Cause : Program attempt to get MCTL .
Remedy : Abort program or disable DJOG .
ELOG Error Code s
MARMMOSHW02301E B-23
ELOG Error Code s
ELOG-009 WARN call a service ma n

Remedy: Cold start the controller to reset the error . If the error still occurs, record the events that le d
ELOG-011 WARN Power off, if you want to recover .

Cause : N/A
Remedy : N/A
ELOG-012 WARN A system error has been occured

Cause : N/A
Remedy : N/A
ELOG-001 'FLPY_BASE End of directory reache d

Cause : N/A
Remedy : N/A
ELOG-002 FLPY_BASE File already exist s

Cause : N/A
Remedy: N/A
ELOG-003 FLPY_BASE File does not exis t

Cause : N/A
Remedy : N/A
ELOG-004 FLPY_BASE . Illegal command received

Cause : N/A
Remedy : N/A
ELOG-005 FLPY_BASE Disk is ful l

Cause : N/A
Remedy : N/A
ELOG-006 FLPY_BASE End of file reache d

Cause : N/A
Remedy : N/A
ELOG-008 FLPY_BASE Only one file may be opene d

Cause : N/A
Remedy : N/A
ELOG Error Codes B. ERROR CODES AND RECOVERY
B-24
ELOG-009 FLPY_BASE Communications erro r

Cause : N/A
Remedy : N/A
ELOG-100 FLPY_BASE Directory read erro r

Cause: NIA
Remedy : N/A
ELOG-101 FLPY_BAS E Block check erro r

Cause : N/A
Remedy : N/A
ELOG-103 FLPY_BAS E Seek erro r

Cause : N/A
Remedy : N/A
ELOG-104 FLPY_BAS E Disk timeou t

Cause : N/A
Remedy : N/A
ELOG-105 FLPY_BASE Write protection violatio n

Cause : N/A
Remedy : N/A
B. ERROR CODES AND RECOVER Y
MARMMOSHW02301 E
FILE Error Code s
FILE-001 WARN Device not ready
FILE-002 WARN Device is Ful l
FILE-003 WARN Device is protected
FILE-004 WARN Device not assigne d
FILE-005 WARN Device not mounte d
FILE-006 WARN Device is already mounted
FILE-007 WARN Invalid device numbe r
FILE-008 WARN Invalid device nam e
FILE-009 WARN Invalid logical unit numbe r
FILE-010 WARN Directory not found
FILE-Oll WARN Directory ful l
FILE-012 WARN Directory is protecte d
FILE-013 WARN Invalid directory nam e
FILE-014 WARN File not found
FILE-015 WARN File is protected
FILE-016 WARN File cannot expan d
FILE-017 WARN File not open
FILE-018 WARN File is already opene d
FILE-019 WARN File is locke d
FILE-020 WARN Invalid file size
FILE-021 WARN End of fil e
FILE-022 WARN Invalid file name

FILE Error Codes B . ERROR CODES AND RECOVERY
B-2 6
FILE-023 WARN Invalid file numbe r
FILE-024 WARN Invalid file typ e
FILE-025 WARN Invalid protection cod e
FILE-026 WARN Invalid access mode
FILE-027 WARN Invalid attribut e
FILE-028 WARN Invalid data bloc k
FILE-029 WARN Command is not supporte d
FILE-030 WARN Device lun table is ful l
FILE-031 WARN Invalid path nam e
FILE-032 WARN Invalid paramete r
FILE-033 WARN System file buffer ful l
FILE-034 WARN Invalid file position
FILE-035 WARN Device not formatted
FILE-036 WARN File already exis t
FILE-037 WARN Directory not empt y
FILE-038 WARN File locked by too many task s
FILE-039 WARN Directory already exist s
FILE-040 WARN Invalid file access mod e
FILE-041 WARN File not locked
FILE-043 WARN Context table is full
FILE-044 WARN Not enough C-work memor y
FILE-045 WARN Need to set $FILE_MAXSEC

MARMMOSHW02301 E
FLPY Error Codes
FLPY-001 WARN End of directory reached
FLPY-002 WARN File already exist s
FLPY-003 WARN File does not exis t
FLPY-004 WARN Unsupported comman d
FLPY-005 WARN Disk is ful l
FLPY-006 WARN End of file reache d
FLPY-008 WARN Only one file may be opene d
FLPY-009 WARN Communications erro r
FLPY-100 WARN Directory read erro r
FLPY-101 WARN Block check error
FLPY-103 WARN Seek erro r
FLPY-104 WARN Disk timeou t
FLPY-105 WARN Write protection violation

HRTL Error Codes B . ERROR CODES AND RECOVERY
B-2 8 MARMMOSHW02301 E
HRTL Error Codes
HRTL-002 WARN File/Comm Tag does not exis t

Cause : Either the file or the Comm Tag could not be found .
Remedy : Either retype the file name or DEFINE the Comm Tag .
HRTL-006 WARN No protocol or device des t

Cause : The Comm Tag either does not have a protocol defined or if required does not have a por t
assigned .
Remedy : DEFINE a protocol to the Comm Tag or assign a port .
HRTL-009 WARN Bad file numbe r

Cause : The file number passed does not match with any open files.
Remedy : Copy the conditions which caused this to occur .
HRTL 013 WARN Invalid Open flag s

Cause : An attempt has been made either to read a file opened for write access only or write a fil e
open for read access only .
Remedy : Close and reopen the file with the requested access rights .
HRTL-014 WARN Invalid Comm Ta g

Cause : A bad address has been detected .
Remedy : UNDEFINE and then DEFINE the Comm Tag after checking the Tag has a supporte d
protocol .
HRTL-015 WARN Port device required

Cause : The selected protocol requires a device port .
Remedy : First ensure the Port has No Use from Port Init Setup . Then assign it to the selected Comm
Tag .
HRTL-016 WARN Comm Tag already define d

Cause : Either the Comm Tag is STARTED or it's presently in use .
Remedy : Either STOP the Comm Tag or create the type .
HRTL-019 WARN Invalid device type

Cause : The passed Device Type is not a Comm Tag type (Cx or Sx) .
Remedy : Only Comm Tags can be used with this command .
HRTL-022 WARN Invalid argumen t

Cause : The passed Device Type is not a Comm Tag type (Cx or Sx) .
Remedy : Only Comm Tags can be used with this command .
INTP Error Codes
INTP Error Codes
INTP-000 ABRT Req has not been processed ye t

INTP-001 PAUS Has not locked the motion grp

Cause: Motion control for the specified group cannot be locked .
Remedy : Check the teach pendant enable switch and other running programs to determine who ha s
motion control .
INTP-002 ABRT Internal error PMG R

Remedy : Cold start the controller to reset the error. If the error still occurs, record the events that led
INTP-003 ABRT Invalid reques t

Remedy : Cold start the controller to reset the error . If the error still occurs, record the events that le d
INTP-004 PAUS Attaching must wait for tp of f

Cause : The ATTACH statement requires the teach pendant to be disabled .
Remedy : Disable the teach pendant .
INTP-005 PAUS Release is not ok

Cause : Motion control cannot be released .
Remedy : Abort the running or paused program .
INTP-100 ABRT (%s"4, %d"5) Internal error (PXnn )

up to the error and call your FANUC Robotics technical representative.
INTP-101 ABRT (%s^4, %d"5) Internal error (system )

INTP-102 ABRT (%s"4, %d^5) Code format is invali d

INTP Error Codes B . ERROR CODES AND RECOVERY
INTP-103 ABRT (%s^4, %d"5) Interpreter erro r

Cause: An error occurred while the program was running .
Remedy: Refer to the error cause code .
INTP-104 ABRT (%s"4, %d^5) Single step faile d

Cause : Single step cannot be executed .
INTP-105 PAUS (%s^4, %d"5)-Run request faile d

Cause : Program cannot be started .
INTP-106 PAUS (%s^4, %d^5) Continue request faile d

Cause : Program-cannot be resumed .
INTP-107 ABRT (%s^4, %d"5) Pause request faile d

Cause : An alarm occurred when program execution was held .
Remedy : Refer to the error cause code .
INTP-108 ABRT (%s^4, %d"5) Abort request faile d

Cause : An error occurred when program execution was aborted .
INTP-109 WARN (%s^4, %d"5) BWD motion request faile d

Cause : Backward motion cannot be executed .
INTP-110 WARN (%s^4, %d"5) Get task status request faile d

Cause : The specified task attribute is not found or is not read accessible .
Remedy : Check the attribute .
INTP-111 WARN (%s^4, %d"5) Skip statement request faile d

Cause : The currently executing line cannot be changed .
Remedy : Refer to the error cause code.
INTP-112 PAUS Cannot call interrupt routin e

Cause : The interrupt routine cannot be executed .
INTP-113 PAUS (%s^4, %d"5) Stop motion request failed

Cause : An error occurred when motion was stopped .
INTP Error Codes
INTP-114 PAUS (%s^4, %d^5) Cancel motion request failed

Cause : An error occurred when motion was canceled .
INTP-115 PAUS (%s^4, %d^5) Resume motion request faile d

Cause : An error occurred when motion was resumed .
INTP-116 PAUS (%s^4, %d^5) Hold motion request faile d

Cause : An error occurred when motion was held .
INTP-117 PAUS (%s^4, %d^5) Unhold motion request failed

Cause : An error occurred when motion was unheld .
INTP-118 PAUS (%s^4, %d^5) Walk back data request faile d

Cause : An error occurred trying to obtain the execution history.
INTP-119 PAUS (%s^4, %d^5) Get trace data request failed

Cause : An error occurred trying to obtain the trace data .
INTP-120 PAUS (%s^4, %d^5) Unwait action request failed

Cause : An error occurred trying to continue program execution .
INTP-121 PAUS (%s^4, %d^5) Release inquiry request faile d

Cause: An error occurred trying to obtain motion information for the RELEASE statement .
INTP-122 PAUS (%s^4, %d^5) Process motion data faile d

Cause : An error occurred during process motion .
INTP-123 PAUS (%s^4, %d^5) Process application data faile d

Cause : An error occurred during process application .
INTP-124 ABRT (%s^4, %d^5) Specified ITR is softparts rt n

Cause : The specified interrupt routine is not a valid type .
INTP Error Codes B . ERROR CODES AND RECOVER Y
INTP-125 ABRT Convert position rep failed

Cause: The conversion of one position type to another failed .
INTP-126 ABRT Vision built-in return failed

Cause : The vision built-in failed to return .
INTP-127 WARN Power fail detecte d

Cause : Power failure was detected .
Remedy : N/A
INTP-200 PAUS (%s A4, %d^5) Unimplemented mnemonic cod e

Cause : The teach pendant program instruction is not available .
Remedy : Check the appropriate option is loaded .
INTP-201 PAUS (%s^4, %d^5) Untaught element encountered

Cause : The instruction is not taught .
Remedy: Teach the instruction .
r
INTP--202 PAUS (%s^4,. %d^5) Syntax erro
Cause : Instruction syntax error .
Remedy : Reteach the instruction .
INTP-203 PAUS (%s^4, %d ^ 5) Primary type mismatc h

Cause : The variable type is not correct .
Remedy : Check the variable type .
INTP-204 PAUS (%s^4, %d ^ 5) Illegal value for inde x

Cause : The index value is invalid .
Remedy : Check the index value .
INTP-205 PAUS (%s^4, %d^5) Analog port access erro r

Cause : Analog I/O is not functioning properly .
INTP-206 PAUS (%s^4, %d^5) Digital port access erro r

Cause : Digital I/O is not functioning properly.
INTP-207 PAUS (%s^4, %d^5) Grouped I/O port access erro r

Cause : Group I/O is not functioning properly.
B. ERROR CODES AM RECOVERY
INTP Error Codes
INTP-208 PAUS (%s^4, %d^5) Divide by 0

Cause : Division by 0 was executed .
Remedy : Check the value .
INTP-209 PAUS (%s^4, %d^5) SELECT is neede d

Cause : A CASE instruction was executed before a SELECT instruction .
Remedy : Add a SELECT instruction before the CASE instruction .
INTP-210 PAUS (%s^4, 1%d^5) Start TIMER failed

Cause : The program timer cannot be started .
INTP-211 PAUS (%s^4, %d^5) Delete TIMER faile d

Cause : The program timer cannot be stopped .
INTP-212 PAUS '(%s^4, %d^5) Illegal value for OVERRID E

Cause : The indicated value cannot be used for the OVERRIDE instruction .
INTP-213 .PAUS:%s^7 (%S^4, %d^5) UALM[ %d^9]

Cause : A user alarm occurred .
Remedy : Refer to the user alarm code .
INTP-214 PAUS (%s^4, %d^5) Specifed group not locke d

Cause : The position register or frame setup instructions were executed in a program without a
motion group .
Remedy : Set up the motion group in the program DETAIL screen .
INTP-215 PAUS (%s^4, %d^5) Group mismatc h

Cause: The position data is invalid .
Remedy : Check the position data .
INTP-216 PAUS (%s^4, %d^5) Illegal value for group numbe r

Cause : The indicated value is invalid for the motion group value .
INTP-217 PAUS (%s^4, %d^5) SKIP CONDITION needed

Cause : The SKIP instruction was executed before a SKIP CONDITION instruction .
Remedy : Add a SKIP CONDITION instruction .
INTP-218 PAUS (%S^4, %d^5) Skip faile d

Cause: The SKIP instruction or SKIP CONDITION instruction cannot be executed .
INTP Error Codes B. ERROR CODES AND RECOVERY
INTP-219 ABRT (%s^4, %d ^ 5) Pause task faile d

Cause : The PAUSE instruction cannot be executed .
INTP-220 ABRT (%s^4, %d^ 5) Abort task faile d

Cause : The ABORT instruction cannot be executed .
INTP-221 PAUS (%s ^4, %d^ 5) Application failed

Cause : The application instruction cannot be executed .
INTP-222 PAUS (%s ^ 4, %d^5) Call program failed

Cause: The program CALL instruction cannot be executed .
Remedy Refer to the error cause code .
INTP-223 PAUS (%s ^ 4, %d^5) Delay time failed

Cause : The WAIT instruction cannot be executed .
INTP-224 PAUS, (%s^4; %d^5) Jump label faile

d
Cause : The BRANCH instruction cannot be executed .
INTP-225 PAUS (%s^ 4, %d ^ 5) Motion statement faile d

Cause : The MOTION instruction cannot be executed .
INTP-226 PAUS (%s ^ 4, %d^ 5) Read position register faile d

Cause : The position register cannot be read .
INTP-227 PAUS (%s ^ 4, d^5 ) Write position register faile d

Cause : The position register cannot be written .
INTP-228 PAUS (%s ^ 4, %d ^ 5) Read register faile d

Cause : The register cannot be read .
INTP-229 PAUS (%s ^ 4, %d^ 5) Write register failed

Cause: The register cannot be written .
INTP Error Codes
MARMMOSHW02301E
B-35
INTP-230 PAUS (%s^4, %d ^ 5) Wait condition faile d

Cause: A condition WAIT instruction cannot be executed .
INTP-231 PAUS (%s ^ 4, 90 ^ 5) Read next line failed

Cause : The next line cannot be read .
INTP-232 PAUS (%s^4, %d^5) Illegal frame numbe r

Cause : The frame number is invalid .
Remedy : Check the frame number.
INTP-233 PAUS' (%s^4, %d^5) Read frame value faile d

Cause : The specified frame cannot be read .
Remedy : ' Refer to the error cause code .
INTP-234 PAUS (%s^4, %d^5) Write frame value faile d

Cause : The specified frame cannot be written .
INTP-235 PAUS (%s^4, %d^5) Read pos item failed -

Cause : The position variable cannot be read .
INTP-236 PAUS (%s^4, %d^5) Write pos item faile d

Cause : The position variable cannot be written .
INTP-237 WARN (%s^4, %d^5) No more motion for BW D

Cause : Backward execution cannot be executed any more because the current program line is at th e
top .
Remedy : N/A
INTP-238 WARN (%s^4, %d^5) BWD is terminate d

Cause : Backward execution was completed .
Remedy : N/A
INTP-239 WARN (%s^4, %d^5) BWD is imposible

Cause : The instruction cannot be executed backwards .
Remedy : Set the cursor to the following line .
INTP-240 PAUS (%s^4, %d^5) Incompatible data typ e

Cause : The specified data type in the PARAMETER instruction is invalid for the parameter type .
Remedy : Check the data type .
INTP-241 PAUS (%s^4, 19W ^ 5) Unsupported paramete r

Cause : This type of parameter cannot be used .
Remedy : Check the parameter type .
INTP-242 PAUS (%s^4, %d^5) Offset value is neede d

Cause : An OFFSET instruction was executed before an OFFSET CONDITION instruction . A
position register was not taught in the OFFSET PR[] instruction .
Remedy : Add an OFFSET CONDITION instruction before the OFFSET instruction . Teach the positio n
register .
INTP-243 ABRT (%s ^ 4, %d^ 5 ) Def grp is not specifie d

Cause : This program has no motion group defined . The MOTION instruction cannot be executed .
Remedy : Remove the MOTION instruction or setup the motion group in the program DETAIL screen .
INTP-244 PAUS (s^4, : °%d."5) Illegal line number

Cause : The input line number is incorrect .
Remedy : Check the line number.
INTP-245 PAUS (%s^4, %d^5) RCV stmt faile d

Cause : The RECEIVE R[] instruction cannot be executed .
INTP-246 PAUS (%s^4, %d^5) SEMAPHORE stmt failed

Cause : The SEMAPHORE instruction cannot be executed .
INTP-247 PAUS (%s^4, %d^5) Pre exec faile d

Cause : Pre-planned execution of the program failed .
Remedy : N/A
INTP-248 PAUS (%s^4, %d^5) MACRO faile d

Cause : The MACRO instruction cannot be executed .
INTP-249 PAUS Macro is not set correctl y

Cause : The MACRO setup was invalid .
Remedy : Check the MACRO setup .
INTP-250 PAUS (%s^4, %d^5) Illegal uframe numbe r

Cause : The user frame number is invalid .
INTP-251 PAUS (%s^4, %d^5) Illegal utool numbe r

Cause : The tool frame number is invalid .
INTP Error Codes
MARMMOSHW02301E
B-37
INTP-252 PAUS Does not same uframe numbe r

Cause : The user frame number in the positional data is not the same as the currently selected use r
frame number.
Remedy : Check the user frame number.
INTP-253 PAUS Does not same utool numbe r

Cause : The tool frame number in the positional data is not the same as the currently selected too l
frame number.
Remedy : Check the tool frame number.
INTP-254 PAUS (%s ^ 4, %d^5) Parameter not found

Cause : The specified parameter name cannot be found .
Remedy : Check the parameter name .
INTP-255 PAUS (%s^4, %d^5) CAL -MATRIX failed

Cause : The CAL , MATRIX instruction cannot be executed .
INTP-256 PAUS (U ^ 4, %d^5) Data not for CAL MATRI X

Cause : The origin 3 points or destination 3 points are not taught .
Remedy : Teach the origin 3 points or destination 3 points .
INTP-257 PAUS (%s^4, 90^5) Illegal delay time

Cause : The wait time value is negative or exceeds the maximum value of 2147483 .647 sec .
Remedy : Input a correct value .
INTP-258 PAUS (U ^ 4, %d^ 5) Weld port access error

Cause : The weld is nonfunctioning properly .
Remedy : Refer to the cause error code .
INTP-259 PAUS (%s^4 , %d^ 5) Bad compensation data typ e

Cause : The data type of the position register was taught using joint type .
Remedy : N/A
INTP-260 PAUS (%s^4, %d^ 5) Illegal torque limit valu e

Cause : Invalid torque value .
Remedy : Input a correct value .
INTP-261 PAUS (%s^4, %d^5) Array subscript missing

INTP Error Codes B. ERROR CODES AND RECOVERY
INTP-262 PAUS (%s ^ 4, %d ^ 5) Field name missing

Cause: Internal execution error .
INTP-263 PADS (%s^4, %d^5) Register type is not acceptabl e

Cause : The register type is not valid .
Remedy : Check the register type.
INTP-264 PAUS ( 910, s^4, %d^5) Soft float time ou t

Cause : Timed out at servo follow up .
Remedy : N/A
INTP-300 ABRT (%s^4, %d ^S) Unimplemented P-cod e

Cause : KAREL program error. This KAREL statement cannot be executed .
Remedy : Check the KAREL translator software version .
INTP-301 ABRT (%s^4, %d^5) Stack underflo w

Cause : KAREL program error. Execution entered into a FOR loop by the GOTO statement .
Remedy: A GOTO statement cannot be used to enter or exit a FOR loop . Check the label of the
. GOTO instruction .
INTP-302 ABRT (%s^4, %d^5) Stack overflo w

Cause : The program stack overflowed . Too many local variables were declared or too many routine s
were called .
Remedy : For KAREL programs, refer to the KAREL Reference Manual, Stack Usage and th e
%STACKSIZE Translator Directive .
INTP-303 ABRT (s^4, %d^5) Specified value exceed limi t

Cause: KAREL program error. The specified value exceeds the maximum limit .
INTP-304 ABRT (%s^4, %d^5) Both array length are not sam e
Cause : KAREL program error. The dimensions of the arrays are not the same .
Remedy : Check the dimensions of the arrays .
INTP-305 ABRT (%s^4, %d^5) Error related condition handle r

Cause : KAREL program error. A condition handler error occurred .
INTP-306 ABRT (%S ^ 4, %d^5) Attach request faile d

Cause: KAREL program error. The ATTACH statement failed .
INTP Error Codes
MARMMOSHW02301 E
B-39
INTP-307 ABRT (%s^4, %d^5) Detach request is faile d

Cause: KAREL program error. The DETACH statement failed .
INTP-308 ABRT (%s^4, %d^5) No case matc hisencoutrd

Cause : KAREL program error. The CASE statement does not match any branches .
Remedy : Check the CASE value and branches .
INTP-309 ABRT (%s^4, 91W^5) . Undefined WITHCH paramete r

Cause : KAREL program error. The specified parameter cannot be used in the with clause of th e
condition handler .
Remedy : Check the parameter.
INTP-310 ABRT (%s^4, %d^5) Illegal subscript for arra y

Cause : KAREL program error . The index of the array is illegal .
Remedy : Check the length of the array and the index value .
INTP-311 PAUS (%s^4, %d^5) Uninitialized data is use d

Cause : KAREL program error. Untaught or uninitialized data was used .
Remedy : Teach or initialize the data before using it .
INTP-312 ABRT (%s^4,`%d^5) Illegal joint `numbe r

Cause : KAREL program error. The wrong axis number was used .
Remedy : Check the axis number and the data value .
INTP-313 ABRT (%s^4, %d^5) Motion statement faile d

Cause : KAREL program error. The MOTION statement cannot be executed .
INTP-314 ABRT (%s^4, %d^5) Return program faile d

Cause : KAREL program error. Execution cannot be returned from the routine .
INTP-315 ABRT (%s^4, %d^5) Built-in execution faile d

Cause : KAREL program error. A built-in routine error occurred .
INTP-316 ABRT (%s^4, %d^5) Call program faile d

Cause : KAREL program error. The routine cannot be called .
Remedy : Refer to the error cause code . Verify the routine is loaded .
INTP-317 ABRT (%s^4, %d^5) Illegal condition specifie d

Cause : KAREL program error. The specified condition was invalid .
Remedy : Check the condition .
INTP-318 ABRT (%s ^ 4, %d ^ 5) Illegal action specified

Cause: KAREL program error. The specified action was invalid .
Remedy: Check the action .
INTP-319 ABRT (%s ^ 4, %d^ 5) Illegal type code

Cause : KAREL program error. The data type was invalid .
Remedy : Check the data type .
INTP-320 ABRT (%s ^ 4, %d11 5) Undefined built-in

Cause : KAREL program error. The built-in routine is not defined .
Remedy : Check the appropriate option is loaded .
INTP-321 ABRT (%s ^ 4, %d^ 5) END stmt of a func rt n

Cause: KAREL program error. The END statement was executed in a function routine instead of a
RETURN statement .
Remedy : Add a RETURN statement to the function routine.
INTP-322 ABRT (%s ^ 4, %d ^ 5) Illegal arg val for builtin

Cause : KAREL program error. The argument value of the built-in routine was wrong .
Remedy : Check the argument value .
INTP-323 ABRT (%s^4, %d ^ 5) value overflow

Cause : KAREL program error. The data value for the variable was too large .
Remedy : Check the variable's type and data value .
INTP-324 ABRT (%s ^ 4, %d^ 5) Illegal open mode strin g

Cause : . KAREL program error. The usage string in the . OPEN FILE statement was invalid .
Remedy : Check the usage string in the OPEN FILE statement .
INTP-325 ABRT (%s ^ 4, %d^ 5) Illegal file string

Cause : KAREL program error. The file string in the OPEN FILE statement was invalid .
Remedy : Check the file string . If no device is specified, the default device is used .
INTP-326 ABRT (%s ^ 4, %d^ 5) File var is already use d

Cause : KAREL program error. The file variable is already being used .
Remedy : Close the file before reusing the FILE variable or add anew FILE variable .
INTP-327 ABRT (%s ^ 4, %d ^ 5) Open file faile d

Cause : KAREL program error. The file could not be opened .
INTP-328 ABRT (%s ^ 4, %d^5) File is not opened

Cause : KAREL program error. The specified file was not opened before operation .
Remedy : Open the file before operation .
INTP Error Codes
MARMMOSHW02301E
B-41
INTP-329 ABRT (%s^4, M ^ 5) Cannot write the variable

Cause: KAREL program error. The value cannot be written to the variable .
INTP-330 ABRT (%s ^ 4, %, d^ 5 ) Write file faile d

Cause : KAREL program error. Writing to the file failed .
INTP-331 ABRT (%s^4, M^ 5) Cannot read the variabl e

Cause : KAREL program error. Reading the variable failed .
INTP-332 ABRT (%s^4, %d^5) Read data is too shor t

Cause : KAREL program error. Data read from the file is too short .
Remedy : "Check the data in the file
INTP-333 ABRT (%s^4, %d^5) Illegal ASCII stirng for rea d

Cause: KAREL program error. The string read from the file is wrong .
Remedy: Check the data of the file .
INTP-334 ABRT (%s^4, %d"5) Read file faile d

Cause : KAREL program error. Reading from the file failed .
INTP-335 ABRT (%s^4, %d^5) Cannot open pre-defined fil e

Cause : KAREL program error. A file pre-defined by the system cannot be opened .
Remedy : Use the file defined by the system without opening it .
INTP-336 ABRT (%s^4, %d^5) Cannot close pre-defined fil e

Cause : KAREL program error. A file pre-defined by the system cannot be closed .
Remedy : Do not try to close it .
INTP-337 ABRT (%s^4, %d^5) Routine cannot us e

Cause : KAREL program error. This routine cannot be used .
Remedy : Check the routine type and name .
INTP-338 ABRT (%s^4, %d^5) Close file faile d

Cause : KAREL program error. Closing the file failed .
INTP-339 ABRT (%s^4, M^ 5) Illegal program name

Cause : KAREL program error. The program name is invalid .
Remedy : Check the program name .
INTP-340 ABRT (%s^4, %d^5) Illegal variable nam e

Cause : KAREL program error. The variable name is invalid .
Remedy : Check the variable name .
INTP-341 ABRT (%s^4, %d^5) variable not found

Cause : KAREL program error. The variable cannot be found .
Remedy : Verify the program name and variable name .
INTP-342 ABRT (%s^4, %d^5) Incompatible variabl e

Cause : KAREL program error. The data type defined by the BYNAME function and the variable typ e
are mismatched .
Remedy : Check the data type and variable type .
INTP-343 ABRT (%s^4, %d^5) Reference stack overflo w

"Cause . ' `KAREL- program error. Too many variables are passed using the BYNAME function .
Remedy : Decrease the number of BYNAME functions .
INTP-344 ABRT (%s^4, d^5) Readahead buffer overflow

Cause : KAREL program error. The buffer to read ahead from the device overflowe d
Remedy : Increase the buffer size .
INTP-345 ABRT (%s^4, %d^5) Pause task faile d

Cause : KAREL program error. The PAUSE statement cannot be executed .
INTP-346 ABRT (%s^4, %d^5) Abort task faile d

Cause : . KAREL program error. The ABORT statement cannot be executed .
INTP-347 ABRT (%s^4, %d^5) Read I/O value faile d

Cause : KAREL program error. The digital input signal cannot be input .
INTP-348 ABRT (%s^4, %d^5) Write I/O value faile d

Cause : KAREL program error. The digital output signal cannot be output .
INTP-349 ABRT (%s^4, %d^5) Hold motion faile d

- Cause : KAREL program error. The HOLD statement cannot be executed .
INTP-350 ABRT (%s^4, %d^5) Unhold motion faile d

Cause : KAREL program error. The UNHOLD statement cannot be executed .
INTP Error Codes
INTP-351 ABRT (%s^4, '%d^5) Stop motion faile d

Cause : KAREL program error. The STOP statement cannot be executed .
INTP-352 ABRT (%^4, %d^5) Cancel motion failed

Cause : KAREL program error. The CANCEL statement cannot be executed .
INTP-353 ABRT (%s^4, %d^5) Resume motion faile d

Cause : KAREL program error. The RESUME statement cannot be executed .
INTP-354 ABRT (%s^4, %d^5) Break point faile d

Cause: KAREL program error. The break point function cannot be executed .
f Remedy : Refer to the error cause code .
INTP-355 ABRT (%s^4, %d^5) AMR is not found

Cause : KAREL program error. The AMR operated by the RETURN -AMR built-in routine was no t
found .
Remedy : Check program operation .
INTP-356 ABRT `(%s ^ 4, %d^5) AMR is not processed ye t

Cause: KAREL program error. The RETURN -AMR built-in routine cannot be used for an unoperated
AMR .
Remedy: Operate the AMR using the WAIT -AMR built-in routine .
INTP-357 ABRT (%s ^ 4, %d^5) WAIT_AMR is cancelle d

Cause : KAREL program error. The execution of the WAIT-AM R, built-in routine was cancelled .
Remedy : N/A
INTP-358 ABRT (%s^4, %d^5) Timeout at read reques t

Cause : KAREL program error . The READ statement timed out .
Remedy : Check the device being read .
INTP-359 ABRT (%s^4, %d^5) Read request is neste d

Cause : KAREL program error. Another READ statement was executed while a READ statemen t
was waiting for input .
Remedy : Remove nested reads .
INTP-360 ABRT (%s^4, %d^5) Vector is 0

Cause : KAREL program error. The vector value was invalid .
Remedy : Check the vector value .
INTP-361 PAUS (%s^4, %d^5) FRAME :P2 is same as P1

Cause : KAREL program error. The X-axis direction cannot be calculated in the FRAME built-i n
routine because P1 and P2 are the same point .
Remedy : Teach P1 and P2 as different points .
INTP-362 PAUS (%s^4, %d^5) FRAME :P3 is same as P 1

Cause : KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in routin e
because P1 and P3 are the same point .
Remedy : Teach P1 and P3 as different points .
INTP-363 PAUS (%s^4, %d^5) FRAME :P3 exists on line P2-P 1

Cause : KAREL program error. The X-Y plane cannot be calculated in the FRAME built-in routin e
because P3 is located in the X-axis direction .
Remedy : Teach P3 out of the X-axis direction .
INTP-364 ABRT (%s^4, %d'^5) Target string too short for dat a
Cause : KAREL program error. The target string was too short .
Remedy : Increase the target string size .
INTP-365 ABRT (%s^4, %d^5) Predefined window not conneste d

Cause : KAREL program error. A FILE pre-defined by the system is not opened .
Remedy :, Check the use of this file .
INTP-366 ABRT (%s^4, %d^5) I/O status is not cleare d

Cause : KAREL program error. The last file operation failed .
Remedy :- Reset the error using the CLR_IO_STAT built-in routine .
INTP-367 ABRT (%s^4, %d^5) Bad base in forma t

Cause : KAREL program error. 1/0 mode operates only from binary to hexadecimal .
Remedy : Check the specified mode .
INTP-368 PAUS (%s^4, %d^5) Cannot use specified progra m

Cause : KAREL program error. The specified program cannot be used .
INTP-369 ABRT (%s^4, %d^5) Timeout at WAIT AM R

Cause : KAREL program error. The WAIT-AMR built-in routine timed out .
Remedy : N/A
INTP-370 ABRT (%s^4, %d^5) Vision CPU not plugged i n

Cause : KAREL program error. The vision CPU board is not plugged in .
Remedy : Plug in the vision CPU board .
INTP Error Code s
MARMMOSHW02301E
B-45
INTP-371 ABRT (%s^4, %d"5) vision built-in overflo w

Cause : KAREL program error. The operation overflowed in the vision built-in routine .
Remedy : N/A
INTP-372 ABRT (s^4, %d^5)-Undefined vision built-i n

Cause : KAREL program error. The vision built-in routine is not defined .
Remedy : Check the appropriate option is loaded.
INTP-373 ABRT (%s^4, %d^5) Undefined vision parameter typ e

Cause: KAREL program error. The parameter to the vision built-in routine is invalid .
Remedy : Check the parameter of the vision built-in routine .
INTP-374 ABRT (%s^4, %d^5) Undefined vision return typ e

Cause : KAREL program error. The return value from the vision built-in routine is invalid .
Remedy: : Check the return value from the vision built-in routine .
INTP-375 ABRT (%s^4, %d^5) System var passed using BYNAM E

Cause : KAREL program error. System variables cannot be passed using the BYNAME function .
Remedy: Pass without using BYNAME or use GET-VAR and SET-VAR instead .
INTP-400 ABRT (%s^4, %d"5) Number of motion exceeded

cause : Too many motions are executed at the same time .
Remedy : Execute the next motion after the completion of the last motion . Decrease the number of
motions in the same time .
INTP-401 ABRT (%S^4, %d^5) Not On Top Of Stac k

Cause : Paused motion exists after motion was resumed .
Remedy : Resume the motion that was previously paused .
JOG Error Codes B . ERROR CODES AND RECOVERY
JOG Error Codes
JOG-000 WARN UNknown error (MJ00 )

JOG-001 WARN Overtravel violation

Cause : A robot overtravel has occurred .
Remedy : Use the MANUAL FCTNS OT release menu to find out which axis is in an overtrave l
condition . Release overtravel by holding the SHIFT key and pressing the RESET key . At thi s
time the servo power will be turned on . If the SHIFT key is released, the servo power will be
turned off again . You can only use JOINT to dog the axis out of overtravel . If you want to jo g
the overtraveled axis further into the overtravel direction, you have to release the axis b y
moving the cursor to the axis direction you want, then press the release function key in th e
OT releasemenu. At this point you can jog the . axis to that direction
JOG-002 WARN Robot not Calibrated

Cause : Robot has not been calibrated .
Remedy : Set the system variable $MASTER_ENB to 1 . This will cause the Master/Cal menu o f
SYSTEM menu to display. Select the calibrate item in this menu to calibrate the robot .
JOG-003 WARN No Motion Contro l

Cause : Other program has motion control .
Remedy : Abort the program that has motion control by pressing FCTN key then selecting ABORT .
JOG-004 WARN Illegal linear jogging

Cause : You cannot do more than one rotational jog at a time .
:Remedy : Only press one rotational jog key at a time .
JOG-005 WARN Can not clear hold flag

Cause : The system call to clear hold flag failed .
Remedy : Cold start the controller by turning the controller off, then turning it on again .
JOG-006 WARN Subgroup does not exis t

Cause : No extended axis exist in this group with which to jog .
JOG-007 WARN Press shift key to jog

Cause: The SHIFT key is not presse d
Remedy : You must press the SHIFT key when jogging the robot . Release the jog key then hold th e
SHIFT key and press the jog key to jog .
JOG-008 WARN Turn on TP to jo g

Cause: Teach pendant is not enabled .
Remedy : Hold the DEADMAN and turn on the teach pendant before jogging the robot .
JOG Error Codes
MARMMOSHW02301E
B-47
JOG-009 WARN Hold deadman to jo g

Cause : The DEADMAN switch is not pressed .
Remedy : Press the DEADMAN switch, then press the RESET key to clear the error.
JOG-010 WARN Jog pressed before shif t

Cause : The jog key was pressed before the shift key was pressed .
Remedy : Release the jog key . Then, hold the SHIFT key then press the jog key .
JOG-011 WARN Utool changed while jogging

Cause : The selected tool frame changed while jogging .
Remedy : Release the shift key and the jog key . The new TOOL frame will take effect automatically. To
start jogging, press the shift and the jog key.
JOG-012 WARN manual brake enabled

. .Cause : . . The manual brake enabled .
Remedy : Engage all the brakes by pressing the EMERGENCY STOP button, then press the RESE T
key. To start jogging, press the shift and the jog key .
JOG-013 WARN Stroke limit (G :%d A :%x Hex )

Cause: Robot axis reaches its specified stroke limit .
JOG-014 WARN Vertical fixture positio n

Cause : Robot reaches its vertical fixture position .
JOG-015 WARN Horizontal fixture positio n

Cause : Robot reaches its horizontal fixture position . .
JOG-016 ER SWARN
Cause : N/A
Remedy: N/A
JOG-017 ER SWARN
Cause : N/A
Remedy: N/A
JOG-018 ER SWARN
Cause : N/A
Remedy: N/A
JOG-019 ER SWARN
Cause : N/A
Remedy : N/A
KCLI Error Codes B. ERROR CODES AND RECOVERY
KCLI Error Codes
KCLI-002 WARN Undefined parse syntax error .

Cause : N/A
Remedy : N/A
KCLI-007 WARN Not enough memory to perform command .

Cause : N/A
Remedy : N/A
KCLI-008 WARN Integer expected .

Cause : N/A
Remedy : N/A
- KCLI =009 WARN PATH data type is not allowed in arrays .

Cause: N/A
Remedy: N/A
KCLI-010 WARN Number of array dimensions exceeded maximum .

Cause : N/A
Remedy : N/A
KCLI-011 WARN Number of values entered exceeds maximum .

Cause : N/A
Remedy: N/A
KCLI-012 WARN A maximum of 3 values can be entered for VECTOR types .

Cause : N/A
Remedy : N/A
KCLI-013 WARN Entry not allowed when multiple values entered .

Cause : N/A
Remedy : N/A
KCLI-014 WARN Multiple entries not allowed .

Cause : N/A
Remedy : N/A
KCLI-015 WARN Id must be defined before this use . Id : %s

Cause : N/A
Remedy : N/A
KCLI Error Codes
KCLI-016 WARN Id is undefined, it must be defined before use in a TYP E

section . Id : %s
Cause : N/A
Remedy : N/A
KCLI-017 WARN Group number is not in valid range .

Cause : N/A
Remedy: N/A
KCLI-018 WARN Number expected .

Cause : N/A
Remedy : N/A
KCLI-019 WARN Integer or "*" expected .

Cause : N/A
Remedy : N/A
KCLI-020 WARN Program name expected .

Cause : N/A
Remedy : N/A
KCLI-021 WARN "=" expected .

Cause : N/A
Remedy : N/A
KCLI-022 WARN "[" expected .

Cause : N/A
Remedy : N/A
KCLI-023 WARN "]" expected .

Cause : N/A
Remedy : N/A
KCLI-024 WARN "OF" expected .

Cause : N/A
Remedy : N/A
KCLI-025 WARN "GROUP" expected .

Cause : N/A
Remedy : N/A
KCLI-026 WARN "," or "]" expected .

Cause : N/A
Remedy : N/A
KCLI Error Codes B . ERROR CODES AND RECOVER Y
KCLI-027 WARN " :" expected .

Cause : N/A
Remedy : N/A
KCLI-028 WARN 'dd-mmm-yy hh :mm' expected .

Cause: N/A
Remedy: N/A
KCLI-029 WARN Type name expected .

Cause : N/A
Remedy : N/A
KCLI-030 WARN Field name expected .

Cause : N/A
Remedy : N/A
KCLI-031 WARN Variable name or value expected .

Cause : N/A
Remedy : N/A
KCLI-032 WARN Variable not defined . Var : %s

Cause : N/A
Remedy : N/A
KCLI-033 WARN Indexing invalid . Index : %s

Cause : N/A
Remedy : N/A
KCLI-034 WARN Id type is not an ARRAY or indexing exceeded number o f

dimensions . Id : %s
Cause: N/A
Remedy : N/A
KCLI-035 WARN Id type is not a STRUCTURE . Id : %s

Cause : N/A
Remedy : N/A
KCLI-036 WARN Id type is not a field in a STRUCTURE . Id : %s

Cause : N/A
Remedy : N/A
KCLI-037 WARN Data type mismatch .

Cause : N/A
Remedy : N/A
KCLI Error Codes
MARMMOSHW02301E B_5 1
KCLI-038 WARN Wildcard characters are permitted only in the SET

VARIABLE command .
Cause: N/A
Remedy : N/A
KCLI-039 WARN Not valid element name .

Cause : N/A
Remedy: N/A
KCLI-040 WARN Error detected by Varaiable Manager .

Cause : N/A
Remedy : N/A
KCLI-041 WARN Variable to beset is specified incorrectly .

Cause : N/A
Remedy: N/A
KCLI-042 WARN Array of user type is not implemented yet .

Cause : N/A
Remedy : N/A
KCLI-043 WARN User type not implemented yet .

Cause: N/A
Remedy : N/A
KCLI-044 WARN Cannot open file %s .

Cause : N/A
Remedy : N/A
KCLI-045 WARN A maximum of 6 entries is permitted .

Cause : N/A
Remedy : N/A
KCLI-046 WARN ALL, BREAK, DICT, PROG, or VARS expected .

Cause : N/A
Remedy : N/A
KCLI-047 WARN VAR expected .

Cause : N/A
Remedy : N/A
KCLI-048 WARN NODE, FILE or VAR expected .

Cause: N/A
Remedy : N/A
B-52 MARMMOSHW02301E
KCLI-049 WARN NODE expected .

Cause : N/A
Remedy : N/A
KCLI-050 WARN ALL, DICT, MASTER, PROG, SERVO, SYSTEM, TP, or VARS
expected .
Cause : N/A
Remedy : N/A
KCLI-051 WARN PROG or VAR expected .

Cause : N/A
Remedy : N/A
KCLI-052 WARN FILE, VAR, or vARS expected .

Cause : N/A
Remedy : N/A
KCLI-053 WARN DEVICE, MASTER, `SERVO, SYSTEM, TP, or VARS expected .

Cause : N/A
Remedy : N/A
KCLI-054 WARN BREAK, CAMERA, CLOCK, DEFAULT, DISPLAY, GROUP, LANG ,

TASK, TRACE, VAR, or VERIFY expected .
Cause : N/A
Remedy : N/A
KCLI-055 WARN BREAK, BUILTINS, CLOCK, CONDITION, CURPOS, DEFAULT ,

DEVICE, DICTS, GROUP, HISTORY, LANG, LANGS, MEMORY, PROG, PROGS ,
SYSTEM, TASK, TRACE, VAR, VARS or data_type expected .
Cause : N/A
Remedy : N/A
KCLI-056 WARN FILE or NODE expected .

Cause : N/A
Remedy : N/A
KCLI-057 WARN FILE expected .

Cause : N/A
Remedy : N/A
KCLI Error Code s
MARMMOSHW02301 E
B-53
KCLI-058 WARN Variables of this type cannot be recorded .

Cause : N/A
Remedy : N/A
KCLI-059 WARN CONDITION or PROGRAM expected .

Cause : N/A
Remedy : N/A
KCLI Error Codes B . ERROR CODES AND RECOVERY
KCLI-060 WARN Too many arguments specified .

Cause : N/A
Remedy : N/A
KCLI-061 WARN Structure type expected .

Cause : N/A
Remedy : N/A
KCLI-062 WARN ON or OFF expected .

Cause: N/A
Remedy: N/A
KCLI-063 WARN BREAK or CONDITION expected .

Cause : N/A
Remedy : `N/A
KCLI-064 WARN Program expected .

Cause : N/A
Remedy : N/A
KCLI-065 WARN Variable name expected .

Cause : N/A
Remedy : NIA
KCLI-066 WARN File specification expected .

Cause : N/A
Remedy : N/A
KCLI-067 WARN DEFAULT, ENGLISH, JAPANESE, FRENCH, or GERMAN expected .

Cause : N/A
Remedy : N/A
KCLI-068 WARN Language has not been created yet . Use SHOW LANGS fo r
available languages .
Cause : NIA
Remedy : N/A
KCLI-069 WARN DPADD returned a status of %d .

Cause: N/A
Remedy : N/A
KCLI-070 WARN Default program name not set .

Cause : N/A
Remedy : N/A
KCLI Error Codes
KCLI-071 WARN Device specification expected .

Cause : N/A
Remedy : N/A
KCLI-072 WARN "TO" expected .

Cause : N/A
Remedy : N/A
KCLI-073 WARN File name exceeds %d characters .

Cause : N/A
Remedy : N/A
KCLI-074 WARN "NODEDATA" expected .

Cause: N/A
Remedy: N/A
KCLI-075 WARN "PATHHEADER" expected .

Cause : N/A
Remedy : N/A
KCLI-076 WARN Dictionary name expected .

Cause: N/A
Remedy : N/A
KCLI-077 WARN File name expected .

Cause : N/A
Remedy : N/A
KCLI-078 WARN Integer or real expected .

Cause : N/A
Remedy : N/A
KCLI-079 WARN Unrecognized command .

Cause : N/A
Remedy : N/A
KCLI-080 WARN Must specify CMOS when loading from port device .
Cause : N/A
Remedy : N/A
KCLI-081 WARN ALL or port_name expected .

Cause: N/A
Remedy : N/A
KCLI-076 WARN Dictionary name expected.

Cause : N/A
Remedy : N/A
KCLI-082 WARN Device not supported .

Cause: N/A
Remedy : N/A
KCLI-083 WARN DONE or PAUSE expected .

Cause : N/A
Remedy : N/A
KCLI-084 WARN Port name expected .

Cause : N/A
Remedy : N/A
KCLI-085 WARN Attribute name expected .

Cause : N/A
Remedy : N/A
KCLI-086 WARN Cannot record on . extended axes robot .

Cause : N/A
Remedy : N/A
KCLI-087 WARN PRIORITY or TRACELEN expected .

Cause : N/A
Remedy : N/A
LANG Error Codes
MARMMOSHW02301E
B-57
LANG Error Code s
LANG-000 ZERO Success return

Cause : N/A
Remedy : N/A
LANG-004 WARN File is not open

Cause : 1 . A file of the same name has already existed .
2. The file has already been open .
3. Write protect is linked .
4. There is not the capacity of a floppy disk in the case that it is using a floppy disk .
Remedy : 1 . File delete, if you may delete the file that is existing .
2. Close a file .
3. Remove write protect .
4. Use a new floppy disk . Or, delete an unnecessary file, and, make the capacity for it sav e
to the floppy disk .
LANG-005 WARN Prog type is differen t

Cause : A program type that opened a program in this system, it is not a TPE program .
Remedy: It is not able to process except for a TPE program .
LANG-014 WARN Program is already exis t

Cause : The program that is about to load, it has already existed into this system .
Remedy : If you may load it, please delete the program in TP .
LANG-015 WARN Can not write fil e

Cause : 1 . Write protect is linked .
Remedy : 1 . Remove write protect .
LANG-018 WARN Group mask value is incorrec t

Cause : A group number of position data is doubling .
Remedy : Position data that a group number does not double, it is remade .
LANG-085 WARN Attribute data is invali d

Cause : Format or data of program attribute is not correct .
Remedy : Please check the attribute data and its format .
LANG-086 WARN Position data is invali d

Cause : Format of position data is not correct .
Remedy : Please check the position data format .
LANG-088 WARN Application data is invali d

Cause : Format or data of application is not correct .
Remedy : Please check the application data and its format .
LANG Error Codes B . ERROR CODES AND RECOVERY
LANG-089 WARN Program syntax erro r

Cause : Program has some syntax errors .
Remedy: Please check syntax of the program.
LANG-090 WARN Cannot open ascii fil e

Cause : Ascii file cannot be opened .
Remedy: Please check the file system .
LANG-091 WARN Program name format is invali d

Cause : File name is invalid .
Remedy : Please check the file name . The first character of a program name cannot be numeric .
LANG-092 WARN Section name is invali d

Cause : Section name is invalid .
Remedy : .' Please check the section name . They must be one of the following words :
1.ATTR
2. APP L
3. MN
4. POS
5. END
MACR Error Codes
MACR Error Codes
MACR-000NONE UNUSED ERROR CODE (MCR00 )

Cause : N/A
Remedy : N/A
MACR-001 WARN Can't assign to MACRO command

Cause : There are bad conditions to assign the macro .
Remedy : Is it Double definitions? Is the index over the range ?
MACR-003 WARN Can't assign motn_prog to U K

Cause : It is impossible to assign the program with MOTION lock group to User Key(UK) .
Remedy : Please remove the motion lock group from the program .
MACR-004 WARN Can't execute motn prog by U K

Cause : It is impossible to execute the program with MOTION lock group by User Key(UK) bottom .
Remedy : Please remove the motion lock group from the program .
MACR-005 WARN Please enable teach pendan t

Cause : It is possible to execute the program only when Teach pendant is enabled .
Remedy : Please change Teach pendant to be enabled .
MACR-006 WARN Please disable teach pendan t

Cause : It is possible to execute the program only when Teach pendant is disabled .
Remedy : Please change Teach pendant to be disabled .
MACR-007 WARN The same macro type exist s

Cause : The macro assign type has already exist.
Remedy : Please change the assign type to the other .
MACR-008 WARN Remote-cond isn't satisfie d

Cause : This assign type is only enable at REMOTE condition .
Remedy : Please create REMOTE condition .
MACR-009 WARN The index is out of rang e

Cause : This assign index is out of range .
Remedy : Please change the assign index .
MACR-010 WARN This SOP button is disabled

Cause: This SOP button is disable for macro execution .
Remedy : Please change $MACRSOPENBL .
MACR-011 WARN This UOP button is disabled

Cause : This UOP signal is disable for macro execution .
Remedy : Please change $MACRUOPENBL .
MACR Error Codes B . ERROR CODES AND RECOVERY
B-60
MACR-012 WARN Number of DI+RI is ove r

Cause : The number of RI+DI is over the maximum number .
Remedy: Please release the other RI or DI setting .
MACR-013 ABRT MACRO execution failed

Cause : N/A
Remedy: N/A
MCTL Error Code s
MCTL Error Code s
MCTL-001 WARN TP is enable d

Cause : Teach pendant is enabled, and the motion control was not granted .
Remedy : Disable the teach pendant and try the operation again .
MCTL-002 WARN TP is disabled

Cause : The teach pendant is disabled, and the motion control was not granted .
Remedy : Enable the teach pendant and try the operation again .
MCTL-003 WARN system is in error statu s

Cause : Because the system is in error status, the motion control was not granted .
Remedy : Clear the error, and try the operation again .
MCTL-004 WARN motion is in progres s

Cause: The motion is still in progress, and the motion control was not granted .
Remedy: Wait until the robot becomes the complete stop .
MCTL-005 WARN not in control of motion

Cause : The motion control was not granted because of some unknown reason .
Remedy : Clear the reason, and try the operation again .
MCTL-006 WARN TP has motion contro l

Cause : Because the teach pendant currently has the motion control, the motion control was no t
granted .
Remedy : Disable the teach pendant, and try the same operation again .
MCTL-007 WARN PROG has motion contro l

Cause : Because the program has the motion control, the motion control was not granted .
Remedy : Pause or abort the program, and try the operation again .
MCTL-008 WARN Operator panel has motion contro l

Cause : Because the operator panel has the motion control, the motion control was not granted .
Remedy : Set the $rmt_master system variable correctly, and try the operation again .
MCTL-009 WARN Other has motion contro l

Cause : Other device has the motion control, and the motion control was not granted .
Remedy : Set the $rmt_master system variable correctly, and try the operation again .
MCTL-010 WARN Other than msrc is rel'ing

MCTL Error Codes B. ERROR CODES AND RECOVERY
MCTL-011 WARN Due to error processin g

MCTL-012 WARN subsystem code unknown

MCTL-013 WARN ENBL input is of f

Cause : ENBL input on the UOP is off .
Remedy : Set ENBL input ON .
MCTL-014 WARN Waiting for Servo read y

Cause : The motion control was not granted because servo was not up .
Remedy : Please wait for a few seconds until servo is up and ready .
MCTL-015 NONE Manual brake enable d

Cause : The motion control was not granted because manual brake control is enabled .
Remedy : Please disable the manual brake control .
MARMMOSHW02301 E
MEMO Error Codes
MEMO-001 WARN Program is already open

Cause : N/A
Remedy : N/A
MEMO-002 WARN Already opened for modif y

Cause : N/A
Remedy : N/A
MEMO-003 WARN Already opened for read

Cause : N/A
Remedy : N/A
MEMO-004 . WARN Already opened for writ e

Cause : N/A
Remedy: N/A
MEMO-005 WARN Attribute does not exis t

Cause : N/A
Remedy : N/A
MEMO-006 WARN Protection error occurred

Cause : N/A
Remedy : N/A
MEMO-007 WARN Invalid break numbe r

Cause : N/A
Remedy : N/A
MEMO-008 WARN Specified line no not exis t

Cause : N/A
Remedy : N/A
MEMO-009 WARN Not Availabl e

Cause : N/A
Remedy : N/A
MEMO-010 WARN Program name error

Cause : N/A
Remedy : N/A
MEMO Error Codes B. ERROR CODES AND RECOVERY
MARMMOSHW02301 E
B-64
MEMO-011 WARN Buffer not large enough

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy : N/A
MEMO-013 WARN Program type is different

Cause : The specified program type is different from that of the object being processed .
Remedy : Specify the same program type .
MEMO-014 WARN Label already exist s

Cause : Specified label id exists in the program .
Remedy : Specify another label number .
MEMO-015 WARN Program already exist s

Cause : Specified program exists in the system .
Remedy: Specify another program name .
MEMO-016 WARN Not Available

Cause : N/A
Remedy : N/A
MEMO-017 WARN EPT does not exis t

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-019 WARN EPT table is ful l

Cause: N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
MEMO-022 WARN Index is not found

Cause : N/A
Remedy : N/A
MEMO-023 WARN Invalid VRT index

Cause : N/A
Remedy : N/A
MEMO-024 WARN Reject is already invali d

Cause : N/A
Remedy : N/A
MEMO-025 WARN Label does not exis t

Cause : Specified label data does not exist .
Remedy : Set the index to an existing label .
MEMO-026 WARN Line table is ful l

Cause : N/A
Remedy : N/A
MEMO-027 WARN Specified line does not exist

Cause : N/A
Remedy : N/A
MEMO-028 WARN Line number does not exis t

Cause : N/A
Remedy : N/A
)
MEMO-029 WARN Different data size (modify
Cause : N/A
Remedy : N/A
MEMO-030 WARN Next list does not exis t

Cause : N/A
Remedy : N/A
MEMO-031 WARN Prev list does not exist

Cause : N/A
Remedy : N/A
MEMO-032 WARN Open for modify is rejecte d

Cause: N/A
Remedy : N/A
MEMO-033 WARN Message data count is zer o

Cause: N/A
Remedy : N/A
MEMO-034 WARN Type miss error occurred

Cause : N/A
Remedy : N/A
MEMO-035 WARN Message Name Table is ful l

Cause : N/A
Remedy: N/A
MEMO-036 WARN Program does not exis t

Cause : N/A
Remedy : N/A
MEMO-037 WARN MPT is deleted

Cause : N/A
Remedy: N/A
MEMO-038 WARN MPT is ful

l
Cause : The number of programs exceeded the maximum possible number (32767) .
Remedy : Delete unnecessary programs .
MEMO-039 WARN MPT index exists in MS T

Cause : N/A
Remedy : N/A
MEMO-040 WARN MPT is not delete d

Cause : N/A
Remedy : N/A
MEMO-041 WARN Specified Msg already exist s

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-043 WARN Specified Msg is not opened

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
MEMO-044 WARN Different data size (modify

)
Cause : N/A
Remedy : N/A
MEMO-045 WARN No entry for MPT Sort Tabl e

Cause: N/A
Remedy: N/A
MEMO-046 WARN MPT Sort Table does not exis t

Cause : N/A
Remedy : N/A
MEMO-047 WARN MPT Sort Table has no element

Cause: N/A
Remedy: N/A
MEMO-048 WARN Break point data doesn't exis t

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-050 WARN Program name does not exis t

Cause : N/A
Remedy : N/A
MEMO-051 WARN EPT cannot be deleted

Cause : N/A
Remedy : N/A
MEMO-052 WARN Program cannot be delete d

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-054 WARN Buffer size is not enough

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
B-6 8
MEMO-055 WARN Specified task is differen t

Cause : N/A
Remedy : N/A
MEMO-056 WARN MPT Sort Table does not exis t

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy: N/A
MEMO-058 WARN Specified id is not invali d

Cause : N/A
Remedy : N/A
MEMO-059 WARN Specified id is not read ac c

Cause : N/A
Remedy : N/A
MEMO-060 WARN Specified id is not vali d

Cause : N/A
Remedy : N/A
MEMO-061 WARN Specified id is not write ac c

Cause : N/A
Remedy : N/A
MEMO-062 WARN Specified is is not write re j

Cause: N/A
Remedy : N/A
MEMO-063 WARN Program does not ope n

Cause : N/A
Remedy : N/A
MEMO-064 WARN Open Control Table not exis t

Cause : N/A
Remedy : N/A
MEMO-065 WARN Too many opened programs

Cause : The number of opened programs exceeded the maximum possible number.
Remedy : Close unnecessary programs .
MEMO Error Codes

Cause: N/A
Remedy : N/A
MEMO-067 WARN Out of range

Cause : N/A
Remedy : N/A
MEMO-068 WARN Program is in us e

Cause : Program cannot be reloaded or deleted because it is in use .
Remedy : Abort the program, if necessary . Select a different program from the TP and/or CRT and/o r
KCL .
MEMO-069 WARN Program already exists in MST

Cause: N/A
Remedy: N/A

Cause : N/A
Remedy : N/A
MEMO-071 WARN Position does not exis t

Cause: N/A
Remedy : NIA
MEMO-072 WARN Position data already exist s

Cause : Position data already exists in the specified position you want to move .
Remedy : Specify another position . Or, delete the data in the specified position .

Cause : N/A
Remedy : N/A
MEMO-074 WARN Program type is not T P

Cause : N/A
Remedy : N/A
MEMO-075 WARN Program is not opened

Cause: N/A
Remedy : N/A
MEMO-076 WARN Program name is not correc t

Cause : N/A
Remedy : N/A
MEMO Error Codes B . ERROR CODES AND RECOVERY
MARMMOSHW02301 E
B-70

Cause : N/A
Remedy : N/A
MEMO-078 WARN Program type error occurre d

Cause : The program type is incorrect .
Remedy : Specify correct program type .
MEMO-079 WARN Parameter error occured

Cause: N/A
Remedy : N/A
MEMO-080 WARN Protection error occure d

Cause : N/A
Remedy : N/A
MEMO-081 WARN Read open is rejecte d

Cause : The program cannot be opened because it is already opened somewhere else .
Remedy : Abort the program, if necessary. Select a different program from the teach pendant and/o r
CRT and/or KCL .

Cause : N/A
Remedy : N/A
MEMO-083 WARN Routine does not exis t

Cause : N/A
Remedy : N/A
MEMO-084 WARN RRD is delete d

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-086 WARN Specified RRD does not exis t

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy : N/A
MEMO Error Codes
MEMO-088 WARN Specified program is deleted

Cause: N/A
Remedy : N/A
MEMO-089 WARN Specified program exist s

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-091 WARN Specified id is too bi g

Cause : N/A
Remedy : N/A
MEMO-092 WARN Variables exis t

Remedy : N/A
Cause : N/A
MEMO-093 WARN Write open is rejecte d

Cause: The program cannot be opened because it is already opened somewhere else .
Remedy : Abort the program, if necessary . Select a different program from the teach pendant and/o r
CRT and/or KCL.
MEMO-094 WARN Routine parameter mismatc h

Cause : A routine exists in memory with a different parameter definition than the routine in the PC fil e
being loaded .
Remedy : Update the calling convention in the KAREL program being loaded or delete the obsolet e
routine from system memory .
MEMO-095 WARN Program name does not exis t

Cause : N/A
Remedy : N/A
MEMO-096 WARN Routine name does not exis t

Cause : N/A
Remedy : N/A
MEMO-097 WARN Path name is not specified

Cause : N/A
Remedy : N/A
B-72
MEMO-098 WARN EOF occurs in file acces s

Cause: N/A
Remedy : N/A
MEMO-099 WARN Not ASCII name forma t

Cause : N/A
Remedy : N/A
MEMO-100 WARN Program not equal to routin e

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MEMO-102 WARN Over pcode size

Cause : N/A
Remedy : N/A
MEMO-103 WARN Check sum error occur s

Cause : N/A
Remedy : N/A
MEMO-104 WARN Program already exist s

Cause : N/A
Remedy : N/A
MEMO-105 WARN Message Name Table not exis t

Cause : N/A
Remedy : N/A
MEMO-106 WARN Msg Control Table not exis t

Cause : N/A
Remedy : N/A
MEMO-107 WARN Message is not opened

Cause : N/A
Remedy : N/A
MEMO-108 WARN Specified Msg not exis t

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
MEMO-109 WARN Specified Msg not exis t

Cause: NIA
Remedy : N/A
MEMO-110 WARN Open message is ful l

Cause : N/A
Remedy : N/A
MEMO-111 WARN Specified Msg not delete d

Cause : N/A
Remedy : N/A
MEMO-112 WARN Already Break data exis t

Cause : N/A
Remedy : N/A
MEMO-113 WARN File access error

Cause : N/A
Remedy : N/A
MEMO-114 WARN Break pt cannot be overwritten

Cause : N/A
Remedy : N/A
MEMO-115 WARN Break point cannot be removed

Cause : N/A
Remedy : N/A
MEMO-116 WARN Garbage Table overflo w

Cause : N/A
Remedy : N/A
MEMO-117 WARN Data address mismatc h

Cause : N/A
Remedy : N/A
MEMO-118 WARN Softparts function code erro r

Cause : N/A
Remedy : N/A
MEMO-119 WARN Application data not exis t

Cause : N/A
Remedy : N/A
MEMO Error Codes B . ERROR CODES AND RECOVERY
MEMO-120 WARN Application index ove r

Cause : N/A
Remedy: N/A

Cause : N/A
Remedy : N/A
MEMO-122 WARN SST Table is not exist

Cause: N/A
Remedy : N/A
MEMO-123 WARN Application data is not foun d

Cause : N/A
Remedy : N/A
MEMO-124 WARN Program version is too new

Cause: KAREL program version number is newer than that of the system .
Remedy: Translate the program with an older version of the Translator .
MEMO-125 WARN Program version is too ol d

Cause : KAREL program version number is older than that of the system .
Remedy : Translate the program with a newer version of the Translator .
MEMO-126 WARN No more available memory

Cause : Lack of the memory which can be used .
Remedy : Delete unnecessary programs .
MEMO-127 WARN Same posn referenced over 25 5

Cause : Reference of the same position exceeded the maximum count (256) .
Remedy : Set new position ID for the referenced position .
MEMO-128 WARN %s parameters are different

Cause : A routine exists in memory with a different parameter definition than the routine in the PC fil e
being loaded .
Remedy : Update the calling convention in the KAREL program being loaded or delete the obsolet e
routine from system memory .
MOTN Error Code s
MOTN Error Code s
MOTN-000 WARN Unknown error (MO00 )

MOTN-001 STOP Internal error in osmkpk t

MOTN-002 STOP Internal error in ossndpk t

MOTN-003 STOP Internal error in oswrtmbx
MOTN-004 STOP Internal error in ossigflg

MOTN-005 STOP Internal error i nosclrfg

MOTN-006 STOP Internal error in osrcvpkt

MOTN-007 STOP Internal error in osredmbx

MOTN-008 STOP Internal error in oswaifl g

MOTN Error Codes B . ERROR CODES AND RECOVERY
MOTN-009 STOP Internal error for single ste p

Remedy: Cold start the controller to reset the error. If the error still occurs, record the events that le d
MOTN-010 STOP Internal error in osathpkt

MOTN-011 STOP Internal error in osdltpk t

MOTN-012 WARN unknown error (MO12 )





MOTN-017 STOP Limit error (G:%d^2, A :%x^3 Hex )

Cause : Limit error .
Remedy : Reteach position .
MOTN Error Codes
MOTN-018 STOP Position not reachabl e

Cause : Position not reachable .
MOTN-019 WARN In singularity

Cause : Position near by singularity .
MOTN-020 WARN Wristjoint warnin g

Cause : Wrist joint warning .
Remedy : Wrist joint warning .
MOTN-021 STOP No kinematics erro r

Cause : No kinematics .
Remedy: Use joint motion .
MOTN-022 STOP Invalid limit numbe r

Cause : Invalid limit number .
Remedy : Set limit number correctly .






MOTN-029 STOP unknown error (MO29 )

MOTN-030 STOP Internal error in MMGR :PEND

MOTN-031 STOP Internal error in MMGR :ESEG

MOTN-032 STOP Internal error in MMGR :PRSD

MOTN-033 STOP Internal error in MMGR :GNL

MOTN-034 STOP Internal error in MMGR_MM R

MOTN-035 STOP Internal error in MMGR_MI R

MOTN-036 STOP Internal error in MMGR :MSTR

MOTN Error Code s
.MARMMOSHW02301E
B-79
MOTN-037 STOP Internal error in MMGR :MDON

MOTN-038 STOP Internal error in MMGR :CAN

Remedy: Cold start the controller to reset the error. If the error still occurs, record the events that led
MOTN-039 STOP Internal error in MMGR :FCAN

MOTN-040 STOP Internal error. in MMGR :CAND

MOTN-041 STOP Internal error i nMGR

:PSTR
MOTN-042 STOP Internal in MSS R

MOTN-043 STOP Internal error in MMGR :EPKT

MOTN-044 STOP Internal error in MMGR :ERR

MOTN-045 STOPNP Internal error in pro . start

MOTN-046 STOP Internal error in MMGR :LSTP

MOTN-047 STOP Internal error in MMGR :PRST

MOTN-048 STOP unknown error (MO48 )

MOTN-049 STOP Attempt to move w/o calibrate d

Cause : Robot not calibrated .
Remedy : Calibrate robot.
MOTN-050 STOP Invlaid spdlim (G :%d^2 A :%x^3 H )

Cause : Invalid joint speed limit .
Remedy : Set $SPEEDLIMJNT correctly.
MOTN-051 STOP Speed out of range (G :%d^2 )

Cause : Speed out of range .
Remedy : Set speed correctly.
MOTN-052 STOP Jntvellim out of range (G :%d^2 )

Cause : Joint vel limit out of range .
Remedy : Set $JNTVELLIM correctly.
MOTN-053 STOP Internal planner error (G :%d^2 )

Cause : Internal Planner error.
MOTN-054 STOP Uninitialized dest pos (G :%d^2 )

Cause : Uninitialized destination position .
Remedy : Teach destination position .
MOTN-055 STOP Uninitialized via pos (G :%d^2 )

Cause : Uninitialized via position .
Remedy : Teach via position .
MOTN Error Codes
MOTN-056 WARN Speed limits used (G :%d^2 )

Cause: Speed limits used .
Remedy : Just a warning, no action required .
MOTN-057 STOP Invalid mir (G :%d^2 )

Cause : Invalid packet received by planner .
)
MOTN-058 STOP Invalid cancel request (G:%d^2
Cause : Invalid cancel request received by planner.
-MOTN-059 STOP Null segment received (G:%d^2

)
)
MOTN-060 STOP Uninitialized base vec (G :%d^2
Cause : Uninitialized base vector in relative moves .
Remedy : Initialize base vector .
MOTN-061 STOP Uninitialized distance (G :%d^2 )

Cause : Uninitialized distance in relative moves .
Remedy : Initialize distance .
MOTN-062 STOP . Invalid position type (G :%d^2 )

Cause : Invalid position type received by planner.
MOTN-063 STOP Position config change (G :%d^2 )

Cause: Configuration mismatch .
Remedy : Reteach destination position so that its configuration string matches start position' s
MOTN-064 STOP Rs orientation error (G :%d^2) .

Cause : RS orientation planning error.
MOTN-065 STOP AES orientation error (G :%d^2 )

Cause : AES orientation planning error.
MOTN-066 STOP Degenerate circle (G :%d^2

)
Cause : Degenerate circle .
Remedy : Reteach via and/or destination positions .
MOTN-067 STOP Ata2 error in circle (G :%d ^ 2 )

Cause : Internal system error during circular planning .
MOTN-068 STOP Invalid Prgoverride (G :%d^2 )

Cause : Prgoverride is not within 0 to 100 .
Remedy : Set $prgoverride within 0 to 100 .
MOTN-069 STOP Error in mocmnd (G :%d^2 )

Cause : Internal error : planner received invalid mocmnd .
MOTN-070 STOP Error in motype (G :%d^2 )

Cause : Internal error : planner received invalid motype .
.
MOTN-071 STOP Error in termtype (G :%d^2 )

Cause : Internal error : planner received invalid termtype .
MOTN-072 STOP Error in segtermtype (G :%d^2 )

Cause : Internal error : planner received invalid segtermtype .
MOTN-073 STOP Error in orientype (G:%d^2

)
Cause : Internal error : planner received invalid orientype .
MOTN-074 STOP Error in speed (G :%d^2 )

Cause : Speed is not within 0 to $speedlim .
Remedy : Set speed within 0 to $speedlim .
MOTN-075 STOP Error in rotspeed (G :%d^2 )

Cause : Rotspeed is not within 0 to $rotspeedlim .
Remedy : Set rotspeed within 0 to $rotspeedlim .
MOTN Error Codes
MARMMOSHW02301E
B-83
MOTN-076 STOP Error in contaxisvel (G :%d^2 )

Cause : Contaxisvel is not within 0 to 100 .
Remedy : Set contaxisvel to within 0 to 100 .
MOTN-077 STOP Error in seg_time (G :%d^2 )

Cause: Seg_time is negative.
Remedy : Set seg time positive .
MOTN-078 STOP Error in accel_ovrd (G :%d^2 )

Cause : Accel_ovrd to greater than 500 .
Remedy : Set accel_ovrd within 0 to 500 .
MOTN-079 STOP Error in accu_num (G :%d^2 )

.Cause : ., internal error: planner received invalid accu_num .
MOTN-080 STOP Via position required (G :%d^2 )

Cause : Missing via position for circular motion .
Remedy : Teach via position .
MOTN-081 STOP Extended position error (G :%d^2 )

Cause : Internal error : planner received invalid extended position representation .
MOTN-083 STOP Null MIR pointer (G :%d^2 )

Cause : Internal error : planner received segment belonging to another group .
MOTN-085 STOP Error in gp_concurrent (G:%d^2

)
Cause : Internal error: planner received invalid mmr .gp_concurrent .
MOTN-086 STOP Not all CON_SEGs recvd(G :%d ^ 2 )

Cause : Group motion : not all segments are received .
MOTN-087 STOP Utool change not allowed( G :%d^2 )

Cause : $utool is changed before move .
Remedy : Do not change $utool for this move .
MOTN-088 STOP Not cartesian move (G :%d^2 )

Cause : Motype is not Cartesian .
Remedy : Must set motype to Cartesian .
MOTN-089 STOPSegment not planned (G :%d^2 )

Cause : Internal plan error:seg in list not all planned .
MOTN-090 STOP MIR mismatch (G :%d^2)

Cause : Internal plan error :mir mismatch .
MOTN-091 STOP Va orientation error (G :%d^2 )

-Cause : Internal plan error:atan2 error.
MOTN-092 STOP Extended not supported (G :%d^2 )

Cause : Extended axes not supported .
MOTN-093 STOP Internal PLAN blend err(G :%d^2 )

Cause : Internal plan error.
MOTN-096 STOP Cart rate not equal (G :%d^2)

Cause : Intellitrak On : $linear rate and $circ rate must be equal .
Remedy : Set $linear_rate equal to $circ_rate. cycle power.
MOTN-097 WARN INTR overrun %d^3 (G :%d^2 )

Cause : Interpolator overrun .
MOTN-099 STOP INTR Fail to get MIRPKT (G :%d^2 )

Cause : Internal interpolator error :failed to receive mir when expecting one .
MOTN Error Codes
MARMMOSHW02301E
B-85
MOTN-100 STOP INTR Fail to get FDO (G :%d^2 )

Cause : Internal interpolator error :failed to receive fdo when expecting one .
MOTN-101 STOP MIR list is empty (G :%d^2 )

Cause: Internal interpolator error : mir list is empty when it shouldn't be .
MOTN-102 STOP SEG list is empty (G :%d^2 )

Cause : Internal interpolator error : seg list is empty when it shouldn't be .
MOTN-103 STOP Send ENB pkt fail (G:%d^2

)
Cause : Internal interpolator error : error in sending ENB packet .
MOTN-104 STOP Send DSB pkt fail (G :%d^2 )

Cause : Internal interpolator error : error in sending DSB packet .
MOTN-105 STOP Send TRG pkt fail (G :%d^2 )

Cause : Internal interpolator. . error: error in sending TRG packet .
MOTN-106 STOP Process motion done (G :%d^2 )

Cause : Internal interpolator error : process motion had completed without being restarted .
MOTN-107 STOP Bad filter type (G :%d^2 )

Cause : Internal interpolator error : invalid filter type received .
MOTN-108 STOP INTR seglist error (G :%d^2 )

Cause: Internal interpolator error : error in seg list management .
Remedy : Cold start the controller to reset the error . If the error still-occurs, record the events that le d
MARMMOSHW02301 E
B-86
MOTN-109 STOP Internal INTR error (G :%d^2 )

Cause: Internal interpolator error.
MOTN-110 STOP Replan jnt not allowed(G :%d^2 )

Cause : Cannot replan joint motion in interpolator for this move .
Remedy : Reteach changes in motype in program .
)
MOTN-111 WARN Can't switch filter (G :%d^2
Cause : Warning message to indicate that switch filter cannot take place .
Remedy : No action required .

MOTN-113 WARN Robot not calibrated (G :%d^2 )

Cause : Robot not calibrated .
Remedy : Calibrate the robot .
MOTN-114 WARN Servo is on (G :%d^2 )

Cause : Servo in still on .
Remedy : Turn off servo .
MOTN-115 WARN Invalid brake mask (G :%d^2 )

Cause : Invalid brake mask .
Remedy : Check brake mask .
MOTN-116 WARN Invalid solution (G :%d^2 )

Cause: Invalid kinematics solution .
MOTN-117 WARN Robot not mastered (G :%d^2 )

Cause : Robot not mastered .
Remedy : Master the robot .
MOTN-118 WARN Robot in over travel (G :%d^2 )

Cause : Robot in overtravel .
Remedy : Reset overtravel . Jog the robot outside overtravel position .
MOTN-119 WARN Servo is off (G :%d^2 )

Cause: Robot servo is on .
Remedy : Turn off servo .
MOTN Error Codes
MOTN-120 WARN Invalid reference position (G : 90 ^ 2 )

Cause : Invalid reference position .
Remedy : Check reference position .
MOTN-121 WARN Invalid config . string (G :%d^2 )

Cause : Invalid config string .
Remedy : Reteach your config string .
MOTN-122 STOP Dfilter not empty (G : %d^2 )

MOTN-123 WARN Not enough node (G :%d^2 )

Remedy : Cold start the controller to reset the error.` If the error still occurs, record the events that le d
MOTN-124 STOP
-code :Bad Mirpk treq
INTR(G:%d^2)
MOTN-125 STOP INTR got illegal pkt (G :%d^2 )

-up to the error and call your FANUC Robotics technical representative .
MOTN-126 STOP Can't init CH KPT (G :%d^2 )

MOTN-127 STOP Can't detatch CH PKT (G :%d^2 )

Remedy : . Cold start the controller to reset the error . If the error still occurs, record the events that led
MOTN-128 STOP Group mtn not supported(G :%d^2 )

Cause : Group motion not supported .
Remedy : Record the events that led up to the error and contact your FANUC Robotics technica l
representative .
MOTN-129 STOP Local cond ptr conflict (G :%d^2

)
Cause : Conflict in local condition list pointers .
representative.
MOTN Error Codes B. ERROR CODES AND RECOVERY
)
MOTN-130 STOP Non-empty local cond list (G:%d^2
Cause : Local condition list attached to SEG is not NULL .
representative .
MOTN-131 STOP In singularity

Cause : Position near by singularity .
Remedy : Reteach position.
MOTN-132 STOP Group circ not supported( G :%d^2 )

Cause : Group motion : circular motype for all groups not supported .
Remedy: Reteach motype.
MOTN-133 WARN Time after limit used (G :%d^2

)
Cause : - Local condition time after value is too big . System will use time after limit This is just a
warning .
Remedy : No corrective action required .
MOTN-134 STOP Can not move path backward (G :%d^2 )

Cause : Backward path/subpath motion is not supported .
Remedy : Remove backward command .
OPTN Error Codes
OPTN Error Codes
OPTN-000 WARN Unknown error (OPTN )

OPTN-001 WARN Too many options installed

Cause: The maximum number of software options/updates (10) is installed .
Remedy: Delete or overlay (overwrite) .
OPTN-002 WARN %s installed

Cause : Installation of software option/update has finished successfully .
OPTN-003 WARN %s skippe d

Cause : S/W option was previously installed and cannot be overlayed (overwritte n
Remedy : Some options cannot be overlayed .
OPTN-004 WARN %s is incompatibl e

Cause : Software option/update is incompatible with an already installed option/update .
Remedy : Install only one of the two mutually exclusive software options .
OPTN-004 WARN % overlayed/reinstated

Cause : Software option/update was previously installed and can be overlayed (overwritten) as a n
additional instance of that software option/update . The software was successfully overlayed .
OS Error Codes B . ERROR CODES AND RECOVERY
B-9 0
OS Error Codes
OS-000 WARN R E S E T
Cause : N/A
Remedy : N/A
OS-001 WARN This service isn't implemente d

Cause: N/A
Remedy : N/A
OS-002 WARN This service is not supporte d

Cause: N/A
Remedy : N/A
OS-003 WARN Invalid service cal l

Cause : N/A
Remedy : N/A
OS-004 WARN Task ID out of range

Cause: N/A
Remedy: N/A
OS-005 WARN Invalid timer ID

Cause : N/A
Remedy : N/A
OS-006 : WARN Semaphore` ID ,out of rang e

Cause : N/A
Remedy : N/A
OS-007 WARN Event flag ID out of rang e

Cause : N/A
Remedy : N/A
OS-008 WARN Mailbox ID out of range

Cause : N/A
Remedy: N/A
OS-009 WARN Invalid packet ID

Cause : N/A
Remedy : N/A
MARMMOSHW02301E
OS-010 WARN Invalid LUN

Cause: N/A
Remedy : N/A
OS-011 WARN Task already exist s

Cause : N/A
Remedy : N/A
OS-012 WARN Task does not exis t

Cause : N/A
Remedy : N/A
OS-013 WARN Unknown error caused

Cause : N/A
Remedy: N/A
OS-014 WARN Unknown error cause d

Cause : N/A
Remedy : N/A
OS-015 WARN . Semaphore already exist s

Cause : N/A
Remedy: N/A
OS-016 WARN Semaphore does not exis t

Cause : N/A
Remedy : N/A
OS-017 WARN Event flag already exist s

Cause : N/A
Remedy : N/A
OS-018 WARN Event flag does not exis t

Cause : N/A
Remedy : N/A
OS-019 WARN Mailbox already exist s

Cause : N/A
Remedy : N/A
OS-020 WARN Mailbox does not exis t

Cause : N/A
Remedy : N/A
B-92
OS-021 WARN Device driver already exists

Cause : NIA
Remedy : N/A
OS-022 WARN Sema was deleted while waiting

Cause : N/A
Remedy : N/A
OS-023 WARN Flag was deleted while waitin g

Cause : N/A
Remedy : N/A
OS-024 WARN Mbx was deleted while waitin g

Cause : N/A
Remedy : N/A
OS-025 WARN Cannot find TI B

Cause : N/A
Remedy : N/A
OS-026 WARN Timeou t

Cause : N/A
Remedy: N/A
OS-027 WARN Lack of memory poo l

Cause : N/A
Remedy : N/A
OS-028 WARN Semaphore overflow

Cause: N/A
Remedy : N/A
OS-029 WARN Semaphore underflow

Cause : N/A
Remedy : N/A
OS-030 WARN Lack of mailbox buffe r

Cause : NIA
Remedy : N/A
OS-031 WARN Invalid packet type

Cause : N/A
Remedy : N/A
B . ERROR CODES AND . RECOVERY
MARMMOSHW02301 E
OS-032 WARN Lack of packet poo l

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
OS-034 WARN Target type mismatch

Cause : N/A
Remedy : N/A
OS-035 WARN Target does not exis t

Cause : N/A
Remedy : N/A
OS-036 WARN Requester is not debug tas k

Cause : N/A
Remedy: N/A
OS-037 WARN' Nesting of dispatcher loc k

Cause : N/A
Remedy : N/A
OS-038 WARN Dispatcher is not lockin g

Cause : N/A
Remedy : N/A
OS-039 WARN User stack overflo w

Cause : NIA
Remedy : N/A
OS-040 WARN User stack underflow

Cause : N/A
Remedy : N/A
OS-041 WARN Duplicate target definitio n

Cause: N/A
Remedy : NIA
OS-042 WARN Unable to use in super mod e

Cause : N/A
Remedy : N/A
B-94
OS-043 WARN Unable to use in user mode

Cause : N/A
Remedy : N/A
OS-044 WARN Break in TCB

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy: N/A
OS-047 WARN Break in LUT

Cause : N/A
Remedy : N/A
OS-048 WARN Cannot allocate task work are a

Cause : N/A
Remedy : N/A
OS-049 WARN Cannot create memory pool 0

Cause : N/A
Remedy : N/A
OS-050 WARN Break in channel poo l

Cause : N/A
Remedy : N/A
OS-051 WARN Break in memory poo l

Cause : N/A
Remedy : N/A
OS-052 WARN Break in packet poo l

Cause: N/A
Remedy : N/A
OS-053 WARN Task group does not exis t

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
OS-054 WARN Task group 0 expect s

Cause: N/A
Remedy : N/A
OS-055 WARN Invalid task group numbe r

Cause : N/A
Remedy : N/A
OS-056 WARN Too many PI B

Cause: N/A
Remedy : N/A
OS-057 WARN Illegal packet ta g

Cause : N/A
Remedy : N/A
OS-058 WARN Packet owner mismatch

Cause : N/A
Remedy : N/A
OS-059 WARN Lack of system memor y

Cause : N/A
Remedy: N/A
OS-060 WARN Supervisor stack overflow

Cause : N/A
Remedy : N/A
OS-061 WARN Invalid queue typ e

Cause : N/A
Remedy : N/A
OS-062 WARN Semaphore was captured

Cause : N/A
Remedy : N/A
OS-063 WARN Nesting of semaphore waiting

Cause : N/A
Remedy : N/A
OS-064 WARN Semaphore owner mismatc h

Cause : N/A
Remedy : N/A
OS Error Codes B. ERROR CODES AND RECOVERY
B-96
OS-065 WARN Memory pool ID out of rang e

Cause : N/A
Remedy : N/A
OS-066 WARN Memory pool already exist s

Cause : N/A
Remedy: N/A
OS-067 WARN Memory pool does not exis t

Cause : N/A
Remedy : N/A
OS-068 WARN Specified size is too smal l

Cause : N/A
Remedy : N/A
OS-069 WARN Auxiliary task already exist s

Cause : N/A
Remedy : N/A
OS-070 WARN Auxiliary task does not exis t

Cause : N/A
Remedy : N/A
OS-071 WARN Cannot get a free channe l

Cause : N/A
Remedy : N/A
OS-072 WARN Lack of channel poo l

Cause : N/A
Remedy : N/A
OS-073 WARN Undef channel was specifie d

Cause : N/A
Remedy : N/A
OS-074 WARN CTRL routine is not define d

Cause : N/A
Remedy : N/A
OS-075 WARN Task is not freezed

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
OS-076 WARN Task is not suspended

Cause: N/A
Remedy : N/A
OS-077 WARN Suspend counter overflo w

Cause : N/A
Remedy : N/A
OS-078 WARN Unable to use in level 0

Cause : N/A
Remedy : N/A
OS-079 WARN Invalid ASR return point

Cause : N/A
Remedy : N/A
OS-080 WARN Invalid ASR mask leve l

Cause : N/A
Remedy : N/A
OS-081 WARN Packet pool does not exis t

Cause: N/A
Remedy: N/A

Cause : N/A
Remedy : N/A
OS-083 WARN Packet port is closing

Cause : N/A
Remedy : N/A
OS-084 WARN Cannot delete a using channel

Cause : N/A
Remedy : N/A
OS-085 WARN Invalid channel numbe r

Cause : N/A
Remedy : N/A
OS-086 WARN Channel table copy overlap

Cause : N/A
Remedy : N/A
B-98
OS-087 WARN Invalid messenger I D

Cause : N/A
Remedy : N/A
OS-088 WARN Cannot get a messenge r

Cause : N/A
Remedy : N/A
OS-089 WARN Messenger exec was cancele d

Cause : N/A
Remedy : N/A
OS-090 WARN Messenger owner mismatc h

.Cause : N/A
Remedy : N/A
OS-091 WARN Fatal error in messenge r

Cause : N/A
Remedy : N/A
OS-092 WARN Messenger status erro r

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
OS-095 WARN ASR nesting level erro r

Cause : N/A
Remedy : N/A
OS-096 WARN ASR is not defined

Cause : N/A
Remedy : N/A
OS-097 WARN Specified time was paste d

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
OS-098 WARN Bad source table locatio n

Cause : N/A
Remedy : N/A
OS-099 WARN Bad target table locatio n

Cause : N/A
Remedy : N/A
OS-100 WARN SERVICE routine is not defined

Cause : N/A
Remedy : N/A
OS-101 WARN Masked ASR requeste d

Cause : N/A
Remedy: N/A
OS-102 WARN Lack of TEB

Cause : N/A
Remedy : N/A
OS-103 WARN Main routine expecte

d
Cause : N/A
Remedy : N/A
OS-104 WARN Lack of RPC serve r

Cause : N/A
Remedy : N/A
OS-105 WARN Multi-CPU communication erro r

Cause : N/A
Remedy : N/A
OS-106 WARN Another CPU object connecte d

Cause : N/A
Remedy : N/A
OS-107 WARN Access key mismatc h

Cause : N/A
Remedy : N/A
OS-108 WARN Multi-CPU system memory error

Cause : N/A
Remedy : N/A
OS Error Codes B. ERROR CODES AND RECOVERY
B-100
OS-109 WARN Invalid element I D

Cause : N/A
Remedy : N/A
OS-110 . WARN Illegal memory addres s

Cause: N/A
Remedy : N/A
OS-111 WARN Invalid slot ID

Cause : N/A
Remedy : N/A
OS-112 WARN Mailbox type erro r

Cause : N/A
Remedy : N/A
OS-113 WARN ISR already exist s

Cause : N/A
Remedy : N/A
OS-114 WARN ISR ID out of range

Cause : N/A
Remedy : N/A
OS-115 WARN Forced start

Cause: N/A
Remedy : N/A
OS-116 WARN Permanent pool may be damage d

Cause : N/A
Remedy : N/A
OS-117 WARN Can not delete critical tas k

Cause : N/A
Remedy : N/A
PRIO Error Codes
MARMMOSHW02301E B- 1 0 1
PRIO Error Code s
PRIO-001 WARN Illegal iotyp e

Cause : Port type specified is invalid .
Remedy : Use one the port types defined in IOSETUP .KL .
PRIO-002 WARN Illegal inde x

Cause : Port number is invalid or not presently assigned .
Remedy : Correct the port number .
PRIO-003 SYST No memory availabl e

Cause : Memory required for this operation is not available .
Remedy : Delete KAREL programs and/or variables to free memory.
PRIO-004 WARN too few ports on mod

Cause : too few ports on mod There are not enough ports on the specified board or module to mak e
the specified assignments .
Remedy : Correct either the first port number or the number of ports .
PRIO-005 WARN bad logical port n o

Cause: The specified port number in an assignment is invalid ; must be in the range 1 . .32767 .
Remedy : Correct the logical port number .
PRIO-006 WARN bad log port number in asg t

Cause : The specified port number in an assignment is invalid ; must be in the range 1 . .32767 .
Remedy : Correct the logical port number .
PRIO-007 WARN no match in deassign cal l

Cause: Port being deassigned is not presently assigned .
Remedy : Correct the port number .
PRIO-008 WARN phys ports not found

Cause : Physical port being assigned to does not exist .
Remedy : Correct the rack number, slot number, or port number .
PRIO-009 WARN n _ports invali d

Cause : The number of ports in an assigment is invalid ; must be in the range 1 . .128 .
Remedy : Correct the number of ports .
PRIO-010 WARN bad phys port number is asgt

Cause : Invalid physical port number in assignment request ; must be greater than 1 .
Remedy : Correct the physical port number.
PRIO-011 WARN asgt overlaps existing asg t

Cause : The logical port numbers being assigned overlap existing assignments .
Remedy : Correct the first port number or number of ports .
PRIO Error Codes B . ERROR CODES AND RECOVERY
PRIO-012 WARN bad board nu m

Cause : The specified rack and/or slot number specied is invalid or refers to an unused rack/slo t
number.
Remedy: Correct the rack and/or slot number .
PRIO-013 WARN no aiseq for bd

Cause : An attempt was made to delete an analog input sequence which has not been defined .
Remedy : Check the rack and/or slot number .
PRIO-014 WARN ai seq too lon g

Cause: The specified analog input sequence is too long ; must be 1 to 15 port numbers .
Remedy : Supply a sequence of an appropriate length .
PRIO-017 WARN I/O point not si m

Cause : Attempt to set input port that is not simulated .
Remedy : Use the I/O menu to set the port simulated or avoid setting the port .
PRIO-023 WARN no ports of this typ e

Cause : There are no ports of the specified type .
Remedy: Change the port type, mount process I/O hardware with the required type of port, or defin e
ports (e .g ., GIN or GOUT) of the specified typ e
PRIO-033 WARN PC interface init . faul t

Cause : PC interface board is bad or not installed .
Remedy : Check for proper installation of PC interface . Check LED status on PC interface board . Refer
to manual for possible cause .
PRIO-034 WARN PC interface genrl . fault %d

Cause : PC interface board is faulted .
Remedy : Check LED status on PC interface board . Refer to manual for possible cause .
PRIO-035 WARN PC interface serial fault % d

Cause : PC interface serial link has failed .
Remedy : Check LED status on PC interface board . Refer to manual for possible cause .
PRIO-063 WARN Bad 1O asg : rack% d^1 slot %d^ 2

Cause : One or more assignments to the process I/O board or module at specified rack and slot i s
invalid when the controller was turned on .
Remedy : Check the connections and power to the rack and that the module(s) are firmly installed . If
the board or module has been permanently removed, use the CONFIG option in the DI O
menu to delete the assignments .
PROG Error Codes
PROG Error Codes
PROG-001 ABRT Invalid pointer is specified

PROG-002 ABRT Invalid task name is specified

Cause : The task name specified is invalid.
Remedy : Check the task name .
PROG-003 ABRT Invalid prog name is specifie d

Cause: The program name specified is invalid .
`PROG-004 'ABRT Invalid wait type is specifie d

PROG-005 WARN Program is not found

Cause : The specified program cannot be found .
Remedy: Check the program name .
PROG-006 WARN Line is not foun d

Cause : The specified line number cannot be found .
PROG-007 WARN Program is already runnin g

Cause : The speci fied program is already being executed .
PROG-008 WARN In a rtn when creating a tas k

Cause : Execution cannot be started in a sub-routine program .
Remedy: Check the line number.
PROG-009 WARN Line not same rtn as paused a t

Cause : Resumption was attempted at a different line from the paused line .
Remedy : Check the line number .
PROG-010 WARN Not same prg as pause d

Cause : Resumption was attempted in a different program from the paused one .
PROG Error Codes B. ERROR CODES AND RECOVERY
PROG-011 PAUSE Cannot get the motion contro l

Cause: Motion control cannot be obtained .
motion control .
PROG-012 WARN All groups not on the top

Cause : There is paused motion later than motion that was attempted to resume .
Remedy : Resume the motion paused the last time .
PROG-013 WARN Motion is stopped by progra m

Cause: This motion was paused by the MOTION PAUSE instruction . Only the RESUME MOTION
program instruction can resume the motion .
Remedy : Use the RESUME MOTION instruction in the program .
PROG-014 WARN Max task number excee d

Cause : The number of programs you attempted to start exceeded the maximum number .
Remedy : Abort dispensable programs or perform a CTRL start and select the PROGRAM INIT optio n
to increase the number of tasks allowed .
PROG-015 WARN Cannot execute backwards

Cause: Backward execution cannot be used .
Remedy: N/A
PROG-016 WARN Task is not found

Cause : The specified task is not running or paused .
Remedy : Check the task name . The task name is always the name of the program that was run . Th e
task name will not change even if the running program calls a routine from a different
program .
PROG-017 WARN Task is not runnin g

Cause : The specified task is not running .
Remedy : Check the task name .
PROG-018 ABRT Motion stack overflow

Cause : Too many programs are paused
Remedy : Resume or abort some programs .
PROG-019 WARN Ignore pause reques t

Cause : The request to pause the program was ignored .
Remedy : Change the NOPAUSE task attribute or use the KCL PAUSE command with the FORC E
option .
PROG-020 WARN Task is already aborte d

Cause : The specified program was already aborted .
PROG Error Code s
MARMMOSHW02301E B- 1 05
PROG-021 WARN Ignore abort reques t

Cause : The request to abort the program was ignored .
Remedy : Change the NOABORT task attribute or use the KCL ABORT command with the FORC E
option .
PROG-022 WARN Invalid request typ e

PROG-023 WARN Task is not pause d

Cause : The specified program is not paused .
Remedy : Pause the program .
PROG-024 WARN Not have motion history

Cause : The motion path record is lost .
Remedy: N/A
PROG-025 WARN Cannot execute backwards

Cause : Backward execution cannot be used .
Remedy : N/A
PROG-026 WARN No more motion histor y

Cause : Backward execution cannot be used any more . The current line is on top of the memorize d
path .
Remedy: N/A
PROG-027 WARN Invalid task numbe r

Cause : The task number specified is invalid .
Remedy : Check the task number .
PROG-028 WARN Invalid buffer siz e

PROG-029 WARN Buffer size is not enough

PROG-030 WARN Attribute is not foun d

Cause: The specified task attribute is not found .
Remedy: Check the attribute .
PROG Error Codes B . ERROR CODES AND RECOVER Y
PROG-031 WARN Attribute is write protecte d

Cause : The specified task attribute is write protected .
Remedy : Do not try to change the attribute .
PROG-032 WARN Invalid value for attribut e

Cause : The value for the specified attribute is invalid .
Remedy : Check the attribute value .
PROG-033 WARN Arrived at the end of tas k

PROG-034 WARN Routine not found

Cause : The specified routine cannot be found .
Remedy :' Check the routine name and verify it is loaded .
PROG-035 WARN Not locked the specified grou p

Cause : Motion control for the specified group cannot be locked .
motion control .
PROG-036 WARN The length of trace array is 0

Cause : Not enough memory or the task attribute is not set correctly .
Remedy : Set the trace buffer length using the KCL SET TASK TRACELEN command .
PROG-037 WARN No data in the trace array

Cause : There is no execution record in memory .
Remedy : Turn on tracing using the KCL SET TRACE ON command .
PROG-038 WARN Inconsistency in task statu s

PROG-039 WARN locked, but not get mct l

Cause : Motion control for the specified group was reserved, but is cannot be obtained .
motion control .
PROG-040 PAUSE Already locked by other task

Cause : Motion control for the specified group was already reserved by another program .
Remedy : Check the other running programs to determine who has motion control .
PROG Error Codes
MARMMOSHW02301E
B- 1 07
PROG-041 WARN mctl denied because release d

Cause : Motion control is released . The teach pendant currently has motion control . The robot
cannot be started until motion control is obtained .
Remedy : Disable the teach pendant .
PROG-042 WARN Already release d

Cause : Motion control was already released .
Remedy : N/A
PROG-043 WARN Already released by yo u

Cause : Motion control was already released by request of this program .
Remedy : N/A
PROG-044 WARN Arm has not been released ye t

Cause : Motion control is not released yet .
Remedy : N/A
PROG-045 WARN Other than requestor release d

Cause: Motion control was already released by the request of another program .
Remedy : N/A
PROG-046 PAUS TP is . enabled while running (%s^7 )

Cause: The teach pendant was enabled while the program is executing .
Remedy: N/A
PROG-047 PAUS TP is disabled while running (%s^7 )

Cause : The teach pendant was disabled while the program is executing .
Remedy: N/A
PROG-048 PAUS Shift released while running (%s^7 )

Cause : The shift key was released while the program is executing .
Remedy: N/A
PROG-049 WARN Cannot release, robot movin g

Cause : Motion control cannot be released because the robot is moving .
Remedy: Check the status of robot motion .
PROG-050 WARN Abort still in progres s

Cause : The program is in the process of being aborted .
Remedy: Wait a second . If this error continues to occur, cold start the controller . If the error stil l
occurs, record the events that led up to the error and call you FANUC Robotics technica l
representative .
PROG Error Codes B . ERROR CODES AND RECOVER Y
PROG-051 WARN Cannot skip the return stm t

Cause: The specified lines to which a move was attempted exceed the number of lines in th e
program.
PROG-052 ABRT Process is aborted while executing

Cause: The user application task was forced to abort while the application is executing .
Remedy : N/A
PROG-053 ABRT User AX is not running

Cause: The user application task was not executed .
Remedy : Start the user application task before executing the application .
QMGR Error Code s
MARMMOSHW02301E
B-1 09
QMGR Error Code s
QMGR-001 WARN Queue is ful l

Cause : An attempt was made to add an entry to a queue when the queue was full .
Remedy : Use GET_QUEUE to remove entries or use a larger value for queue size in the INT_QUEU E
call .
QMGR-002 WARN Queue is empt y

Cause : An attempt to use GET_QUEUE when there are no entries in the queue . This is the normal
result when no entries have been added or all have been removed by previous calls .
Remedy : No remedy is required.
QMGR-003 WARN Bad sequence no

Cause : A bad sequence_no value is used in an INSERT_QUEUE or DELETE_QUEUE call . Th e
value may be less than 1 or greater than the sequence number of the last entry in the queue .
Remedy : Correct the value .
QMGR-004 WARN Bad n_skip valu e

Cause : N/A
Remedy : N/A
ROUT Error Code s B. ERROR CODES AND RECOVERY
B-110
ROUT Error Codes
ROUT-000 WARN_C No t Availabl e

Cause : N/A
Remedy : N/A
ROUT-001 Warn _C Not Availabl e

Cause : N/A
Remedy: N/A
ROUT-002 WARN_C Not Availabl e

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy: N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
ROUT-007 WARN_C No t Available

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : NIA

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E

Cause: N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
ROUT-014 WARNS Not Availabl e

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause : N/A
Remedy : N/A

Cause: N/A
Remedy : N/A

Cause : N/A
Remedy : N/A
ROUT Error Codes B . ERROR CODES AND RECOVER Y
ROUT-022 PAUSE_C Bad index in ORD

Cause : Incorrect number is specified for ORD builtin routine .
Remedy : Specify a number less than the string length .
ROUT-023 PAUSE_C Bad index in SUBST R

Cause: Incorrect number is specified for SUBSTR builtin routine
Remedy: Specify a number less than the string lengt h
ROUT-024 PAUSE_C SUBSTR length less than 0

Cause : Negative number is specified for length argument for SUBSTR builtin routine .
Remedy : Specify a positive number .
ROUT-025 PAUSE_C Illegal semaphore numbe r

Cause : Incorrect number is specified for semaphore id .
Remedy : Specify a number between 1 and 32 .
ROUT-026 WARN_C Illegal group numbe r

Cause: Invalid group number is specified .
Remedy : Specify existing group number.
ROUT-027 WARN_C String size not big enough

Cause : Specified string variable does not have enough room to hold the return data .
Remedy: Specify larger size string variable .
ROUT-028 ABORT_C Illegal file attribute number

Cause : Incorrect file attribute id was specified .
Remedy : Specify correct file attribute id .
ROUT-029 ABORT_C Illegal file attribute valu e

Cause : Incorrect file attribute value was specified .
Remedy : Specify correct attribute value .
ROUT-030 WARN_C Non existent register numbe r

Cause : A non-existent register number is specified .
Remedy : Specify a correct register value
ROUT-031 WARN_C Illegal register typ e

Cause : Incorrect register type is specified .
Remedy : Specify the correct register type for the attempted operation .
ROUT-032 ABORT_C Position type mismatc h

Cause: Position type is not correct for the operation .
Remedy : Specify correct position type .
MARMMOSHW02301 E
ROUT-033 ABORT_C Illegal attribute typ e

Cause : Illegal attribute id was specified .
Remedy : Specify correct attribute id .
ROUT-034 WARNS Not a TPE progra m

Cause : A non-tpe is specified .
Remedy : Specify a program name other than a KAREL program .
ROUT-035 WARNS Value is out of rang e

Cause: The specified value is out of range .
Remedy : Specify a value within the range .
ROUT-036 ABORT_C Illegal port id valu e

Cause : Incorrect port id was used .
Remedy: Specify correct port id .
SCIO Error Codes B . ERROR CODES AND RECOVERY
B-11 4
SCIO Error Codes
SCIO-020 WARN LBL[%d] exists in line %d :

Cause : This label number exists in another line .
Remedy : Please select another label number .
SENS Error Codes
SENS Error Code s
SENS-000 SYSTEM Unknown erro r

SENS-001 STOP Hardware error occure d

Cause : During data reception, parity, overrun and framing errors occurred .
Remedy : Check that the communication setting between the robot and sensor sides is not wrong .
SENS-002 STOP DSR off when transmissio n

Cause : An attempt was made for data transmission, but DSR signal at the sensor side is i n
OFF-state .
Remedy : Check the specification and disconnection of cable connecting the robot and sensor.
SENS-003 STOP Undefined TCC receive d

Cause : The undefined TCC was received from the sensor.
Remedy : Check the data sent from the sensor.
SENS-004 STOP Invalid software parit y

Cause : BCC of the received data from the sensor is wrong .
Remedy: Check the data sent from the sensor .
SENS-005 STOP Invalid data format

Cause : The format of the received data is wrong .
Remedy : Check the data sent from the sensor.
SENS-006 STOP Response time ove r

Cause : The answer from the sensor is not received within the allowable time.
Remedy : Check that the sensor side does not stop due to an error, for example .
SENS-007 STOP Interval time ove r

Cause : The interval of characters sent from the sensor exceeded the allowable time .
Remedy : Check that the sensor side does not stop due to an error, for example .
SENS-008 STOP Calculate matrix erro r

Cause : Calculating transform matrix is impossible .
Remedy : Check the compensation data sent from the sensor.
SRVO Error Codes B . ERROR CODES AND RECOVERY
SRVO Error Code s
SRVO-001 SVAL1 Operator panel E-sto p

Cause : The operator panel emergency stop push button is pressed .
Remedy : Twist the operator panel emergency stop push button clockwise to release . Press reset .
SRVO-002 SVAL1 Teach pendant E-stop

Cause : The teach pendant emergency stop push button is pressed .
Remedy : Twist the teach pendant emergency stop push button clockwise to release . Press reset .
SRVO-003 SVAL1 Deadman switch release d

Cause : The teach pendant deadman switch is released while the teach pendant is enabled .
Remedy : Press teach pendant deadman switch . Press reset .
SRVO-004 SVAL1 Fence ope n

Cause : FENCE1 and FENCE2 circuit open on EMG Control pcb .
Remedy : Determine the cause of FENCE1 and FENCE2 open circuit and correct . Press reset.
SRVO-005 SVAL1 Robot overtrave l

Cause : A Robot overtravel limit switch, is pressed .
Remedy : Select the OT_RELEASE menus . Cursor to the axis that is overtraveled, OT MINUS o r
OT_PLUS is TRUE, and press RELEASE . Press reset, wait for servo power to engage, an d
jog the robot off the overtravel switch . Check CRM1 connection on axis control pcb .
SRVO-006 SVAL1 Hand broke n

Cause : The hand broken (*HBK) robot input is asserted .
Remedy : If using *HBK input, determine the cause of the error and correct . If not, check the positio n
of the *HBK jumper on the axis control pcb ; if on side A, *HBK is checked if on side B, *HB K
is not checked *HBK originates on Axis Control pcb .
SRVO-007 SVAL1 External emergency stop s

Cause : The external emergency stop push button is pressed .
Remedy : If using external emergency stop, clear source of fault, and press reset . If not, check wiring at
EMGIN1, EMGIN2, and EMGINC on EMG Control pcb . Check for 100 VAC input to the EM G
Control pcb .
SRVO-008 SVAL1 Brake fuse blow n

Cause : The brake fuse is blown on the EMG Control pcb . The FALM light on the EMG Control pc b
should also be lit .
Remedy : Replace fuse on EMG Control pcb .
SRVO-009 SVAL1 Pneumatic pressure alar m

Cause : The pneumatic pressure (PPABN) robot input is asserted .
Remedy : If using pneumatic pressure input clear source of fault, press reset . If pneumatic pressure i s
not used set $PPABN_ENBL system variable to FALSE . PPABN originates on Axis Contro l
pcb .
SRVO Error Codes
SRVO-010 SVAL1 Belt broke n

Cause: The belt broken robot input (RDI7) is asserted .
Remedy : If using belt broken detection, clear source of fault, press reset . Robot inputs/outputs
originate on Axis Control pcb .
SRVO-011 SVAL1 TP released while enabled

Cause : Teach pendant is released while it is enabled .
Remedy : Press reset .
SRVO-012 SVAL1 Power failure recover y

Cause : Normal power on (hot start) .
Remedy : This is not a problem .
SRVO-013 FATL Srvo module config change d

Cause : The configuration of digital servo modules has changed .
Remedy : - Re-configure system with new digital servo module changes . Cycle power.
SRVO-014 WARN Fan motor abnorma l

Cause : Cabinet fan motor overheat .
Remedy : Clean debris from fan intake and/or replace defective fan .
SRVO-015 SVAL1 System over hea t

Cause : Overheat sensor on backplane closed .
Remedy : The cabinet overheat sensor is located on the backplane . If the internal cabinet temperatur e
is greater than 65 degrees Centigrade, check the cabinet fans for proper operation . Replac e
the backplane if cabinet temperature is within specification .
SRVO-016 SVAL1 Cooling water volume drop

Cause : Cooling water volume dropped (L1000 only) .
Remedy : Determine the cause of the problem and repair.
SRVO-017 SVAL1 No robot internal mirro r

Cause : No robot internal mirror (L1000 only) .
Remedy : Determine the cause of the problem and repair.
SRVO-021 SVAL1 SRDY off (Group :%d Axis :%d )

Cause : The axis control asserts *HRDY signal to servo amplifier, the servo amplifier asserts *SRDY .
If *SRDY can not be asserted and the servo amplifier can not determine the problem, thi s
alarm occurs .
Remedy : Check the voltage at 100A and 100B, if this voltage is below 85V, determine the cause an d
repair. Check the cables and connections between servo amplifier and axis control pcb .
Replace Servo Interface (SIF) module on axis control pcb . Replace the servo amplifier.
SRVO-022 SVAL1 SRDY on (Group :%d Axis :%d )

Cause : The axis control asserts *HRDY signal to servo amplifier, the servo amplifier asserts *SRDY .
If *SRDY is already asserted, this alarm occurs .
Remedy : Check the cables and connections between servo ampl ifier and axis control pcb . Replac e
Servo Interface (SIF) module on axis control pcb . Replace the servo amplifier .
SRVO-023 SVAL1 Stop error excess (G:%d A :%d )

Cause : The servo error is too big when the the robot is stopping, or if the robot is stopped, and it wil l
not move .
Remedy: Is the robot loaded beyond specification? The torque necessary to decelerate a overloade d
motor may cause this alarm to occur. Check the three phase input to the servo amplifier fo r
voltage within specification ; 170 253 VAC . Also, check for balanced voltage between al l
three phases . Check the cables and connections between servo amplifier and axis contro l
pcb . Replace the Servo Interface (SIF) module on axis control pcb . Replace the servo
amplifier.
SRVO-024 SVAL1 Move error excess (G:%d A :%d)

Cause : The servo error is too big when the the robot is moving, or if the robot moves and it i s
supposed to be stopped .
Remedy : Same as SRVO-023 Stop error excess .
SRVO-025 SVAL1 Motn dt overflow (G :%d A :%d)

Cause : The motion command exceeded specification .
Remedy : Internal motion error. Document enough information to duplicate the error and contac t
service .
SRVO-026 WARN Motor speed limit (G:%d A :%d)

Cause : Motor can not rotate as fast as the calculated speed required for the current motion .
Remedy : Even though this is just a warning, every attempt should be made to eliminate this error .
SRVO-027 WARN Robot not mastered(Group :%d)

Cause: System variable $master_done set FALSE .
Remedy : Master robot .
SRVO-028 CNCL Servo reset (Group :%d )

Cause: No longer occur .
Remedy : N/A
SRVO-029 CNCL Robot calibrated (Group :%d )

Cause : No longer occur .
Remedy : N/A
SRVO-030 SVAL1 Brake on hold (Group :%d )

Cause : This alarm occurs when HOLD is pressed with brake on hold option turned on .
SRVO-031 SVAL1 User servo alarm (Group :%d )

Cause : User servo alarm occurred .
SRVO-032 CNCL Force follow-up end (Grp :%d )

Cause : No longer occur .
Remedy : N/A
SRVO Error Codes
MARMMOSHW02301E
B- 1 1 9
SRVO-033 WARN Robot not calibrated(Grp :%d )

Cause : System variable $calibrate set FALSE .
Remedy : Calibrate the robot .
SRVO-034 WARN Ref pos not set (Group :%d )

Cause : Reference position has not been set when quick mastering .
Remedy : Quick mastering may not be possible . Fixture or zero master .
SRVO-035 WARN Joint speed limit (G:%d A :%d )

Cause : Joint can not rotate as fast as the calculated speed required for the current motion .
Remedy : Even though this is just a warning, every attempt should be made to eliminate this error .
SRVO-036 SVAL1 Inpos time over (G :%d A :%d )

Cause : Robot is not in position for the specified period of time .
Remedy : Same as SRVO-023 Stop error excess .
SRVO-037 SVAL1 IMSTP input (Group :%d )

Cause : IMSTP (immediate stop) UOP input asserted .
Remedy : If using UOP, determine the cause and repair . If not using UOP, select the I/O menus an d
zero UOP mapping .
SRVO-038 ER_SVAL2 Pulse mismatch (G :%d A :%d )

Cause: Pulse counts at power down and at power up mismatch .
Remedy : Pulse counts at power down and at power up mismatc h
SRVO-041 SVAL2 MOFAL alarm (Grp :%d Ax :%d )

Cause: The motion command after the ramping algorithm in servo software exceeded one word .
Remedy : Internal motion error . Document enough information to duplicate the error and contact
service .
SRVO-042 SVAL2 MCAL alarm ( Group : %d Axis :%d )

Cause: The servo amplifier magnetic contactor (MCC) is welded closed .
Remedy: If this alarm occurs with a SRVO-049 OHAL1, turn off the controller power for fiftee n
seconds and turn on again . Check the cable between the servo amplifier and axis contro l
pcb . Replace the servo amplifier.
SRVO-043 SVAL2 DCAL alarm ( Group : %d Axis :%d )

Cause : The regenerative energy produced by the motor, exceeded specification .
Remedy: If a 4 is indicated on the servo amplifier LED, a DCSW condition exists . DCSW alarm occurs
when the regenerative transistor is on for one second or longer . To repair a DCSW, replac e
the servo amp . If problem persists, the load of the robot may exceed the specification . If a 5
is indicated on the servo amplifier LED, a DCOH condition exists . DCOH alarm occurs whe n
the regenerative resistor overheats and is sensed by the thermostat . The averag e
regenerative energy is excessive, relax the operating conditions . If using a separat e
regenerative discharge unit, check the wiring or replace .
SRVO Error Code s B . ERROR CODES AND RECOVERY
SRVO-044 SVAL2 HVAL alarm Group :%d Axis :%d )

Cause : The DC voltage on the main power circuit of the servo amplifier exceeded specification .
Remedy : Check the three phase voltage to the servo amplifier input . It should not exceed 253 VAC
phase-to-phase . If the load on the robot exceeds the specification, this alarm could occur . If
using a separate regenerative discharge unit, check the wiring or replace . Replace the servo
amplifier. For auxiliary axes, the operating condition (duty cycle) may not be appropriate fo r
the specification of the motor or amplifier . If the duty cycle can not be reduced, select a larger
motor or amplifier.
SRVO-045 SVAL2 HCAL alarm ( Group : %d Axis :%d)

Cause : The current in the main power circuit of the servo amplifier exceeded specification .
Remedy : Disconnect the motor power wires from the servo amplifier and turn on power . If an HCA L
occurs, replace the transistor module or servo amplifier . Measure the resistance betwee n
GND and U, V. W individually on the cable terminals . If shorted, determine if the cable o r
motor is bad . Check the resistance between U-V, V-W, and W-U using a measurin g
instrument sensitive enough to detect small resistances at the cable terminations . If th e
resistances are not the same replace the servo amplifier . If the resistances are different
,
determine if the cable or motor is bad . If the problem persists, replace the SIF module on th e
axis control for the defective axis .
SRVO-046 SVAL2 OVC alarm (Group : %d Axis :%d)

Cause : The average current calculated by the servo software exceeded specification .
Remedy : Make sure the robot is not loaded beyond specification . Check input power to the serv o
amplifier. It should be greater than 170 VAC phase-to-phase . Replace SIF module on th e
axis control pcb.
SRVO-047 SVAL2 LVAL alarm ( Group : %d Axis :%d )

Cause : The DC voltage on the main power circuit of the servo amplifier is lower than the specificatio n
even though MCC is on .
Remedy : If a 2 is indicated on the servo amplifier LED, the 5 VDC is 4 .6 volts . volts or less . Chec k
input power to the servo amplifier. It should be greater than 170 VAC phase-to-phase .
Replace the servo amplifier if the input power is correct . If a 3 is indicated on the servo
amplifier LED, the main power is too low . Check input power to the servo amplifier . It should
be greater than 170 VAC phase-to-phase . Replace the servo amplifier if the input power i s
correct . Check to make the circuit breaker is not off . If a 7 is indicated on the servo amplifie r
LED, MCC is welded closed .
SRVO-048 SVAL2 MOH alarm (Group :%d Axis :%d )

Cause : Never occurs on R-Model J .
Remedy : None applicable .
SRVO-049 SVAL2 OHAL1 alarm (Grp : %d Ax :%d )

Cause : The servo amplifier overheated .
Remedy : If the robot is overloaded or the duty cycle exceeds specification, this alarm occurs . Chec k
regenerative discharge transistor Q1 . Check the thermostat on the servo amplifier after th e
servo amplifier has cooled . It should not be open . If the problem persists, replace the servo
amplifier.
SRVO Error Codes
SRVO-050 SVAL1 CLALM alarm (Grp :%d Ax :%d )

Cause: The servo software detected a disturbance torque that was too high, and tripped a collisio n
detection alarm .
Remedy : Reset the robot by using the teach pendant reset and JOG the robot away from an y
obstruction . If no collision, the load on the robot may exceed the specification . Check inpu t
power to the servo ampl ifier. It should be greater than 170 VAC phase-to-phase . Also chec k
the voltage between U-V, V-W, and U-W. Each should measure the same (-210VAC) .
SRVO-051 SVAL2 CUER alarm (Group:%d Axis :%d )

Cause : The feedback current is abnormal .
Remedy : Replace the SIF module on the axis control pcb . Replace the servo amplifier .
SRVO-061 SVAL2 CKAL alarm (Group :%d Axis :%d )

Cause : The clock for the rotation counter in the pulse coder is abnormal .
Remedy : If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-07 0
STBERR, disregard.this alarm and refer to the other three alarm remedies . Replace th e
pulse coder or motor . and master the robot
SRVO-062 SVAL2 BZAL alarm (Group:%d Axis :%d )

Cause: The battery voltage for the pulse coder is zero volts .
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-07 0
STBERR, disregard this alarm and refer to the other three alarm remedies . If SRVO-04 7
LVAL occurs before this alarm, batteries are drained to zero . Replace the pulse code r
batteries and master the robot . If no SRVO-047 LVAL occurs before, check the batter y
cables to the motors .
SRVO-063 SVAL2 RCAL alarm (Group :%d. Axis :%d )

Cause : The built-in rotation counter on the pulse coder is abnormal .
STBERR, disregard this alarm and refer to the other three alarm remedies . Replace th e
pulse coder or motor and master the robot .
SRVO-064 SVAL2 PHAL alarm (Group :%d Axis :%d )

Cause : The relationship between the analog signals on the pulse coder are abnormal .
STBERR, disregard this alarm and refer to the other three alarm remedies . Replace the
SRVO-065 WARN BLAL alarm (Group:%d Axis :%d )

Cause : The pulse coder batteries are low .
STBERR, disregard this alarm and refer to the other three alarm remedies . Replace th e
pulse coder batteries while controller power is turned on .
SRVO-066 SVAL2 CSAL alarm (Group:%d Axis :%d )

Cause : The pulse coder ROM checksum data are abnormal .
STBERR ; disregard this alarm and refer to the other three alarm remedies . Replace th e
SRVO-067 SVAL2 OHAL2 alarm (Grp :%d Ax :%d )

Cause : The pulse coder overheated .
Remedy: If this alarm occurs along with a SRVO-068 DTERR, SRVO-069 CRCERR, or SRVO-07 0
STBERR, disregard this alarm and refer to the other three alarm remedies . If the load on the
robot or duty cycle exceeds the specification, this alarm will occur . Allow the motor to cool . If
the alarm stills occurs, replace the pulse coder or motor .
SRVO-068 SVAL2 DTERR alarm (Grp :%d Ax :%d )

Cause : The axis control pcb sent the request signal, but did not receive serial data from the puls e
coder.
Remedy: Check pulse coder cables . Replace the SIF module on the axis control pcb . Replace th e
DSM module on the axis control pcb . Replace the pulse coder. If a serial pulse coder i s
plugged into a line tracking port, this alarm will occur. Check axis control pcb hardware
configuration .
SRVO-069 SVAL2 CRCERR alarm (Grp :%d Ax :%d)

Cause : ° The serial data from the pulse coder changed during communication to the axis control pcb .
Remedy : Check pulse coder cables . Make sure the cable shields are grounded . Replace the SI F
module on the axis control pcb . Replace the DSM module on the axis control pcb . Replace
the axis control pcb. Replace the pulse coder .
SRVO-070 SVAL2 STBERR alarm (Grp :%d Ax :%d )

Cause : The communication stop and start bits are abnormal .
Remedy : Check pulse coder cables . Replace the SIF module on the axis control pcb . Replace th e
DSM module on the axis control pcb . Replace the pulse coder .
SRVO-071 SVAL2 SPHAL alarm (Grp :%d Ax :%d )

Cause : The feedback velocity exceeds specification .
Remedy: If this alarm occurs with another pulse coder alarm, refer to the remedy of the other alar m
first; If no other _alarms, -the robot load may, exceed the specification . If the load is withi n
specification, replace the serial pulse coder or motor .
SRVO-081 WARN EROFL alarm (Track enc :%d )

Cause : Line tracking overflow error.
Remedy: None applicable .
SRVO-082 WARN DAL alarm(Track encoder :%d )

Cause : Line tracking pulse coder disconnected .
Remedy: Check for correct axis control pcb for line tracking and proper connections . Check lin e
tracking pulse coder cables . Replace the SIF module on the axis control pcb . Replace the
DSM module on the axis control pcb . Replace the pulse coder .
SRVO-083 WARN CKAL alarm (Track enc :%d )

Cause : The clock for the rotation counter in the line tracking pulse coder is abnormal .
Remedy : Refer to SRVO-061 remedy.
SRVO Error Codes
SRVO-084 WARN BZAL alarm (Track enc :%d )

Cause : The battery voltage for the line tracking pulse coder is zero volts .
Remedy : Refer to SRVO-062 remedy .
SRVO-085 WARN RCAL alarm (Track enc :%d)

Cause : The built-in rotation counter on the line tracking pulse coder is abnormal .
SRVO-086 WARN PHAL alarm (Track enc :%d )

Cause : The relationship between the analog signals on the line tracking pulse coder are abnormal .
SRVO-087 WARN BLAL alarm (Track enc :%d )

Cause : The line tracking pulse coder batteries are low.
SRVO-088 WARN CSAL alarm (Track enc :%d )

Cause : The line tracking pulse coder ROM checksum data are abnormal .
SRVO-089 WARN OHAL2 alarm (Track enc :%d )

Cause : The line tracking pulse coder overheated .
SRVO-090 WARN DTERR alarm (Track enc :%d )

Cause : The axis control pcb sent the request signal ; but did not receive serial data from the line _
tracking pulse coder .
Remedy : . Refer to SRVO-068 remedy .
SRVO-091 WARN CRCERR alarm (Track enc :%d )

Cause : The serial data from the line tracking pulse coder changed during communication to the axi s
control pcb .
SRVO-092 WARN STBERR alarm (Track enc :%d )

Cause : The communication stop and start bits for line tracking axis are abnormal .
SRVO-093 WARN SPHAL alarm (Track enc :%d)

Cause: The feedback velocity exceeds specification for line tracking axis .
SYST Error Codes B . ERROR CODES AND RECOVERY
SYST Error Codes
SYST-000 WARN
Cause : N/A
Remedy : N/A
SYST-001 PAUSE HOLD button is being pressed

Cause : An operation is attempted with the hold button (input) pressed .
Remedy : Clear the hold button (input), and try the same operation .
SYST-002 PAUSE HOLD is locked by program

Cause : The condition that the robot is being held is locked by the program, and it could not b e
cleared .
Remedy : If a HOLD statement is executed in a Karel program, the held condition can only be cleare d
by the same program using the UNHOLD statement/action, or by aborting the program . If a
Motion is attempted in such condition, this error message is displayed . Wait until th e
UNHOLD statement is executed by the karel program, or abort the karel program .
SYST-003 WARN TP is enabled

Cause: TP is enabled, and the attempted operation cannot be done .
Remedy : Disable the teach pendant, and try the same operation again .
SYST-004 WARN SOP is enable d

Cause : The System operator panel is enabled, and the attempted operation could not be done .
Remedy : Turn the REMOTE switch on the SOP to REMOTE side, and by the same operation again .
SYST-005 WARN UOP is the master devic e

Cause : UOP is enabled, and the attempted operation could not be done .
Remedy : Turn the REMOTE switch to local side (if the operation is attempted from the SOP), or set
the $RMT_MASTER system variable correctly .
SYST-006 WARN KCL is the master devic e

Cause : KCL is the master device, and the attempted operation could not be done .
SYST-007 WARN NETWORK is the master devic e

Cause : The NETWORK command processor is the master device, and the attempted operatio n
could not be done.
SYST-008 WARN Nothing is the master devic e

Cause : The setting of $RMT_MASTER is to disable all devices . No remote device can issue motion .
:Remedy : Turn the REMOTE switch to local side (if the operation is attempted from the SOP), or se t
SYST Error Codes
MARMMOSHW02301E
B-12 5
SYST-009 WARN Safety Fence open

Cause : Safety fence is open, and the attempted operation could not be done .
Remedy : Close the safety fence, and try the same operation again .
SYST-010 WARN Max num task reache d

Cause: The number of task has reached the maximum .
Remedy : Abort one of the running task .
SYST-011 WARN Failed to run tas k

Cause: The system has failed to run the program .
Remedy: Please see the HELP display for this error to find out the reason why this error has occured .
SYST-012 WARN Not in remot e

Cause : : Remote condition is not satisfied .
Remedy: Please turn the remote switch on .
SYST-013 WARN Invalid program numbe r

Cause : The specified PNS number is not in the range of 1 to 9999 .
Remedy: Specify correct program number.
SYST-014 WARN Program select faile d

Cause : PNS operation has failed by some reason .
Remedy : Please refer to the HELP message for the reason of this error .
SYST-015 WARN Robot Service Request failed

Cause : RSR operation has failed by some reason .
Remedy : Please refer to the HELP . message for the reason of this error .
SYST-016 WARN ENBL signal is off

Cause : ENBL signal in UOP is of
f
Remedy : Set ENBL signal O N
SYST-017 WARN Single step operation effective

Cause : Single step operation is effectiv e
Remedy : Disable single step switc h
SYST-018 WARN Continuing from different lin e

Cause : Attempt to continue program from different line from paused lin e
Remedy : Respond YES or NO in the prompt box on at the teach pendant
SYST-019 WARN Program not selecte d

Cause : Program has not been selecte d
Remedy : Select a program from the program select menu on the teach pendant, or using PNS
SYST Error Codes B . ERROR CODES AND RECOVER Y
SYST-020 WARN Program not verified by PN S

Cause : Program specified by PNS is different from current selected program .
Remedy : Select a correct program from the program select menu on the teach pendant .
SYST-021 WARN System not ready, press rese t

Cause : An error has been detected by the system .
Remedy : Press RESET to clear error condition .
SYST-022 WARN PNS not zero, cannot continu e

Cause: Paused program cannot be continued if PNS input ports are not zero .
Remedy : Set all PNS input ports to OFF .
SYST-023 GSYS Teach Pendant communication erro r

Cause: For a communication cable is broken, TP communication error occured .
Remedy: Please check or change a cable of Teach Pendant .
SYST-024 WARN PNSTROBE is OFF . Cannot start exe c

Cause : Because PNSTROBE is off, prod_start could not be processed .
Remedy: Set PNSTROBE input to ON .
SYST-025 WARN Teach Pendant is different typ e

Cause : It is different type for Teach Pendant when disconnected .
Remedy: Please connect a same type when disconnected .
SYST-026 WARN System normal power u p

Cause : System has executed normal power startup .
Remedy: This is a notification message .
TCPP Error Code s
MARMMOSHW02301E
B-127
TCPP Error Code s
TCPP-001 WARN TC error no global variable s

Cause: TCP Speed Prediction global variables are not loaded .
Remedy : Perform a controlled start and initialize motion softparts .
TCPP-002 WARN TC error no mmr pointe r

Remedy : Perform a cold start to reset the error. If the error still occurs, record the events that led up t o
the error and call your FANUC Robotics technical representative .
TCPP-003 WARN TC error no mir pointe r

TCPP-004 WARN TC error no sysvar pointe r

Remedy: Perform a cold start to reset the error. If the error still occurs, record the events that led up t o
TCPP-005 WARN TC error no tcppir pointe r

Remedy: Perform a cold start to reset the error. If the error still occurs, record the events that led up t o
TCPP-006 WARN TC error allocating memor y

Cause: A failure occured while allocating memory .
Remedy : Check amount of memory being used by system .
TCPP-007 WARN TC error making TCPP mailbo x

TCPP-008 WARN TC error making TCPP spmkts k

TCPP-009 WARN TC error reading PLAN mailbo x

Remedy : Perform a cold start to reset the error . If the error still occurs, record the events that led up t o
TCPP Error Codes B . ERROR CODES AND RECOVERY
TCPP-010 WARN TC error writing PLAN mailbo x

TCPP-011 SWARN TC pred time more than motio n

Cause : The first motion segment time (time between first two taught points) is shorter than th e
$tcdelay time.
Remedy : Extend time of first motion segment (increase distance or decrease speed) to allow TC P
Speed Prediction to begin during the first motion segment .
TKSP Error Codes
TKSP Error Codes
TKSP-001 ERROR Integer number out of valid range . Illegal integer : % s
TKSP-002 ERROR Real number out of valid range . Illegal real : %s
TKSP-003 ERROR Current string is too long . String : %s
TKSP-004 ERROR Quoted string not terminated before end of line .

String : %s
TKSP-005 ERROR Character not valid without Id following . Character :

%s
TKSP-006 ERROR Invalid constant value : %s
TKSP-007 ERROR New line must follow "&" (cancel new line) character .
Character found : %s
TKSP-008 ERROR %% unexpected or directive not valid . Directive : %s
TKSP-009 ERROR Character found is unexpected . Character : % s
TKSP-010 ERROR Id exceeds %d characters . Id : %s
TKSP-011 ERROR Not enough memory to allocate %d number of byte s
TKSP-012 ERROR Syntax error encountered .
TKSP-013 ERROR Too many syntax errors encountered .
TKSP-014 ERROR Internal error . Parser stack underflow .
TKSP-015 ERROR File access failed - file not opened . File : %s
TKSP-016 ERROR Too many levels of nested %INCLUDE's . Current File : %s

TPIF Error Code s B . ERROR CODES AND RECOVERY
TPIF Error Codes
TPIF-001 WARN Mnemonic editor error (%s^1 )

Cause : Illegal case occured on software .
TPIF-002 WARN Operating system error (%s^1 )

TPIF-003 ^)
WARN Window I/O error (%s 1
TPIF-004 WARN Memory write erro r

TPIF-005 WARN Program is not selecte d

Cause : The program was not selected yet, when the program was displayed at the TEACH screen .
Remedy : Select a program in the SELECT screen .
TPIF-006 WARN SELECT is not taugh t

Cause : This taught statement needed the SELECT statement before the current line .
Remedy :- Teach the SELECT statement before the current line .
TPIF-007 WARN Robot is not calibrate d

Cause : The calibration was not finished ye t
Remedy : Finish the calibration .
TPIF-008 WARN Memory protect violatio n

Cause : Program's write protection is set on .
Remedy : Release protection on select screen .
TPIF-009 WARN Cancel delete by application

Cause : Program is protecte d
Remedy : Try delete after release protection by applicatio n
TPIF-010 WARN Cancel enter by applicatio n

Cause : Program is protected
Remedy : Try edit after release protection by application
TPIF Error Code s
TPIF-011 WARN Item is not found

Cause : Item is not found below this line
Remedy : Try another item or close search functio n
TPIF-012 WARN Kinematics solution is invali d

Cause : Can not translate position dat a
Remedy : Please check the configuration of robot and $MNUTOOL/$MNUFRAM of system variable s
TPIF-013 WARN Other program is running

Cause : Can not select the program when other is running or pausing .
Remedy : Please select program after abort the program which is running or pausing .
TPIF-014 WARN Teach pendant is disable d

Cause : Can not be editing program when Teach pendant is disabled .
Remedy : . Please edit program after Teach pendant is enabled .
TPIF-015 WARN Bad position register inde x

Cause : Specified the index of position register which is not existent .
Remedy : Please check the index of position register .
TPIF-016 WARN Memory access failed (%s ^ 1 )

Remedy : Cold start the controller . If the error still occurs, record the events that led up to the error an d
contact you FANUC Robotics technical representative .
TPIF-017 WARN Memory read failed

Remedy : Cold start the controller. If the error still occurs, record the events that led up to the error an d
contact you. FANUC Robotics technical representative .
TPIF-018 WARN Unspecified index value

Cause : Specified index value is invalid .
Remedy : Please check specified index value .
TPIF-019 WARN This item cannot be replaced

Cause : This item can not be replaced .
Remedy : Try another item or close replace function .
TPIF-020 NONE Mnaction search erro r

TPIF-021 NONE Mnteach software erro r

TPIF Error Codes B. ERROR CODES AND RECOVERY
TPIF-030 WARN Program name is NUL L

Cause : Program name is not input .
Remedy : Please input program name .
TPIF-031 WARN Remove num from top of Program name

Cause: Top of program name is number .
Remedy : Please remove number from top of program name .
TPIF-032 WARN Remove space from Program nam e

Cause : Space is included program name .
Remedy : Please remove space from program name .
TPIF-033 WARN Remove comma from Program nam e

Cause : Comma is included program name .
Remedy : Please remove comma from program name .
TPIF-034 WARN Remove dot from Program nam e

Cause : Dot is included program name .
Remedy : Please remove dot from program name .
TPIF-035 WARN Remove minus from Program nam e

Cause : Minus is included program name .
Remedy : Please remove minus from program name .
TPIF-036 WARN Memory is not enough

Cause : Memory is not enough .
Remedy: Please delete useless program .
TPIF-040 WARN Label is already exis t

Cause : Same label No . is already exist .
Remedy : Change to different label No .
TPIF-041 WARN MNUTOOLNUM number is invali d

Cause : Specified MNUTOOLNUM number is invalid .
Remedy : Please check MNUTOOLNUM number of system variables .
TPIF-042 WARN MNUFRAMENUM number is invali d

Cause : Specified MNUFRAMNUM number is invalid .
Remedy : Please check MNUFRAMNUM number of system variables .
TPIF-043 WARN External change is vali d

Cause : Can not change robot (group), because the function that select robot by external DI is valid .
Remedy : Please set $MULTI_ROBO .CHANGE_SDI of system variables to ZERO .
TPIF Error Codes
TPIF-044 WARN Program is unsuitable for robo t

Cause: The group mask of program differ from selected robot (group) .
Remedy : Please check to select robot (group) or check group mask of program attribute .
TPIF-045 WARN Pallet number is over max

Cause : Palletizing instruction can not teach more than 16 in one program .
Remedy : Please teach another program .
TPIF-046 WARN Motion option is over ma x

Cause: N/A
Remedy : N/A
TPIF-047 WARN Invalid program is selected

Cause : Program type is wrong .
Remedy : Please select TPE program .
TPIF-048 WARN Running program is not found

Cause : Running program does not exist .
Remedy: N/A
TPIF-049 WARN Port number is invali d

Cause : Port is not set for outside device .
Remedy : Please set port for outside device .
TPIF-050 WARN Macro does not exis t

Cause : A program is not assigned to this macro command .
Remedy: -Please assign. a program to this macro command .
TPIF-051 WARN Program has been selected by PNS

Cause : When a program has been selected by PNS, you can not select program at SELECT screen .
Remedy : You have to turn off the signal of PNSTROBE .
TPIF-100 WARN No vacant table space

Cause : N/A
Remedy : N/A
TPIF-101 WARN No such menu

Cause : N/A
Remedy : N/A
TPIF-102 WARN E .STOP is asserte d

Cause : N/A
Remedy : N/A
TPIF Error Code s B . ERROR CODES AND RECOVERY
TPIF-103 WARN Dead man is released

Cause : N/A
Remedy : N/A
TPIF-104 WARN Teach Pendant is disable d

Cause : N/A
Remedy : N/A
TPIF-105 WARN Program is not selecte d

Cause: N/A
Remedy : N/A
TPIF-106 WARN Program is already runnin g

Cause : N/A
Remedy : NIA
TPIF-107 WARN FWD/BWD is disable d

Cause: N/A
Remedy: N/A
TPIF-108 WARN Form error , line %d, item % d

Cause : N/A
Remedy : N/A
TPIF-109 WARN %v not specified correctl y

Cause : N/A
Remedy : N/A
MARMMOSHW02301 E
TRAK Error Codes
TRAK-000 WARN unknown error (TO00 )

Cause : System internal error .
Remedy : Cycle start controller.
TRAK-001 STOP Track jnt move not allowed

Cause : Illegal joint move error.
Remedy : Change to linear move .
TRAK-002 STOP Track error allocating dat a

Remedy : Increase RAM size .
TRAK-003 STOP Track global variable failure

Cause : System internal error.
Remedy : Increase RAM size .
TRAK-004 STOP Track illegal schedule numbe r

Cause : Schedule out of range error.
Remedy : Use legal schedule .
TRAK-005 STOP Track destination gon e

Cause : Destination out of window error .
Remedy : Move conveyor back .
TRAK-006 WARN destination gone

Cause : Destination out of window error .
Remedy : Reteach destination .
TRAK-007 WARN Unsupported function cod e

Remedy : No action required .
TRAN Error Codes B . ERROR CODES AND RECOVER Y
TRAN Error Codes
TRAN-000 NONE Successful Translation .
TRAN-001 ERROR Undefined parse syntax error .
TRAN-002 ERROR "ROUTINE" expected .
TRAN-003 ERROR Quoted string expected .
TRAN-004 ERROR Number, Id, or quoted string expected .
TRAN-005 ERROR Number or Id expected .
TRAN-006 ERROR Type or Id expected .
TRAN-007 ERROR Parameter type expected.
TRAN-008 ERROR Integer, Id, or "*" expected .
TRAN-009 ERROR "*" expected .
TRAN-010 ERROR Integer or Id expected .
TRAN-011 ERROR Id expected .
TRAN-012 ERROR Invalid statement . " ;" or new line expected .
TRAN-013 ERROR Invalid statement or "ENDxxx" or "UNTIL" expected .
TRAN-014 ERROR "FILE" or "HAND" expected .
TRAN-015 ERROR WHEN clause expected in a condition handler definition .
TRAN-016 ERROR Invalid or missing condition within a condition handle r

expression .
TRAN-017 ERROR "EVENT" or "SEMAPHORE" expected .
TRAN-018 ERROR Local condition handler expected in a MOVE statement .
TRAN-019 ERROR "CASE" expected within a SELECT statement .
TRAN-020 ERROR TO, ALONG, NEAR, AXIS, AWAY, RELATIVE, or ABOU T

expected .
TRAN-021 ERROR Id or quoted string expected .

TRAN Error Codes
MARMMOSHW02301E
B-13 7
TRAN-022 ERROR Invalid read item .
TRAN-023 ERROR Variable expected .
TRAN-024 ERROR Id or system Id expected .

TRAN-025 ERROR Invalid or missing expression .
TRAN-026 ERROR "AFTER" or "BEFORE" expected in a local condition

handler .
TRAN-027 ERROR "DOWNTO" or "TO" expected in the FOR statement .

TRAN-028 ERROR System Id expected .
TRAN-029 ERROR Number expected
.
TRAN-030 ERROR "PROGRAM" expected .
TRAN-031 ERROR "=" expected .
TRAN-032 ERROR " ." expected .
TRAN-033 ERROR " :" expected .

TRAN-034 ERROR expected .
TRAN-035 ERROR or "OF" expected .
TRAN-037 ERROR ,,, , or ] expected .
TRAN-038 ERROR or ")" expected .

TRAN-041 ERROR "," or " :" expected .
TRAN-042 ERROR " ;" or new line expected .
TRAN-043 ERROR ", new line, or ")" expected .
TRAN-044 ERROR "BEGIN" expected .
TRAN-045 ERROR "BY" expected .
TRAN Error Codes B . ERROR CODES AND RECOVER Y
B- 1 3 8 MARMMOSHW02301 E
TRAN-046 ERROR "CONDITION" expected .
TRAN-047 ERROR "DO" expected .
TRAN-048 ERROR "ENDSTRUCTURE" expected .

TRAN-049 ERROR "EVENT" expected .
TRAN-050 ERROR "FOR" expected .
TRAN-051 ERROR "GROUP" expected .
TRAN-052 ERROR "HAND" expected .
TRAN-053 ERROR "NODE" expected .
TRAN-054 ERROR "OF" expected .
TRAN-055 ERROR "THEN" expected .
TRAN-056 ERROR "TIMER" expected .
TRAN-057 ERROR' "TO" . expected .
TRAN-058 ERROR "," expected .
TRAN-059 ERROR "ERROR", "COMMAND", or "TPENABLE" expected .
TRAN-064 ERROR Id is already defined in the current PROGRAM/ROUTINE .

Id : %s
TRAN-065 ERROR Id must be defined before this use . Id : %s
TRAN-066 ERROR Label used in GO TO statement is never defined . Label :

%s
TRAN-067 ERROR Parameters for routine not needed since alread y

defined . Routine : %s
TRAN-068 ERROR Number of nested routines or structures exceede d

maximum .
TRAN-069 ERROR Symbol definition table size exceeded . Reduce number

of Id names .
TRAN-070 . ERROR Id name on PROGRAM END statement does not match PROGRA M
name . Id : %s
IRAN Error Codes
MARMMOSHW02301E
B-139
TRAN-071 ERROR Code size exceeded maximum . Break program into

separately translated units .
TRAN-072 ERROR P-code file device full .
TRAN-073 ERROR Id is undefined, it must be defined before use in a

CONST section . Id : %s
TRAN-074 ERROR Invalid class for Id, CONSTant expected . Id : %s

TRAN-075 ERROR Id is undefined, it must be defined before use in a
TYPE section . Id : %s
TRAN-076 ERROR Invalid class for Id, TYPE expected . Id : % s

TRAN-077 ERROR . Number of array dimensions exceeded maximum .
TRAN-078 ERROR Id name on ROUTINE END statement does not match ROUTIN E
name . Id : %s
TRAN-079 ERROR Program name may not be the same as any predefined Id .
Id : %s
TRAN-080 ERROR Array dimensions must be specified for this Id . Id : %s

TRAN-081 ERROR Group number is not in valid range .
TRAN-082 ERROR PATH data type is not allowed .
TRAN-083 ERROR PATH ; FILE, and vision data types are not allowed .
TRAN-084 ERROR File cannot be opened or created . File : %s

TRAN-085 ERROR Number of groups exceeded maximum .
TRAN-086 ERROR Data type of Id must be FILE . Id : %s

TRAN-087 ERROR Operator not defined on VECTORS .
TRAN-088 ERROR No valid operation for this data type combination .

TRAN-089 ERROR BOOLEAN data type expected .
TRAN-090 ERROR Statement ROUTINES don't have return values . Statemen t

Routine : %s
TRAN-091 ERROR ROUTINE called has less arguments than ROUTIN E

definition . Routine : %s
TRAN Error Code s B . ERROR CODES AND RECOVERY
B- 1 40 MARMMOSHW02301E
TRAN-092 ERROR Routine calls invalid within CONDITION and MOV E

statements .
TRAN-093 ERROR Invalid class for Id, VARiable expected . Id : %s
TRAN-094 ERROR PATH assignments are invalid .
TRAN-095 ERROR Operator expected POSITION data type for left operand .
TRAN-096 ERROR INTEGER data type expected .

TRAN-097 ERROR Id is not user accessible or not a valid system Id .
Id : %s
TRAN-098 ERROR Id type is not an ARRAY or indexing exceeded number o f

dimensions . Id :%s
TRAN-099 ERROR Id type is not a STRUCTURE . Id : %s
TRAN-100 ERROR Id type is not a field in a STRUCTURE . Id : %s

TRAN-101 ERROR Indexing invalid of Id . Id : % s
TRAN-102 ERROR Id type is not a ROUTINE . Id : %s
TRAN-103 ERROR ROUTINE has a return value, statement routine expected .

Routine : % s
TRAN-104 ERROR ROUTINE called has more arguments than ROUTIN E

definition .
TRAN-105 ERROR Must enclose this "write protected" Id in parenthesis .

Id : %s
TRAN-106 ERROR Invalid class for Id ; VARiable, ROUTINE, PORT o r

CONSTant expected . Id : %s
TRAN-107 ERROR ROUTINE argument data type does not match the paramete r
definition .
TRAN-108 ERROR STRING data type expected .
TRAN-109 ERROR Data type of Id cannot be loaded by value . Id : %s
TRAN-110 ERROR Data type of Id cannot be loaded by value .
TRAN-111 ERROR Types may only be declared at the PROGRAM level .

TRAN Error Codes
MARMMOSHW02301E
B- 1 4 1
TRAN-112 ERROR FROM is only valid at the PROGRAM level .
TRAN-113 ERROR REAL data type expected .
TRAN-114 ERROR VECTOR data type expected .
TRAN-115 ERROR POSITION data type expected .
TRAN-116 ERROR This system Id is not valid in the MOVE statement WIT H
clause . Id : % s
TRAN-117 ERROR Only one group may be specified in this type of move
statement .
TRAN-118 ERROR PATH data type expected .
TRAN-119 ERROR "WITH" group mask does not match "MOVE" group mask .
TRAN-120 ERROR Invalid Id, static VAR of type INTEGER expected . Id :

%s
TRAN-121 ERROR Label name was previously used in other context . Id :

%s
TRAN-122 ERROR Invalid class for Id, PORT expected . Id : %s
TRAN-123 ERROR Id is invalid for PULSE, only valid Id . is DOUT . Id : %s
TRAN-124 ERROR This . system Id is not valid in the CONDITION statemen t

WITH clause . Id : %s
TRAN-125 ERROR Both operands in condition handler relations must hav e

identical types .
TRAN-126 ERROR Port arrays must be indexed . Port : %s
TRAN-127 ERROR BOOLEAN, INTEGER, or REAL scalar static VAR expected .

Id : %s
TRAN-128 ERROR In cond expressions, either a "NOT" or a "transition "

are legal, not both .
TRAN-129 ERROR "NOT" is invalid before the Id in a relation condition .

Id : % s
TRAN-130 ERROR "AND" and "OR" cannot both be specified in a condition .

TRAN Error Codes B. ERROR CODES AND RECOVERY
TRAN-131 ERROR RETURN value expected in this ROUTINE . Routine : %s
TRAN-132 ERROR FOR statement loop index Id must be an INTEGER . Id : %s

TRAN-133 ERROR RETURN statement cannot have a return value in the mai n
program .
TRAN-134 ERROR Expression ROUTINE return type does not match valu e
being returned .
TRAN-135 ERROR Expected Id to be an INTEGER CONSTant . Id : %s
TRAN-136 ERROR Cannot READ into port values of any type . Port : %s
TRAN-137 ERROR Cannot load environment file, program already exists .
Name : %s
TRAN-138 ERROR Not enough memory to allocate %d number of bytes .
TRAN-139 ERROR Data type of Id is not valid in this context . Id : %s

TRAN-140 ERROR RETURN statement invalid within USING . . .ENDUSING
statements .
TRAN-141 ERROR This system Id is "write protected" from KAREL use r

programs . Id : %s
TRAN-142 ERROR Data type of Id is incompatible with right hand side .

Id : %s
TRAN-143 ERROR Data cannot be stored into input ports . Port : %s
TRAN-144 ERROR Cannot convert VAX real number to IEEE format .

TRAN-145 ERROR READ/WRITE is invalid for this data type .
TRAN-146 ERROR Operation invalid for this data type .
TRAN-147 ERROR Operator not defined on INTEGERS .
TRAN-148 ERROR Operator not defined on REALS .
TRAN-149 ERROR Operator not defined on BOOLEANS .
TRAN-150 ERROR Operator not defined on STRINGS .
TRAN-151 ERROR Operator not defined on POSITIONS .

TRAN Error Code s
MARMMOSHW02301E
B-14 3
TRAN-152 ERROR PATH data type is not allowed ; create a user-define d

TYPE that is a PATH .
TRAN-154 ERROR BYNAME is invalid . Argument expected .
TRAN-155 ERROR Must enclose this variable in parenthesis to pass by

value . Id : %s
TRAN-156 ERROR Group number of Id does not match group specified . Id :

%s
TRAN-157 ERROR Invalid port type for this operation . Port : %s

TRAN-158 ERROR Label is already defined in the PROGRAM . Label : %s
TRAN-159 ERROR More than one group in move statement expected .
TRAN-160 ERROR POSITION or VECTOR data type expected .

TRAN-161 ERROR Scalar or indexed array expected, this Id must b e
indexed . Id : %s
TRAN-162 ERROR Cannot load environment file, version mismatch .

Version : %d
TRAN-163 ERROR PATH, FILE, and vision data types may only be specifie d
at the PROGRAM level .
TRAN-164 ERROR "NODE" group mask does not match "MOVE" group mask .
TRAN-165 ERROR Invalid class for Id, VARiable or CONSTant expected .
Id : %s
TRAN-166 ERROR Routine name was previously used in other context . Id :

%s
TRAN-167 ERROR String size is greater than 128 or less than 1 . Size :
%d
0
TRAN-168 ERROR Path does not have a position node . Id : %s

TRAN-169 ERROR Path does not have a header . Id : %s
TRAN-170 ERROR Cannot load environment file, version too new .
Version : %d
TRAN-171 ERROR Cannot load environment file, version too old .

Version : %d
TRAN Error Codes B . ERROR CODES AND RECOVERY
TRAN-172 ERROR Path does not have any node data defined .
TRAN-173 ERROR Translation cancelled .
TRAN-174 ERROR Unknown option '%c' .
TRAN-175 ERROR Usage : KTRANS infile [options] where infile - KARE L

file to be translated ( .KL) . The translator creates a p-code fil e
( .PC) . options - One or more of the following : /1 - Create list fil e
( .LS) /d - Display each line to the scree n
TRAN-176 ERROR Label used in GO TO statement is not reachable . Label :

%s
TRAN-179 WARN Argument will be passed by value . Id : %s
TRAN-180 ERROR Internal error . Parser stack underflow .
TRAN-181 ERROR Internal error . <id> cannot be extracted .
TRAN-182 ERROR Internal error . Handle = %d, offset = %d
TRAN-183 ERROR Internal error . Production not reduced . Handle = %d ,

offset = %d
TRAN-184 ERROR Internal error . Unimplemented p-code generated .
TRAN-185 ERROR Internal error . Invalid Id class to generate address .
TRAN-186 ERROR Internal error . Cannot find routine in symbol table .

Routine : %s
VARS Error Codes
VARS Error Codes
VARS-001 WARN Corrupt variable fil e

Cause: An error has occurred trying to read specifed file . This file is corrupt or the media is bad .
Remedy : Try a different file .
VARS-002 WARN Open Error on Fil e

Cause : The variable file does not exist on the device, director or media .
Remedy : Place correct media in drive or select the proper device/directory and try again .
VARS-003 WARN %s array length update d

Cause : A variable being loaded from a variable file exists in memory . The array length reflects what
was in the variable file .
Remedy : No action is required .
VARS-004 WARN %s memory not updated

Cause : A variable being loaded from a variable file exists in memory . The variable file data cannot b e
loaded .
Remedy : Clear the program and load the variables first before loading program .
VARS-005 WARN %s PC array length ignore d

Cause : A variable being loaded from a variable file exists in memory . The array length reflects what
was in the variable file .
Remedy: No action is required .
VARS-006 WARN Unknown Variable Nam e

Cause : Referenced variable does not exist .
Remedy Load PC file or VR file to create the variable .
VARS-007 WARN Unknown Type Cod e

Cause : Referenced type code does not exist .
Remedy : Load PC file or VR file to create the type .
VARS-008 WARN Type Name not foun d

Cause : Referenced type name does not exist .
Remedy : Load PC file or VR file to create the named type .
VARS-009 WARN SV Load at CTRL Start Onl y

Cause : A variable load has been requested while controller is capable of motion .
Remedy : Create an error condition such as E-stop and load of variables is allowed .
VARS-010 WARN Variable/field write-protecte d

Cause : The variable or field you are trying to access is write protected .
Remedy : This variable is not to be changed by customer for safety or other reasons If you are trying t o
change $SCR variables just change $PARAM_GROUP and cold start .
VARS Error Codes B. ERROR CODES AND RECOVERY
VARS-011 WARN No data defined for progra m

Cause : Referenced program name does not have variables .
Remedy : Load PC file or VR file to create the named program .
VARS-012 WARN Create var - %s faile d

Cause : Named variable could not be created .
Remedy : Look at the cause of the error (HELP in alarm menu) and use that remedy .
VARS-013 WARN Variable Already Exist s

Cause: Referenced variable already exist in memory .
Remedy: This is a warning no action is required .
VARS-014 WARN Create type - %s faile d

Cause : Named type could not be created .
Remedy : Look at the cause of the error (HELP in alarm menu) and use that remedy .
VARS-015 WARN Too many vars/nodes/program s

Cause : The limit of variables types, programs or nodes has been reached .
Remedy: You must delete some programs or reorganize programs to make more room .
VARS-016 WARN . Axis configuration mismatc h

Cause : The variables you are trying to load are were created on a controller with a different axi s
configuration .
Remedy : These variable cannot be used on this controller .
VARS-017 WARN Sysvar version mismatc h

Cause : The system variable file you are attempting to load is not compatible with the loaded softwar e
version .
Remedy : You must use the default system variable file supplied with your version of software .
VARS-018 WARN Compatible Type Already Exist s

Cause : Referenced type already exists in memory.
Remedy : This is a warning no action is required .
VARS-019 WARN Rename target exist s

Cause : You are attempting to rename a program to a program which already exists .
Remedy : Use a different program name or delete the program and and variables from existin g
program.
VARS-020 WARN [%s]%s not fnd

Cause : Referenced variable is not found in the system .
Remedy : Load PC file or VR file to create the variable .
VARS-021 WARN Memory allocation failure

Cause : There is no more permanent memory available in the system .
Remedy : You must delete unneeded programs, dictionaries or variables to make room .
VARS Error Codes
VARS-022 WARN Duplicate creation mismatc h

Cause: Variable that is being created already exists but is of a different type than what you are
attempting to load/create .
Remedy : Delete existing variable before creating it as a different type .
VARS-023 WARN Array len creation mismatc h

Cause : Variable that is being created already exists but has different dimensions than what you ar e
attempting to load/create.
Remedy : Delete existing variable before creating it with conflicting dimensions .
VARS-024 WARN Bad variable or register inde x

Cause : You are attempting to use an invalid index into an array or path .
Remedy : Use a valid index .
VARS-025 WARN Vision reference erro r

Cause : Do not have vision hardware on this system so cannot load vision variables .
Remedy : Load these variables on an appropriate system .
VARS-026 WARN File sequence erro r

Cause : The file which has been loaded is : A . Not a variable file B . A file on bad media C . A file not
compatible with your current software .
Remedy : Try a different file or convert the current file to an updated version .
VARS-027 WARN Variable used by other progra m

Cause : Variable is used by another program .
Remedy : Delete other program which references these variables .
VARS-028 WARN Value out of rang e

Cause : Value that you entered is not a valid value . It is either too big or too small .
Remedy : Please consult your manuals for valid values for the variable you are changing .
VARS-029 WARN Requires PROGRAM passwor d

Cause : The operation that you are attempting is password protected .
Remedy : You must go to the password setup screen and enter the PROGRAM password .
VARS-030 WARN Requires SETUP passwor d

Cause: The operation that you are attempting is password protected .
Remedy : You must go to the password setup screen and enter the SETUP password .
VARS-031 WARN Requires INSTALL password

Cause : The operation that you are attempting is password protected .
Remedy : You must go to the password setup screen and enter the INSTALL password .
VARS Error Codes B . ERROR CODES AND RECOVER Y
VARS-032 WARN Variable size too bi g

Cause : The variable you are loading is larger than 65,535 bytes or has an array element larger tha n
32,767 bytes.
Remedy : Make the array size smaller or use a path data type for large arrayed variables Maximu m
path length is 2,007 Maximum node size is 32,767 .
VARS-033 WARN Maximum path length exceeded

Cause : A path can only contain 2,007 nodes .
Remedy : You must break up the large path into smaller paths .
VARS-034 WARN Variable operation in progres s

Cause : A variable in the program you you were trying to access had another read write operation i n
progress . This could be because a KAREL program, Network or KCL was adding deleting or
doing a node operation when access was attempted .
Remedy : Attempt the operation again when no other variable accesses are in progress .
WNDW Error Codes
MARMMOSHW02301E
B-149
WNDW Error Codes
WNDW-001 WARN Invalid screen name forma t

Cause : Format of screen name in DEF_SCREEN, ACT_SCREEN, or ATT_WINDOW_S call i s
invalid .
Remedy : Screen names must be 1-4 alpha- characters Supply a valid screen name .
WNDW-002 WARN Invalid window name format

Cause: Format of window name in ATT_WINDOW_D, ATT_WINDOW_S, or DET_WINDOW call or
an OPEN statement is invalid .
Remedy: Window names must be 1-4 alpha- characters Supply a valid window name .
WNDW-003 WARN Invalid keybd . name forma t

Cause : Invalid display device name in DEF SCREEN or ATT_WINDOW_D call .
Remedy : Use TP for teach pendant screen or CRT for KCL screen .
WNDW-004 WARN Invalid disp dev name forma t

Cause : Invalid format of display device name in DEF_SCREEN or ATT_WINDOW_D call .
Remedy : Device names must be 1-4 alpha- characters Supply a valid device name .
WNDW-005 WARN Bad number of row s

Cause : Invalid n_rows in DEF WINDOW call .
Remedy : n_rows value must be 1 to 50 Correct the value .
WNDW-006 WARN Bad number of cols

Cause : Invalid n_cols in DEF_WINDOW call .
Remedy : n_cols value must be 1 to 132 Correct the value .
WNDW-007 WARN Bad row numbe r

Cause : Invalid value of row parameter in ATT_WINDOW_S, AT_WINDOW_D, or SET_CURSO R
call .
Remedy : For ATWINDOW_S or AT_WINDOW_D calls, row must be in the rang e
1-(display_device_size-window_size+1) . Correct the row parameter value Fo r
SET_CURSOR calls, the value must be in the range 1-50 .
WNDW-008 WARN Bad col numbe r

Cause : Invalid value of col parameter in ATT_WINDOW_S, AT_WINDOW_D, or SET_CURSOR cal l
Remedy : For ATWINDOW_S or AT_WINDOW_D calls, col must be in the rang e
1-(display_device_size-window_size+l) . Correct the col parameter value Fo r
SET_CURSOR calls, the value must be in the range 1-132 .
WNDW-011 WARN Unk . disp dev name

Cause : Unknown display device name in DEF_SCREEN or ATT_WINDOW_D call .
Remedy : Use TP for teach pendant screen or CRT for KCL screen .
WNDW Error Codes B . ERROR CODES AND RECOVERY
WNDW-012 WARN Unk k/b dev nam e

Cause: Keyboard device specified in a PUSH_KEY_RD or POP_KEY_RD call or OPEN statement i s
invalid .
Remedy: Use 'TP' for teach pendant keys or 'CRT' for KCL keyboard .
WNDW-013 WARN Duplicate screen nam e

Cause: Screen name specified in DEF_SCREEN call is already defined .
Remedy: If the existing screen definition is acceptable, this may not be a problem . Otherwise, it may
be necessary to cold-start the controller to delete the existing definition .
WNDW-014 WARN Duplicate window nam e

Cause : Window name specified in DEF_WINDOW call is already defined .
Remedy: If the existing window definition is acceptable, this may not be a problem Otherwise, it ma y
be necessary to cold-start the controller to delete the existing definition .
WNDW-015 WARN Unknown screen nam e

Cause : The screen name specified in a ATT_WINDOW_S, DET_WINDOW, or ACT_WINDOW call i s
not defined .
Remedy: Use the name of a defined screen .
WNDW-016 WARN Unknown window name

Cause : The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D, or DET_WINDO W
call or an OPEN statement is not defined .
Remedy: Use the name of a defined window .
WNDW-017 WARN Window already attchd to scr n

Cause: The window name specified in a ATT_WINDOW_S, ATT_WINDOW_D is ready attached to
the specified screen .
Remedy: If the present attach is acceptable, this may not be a problem . Otherwise it will be necessar y
to call DET_WINDOW .
WNDW-018 WARN Invalid file name strin g

Cause: The file name in an OPEN statement begins WD : or KB: but is not a valid format .
Remedy: The following forms are valid : WD :wnam KB :knam WD :wnam/knam KB :knam/wna m
where wnam and knam are 1-4 alpha-numeric characters Correct the format of the fil e
name .
WNDW-019 WARN Write to file w/o window

Cause : A write was issued to a file opened to a keyboard (KB :knam), but not a window .
Remedy : Either change the OPEN to specify a window or do not WRITE to the file .
WNDW-020 WARN Bad buffer length on rea d

Cause : The buffer size parameter in a INI_DYN_DISI INI_DYN_DISR, INI_DYN_DISS or READ_K B
call is invalid .
Remedy : Specify a value in the range 10-128 for INI_DYN_DISx calls ; for READ_KB calls, specify a
range of 1-128, unless the accept mask is zero, when a buffer_size value of zero i s
permitted .
WNDW Error Codes
MARMMOSHW02301E
B- 1 5 1
WNDW-021 WARN Invalid timeout valu e

Cause : The time_out value in a READ_KB call is invalid .
Remedy : The value must be less than 65535000 . Use a valid value .
WNDW-022 WARN Zero term char mask in rea d

Cause : The init_data value is longer than the buffer size paramete r
Remedy : N/A
WNDW-023 WARN Initial data too lon g

Cause : The init_data value is longer than the buffer size parameter .
Remedy : Either increase the value of buffer size or specify a shorter string for init_value .
WNDW-024 WARN Attempt to read with no k b

Cause : A READ_KB call or READ statement was executed on a file that was OPENed to a windo w
but not a keyboard .
Remedy : Either modify the OPEN FILE statement to specify a keyboard or do not use the file in a
READ_KB call or READ statement .
WNDW-025 WARN Echo window for read not ac t

Cause : A READ_KB call was executed where the specified file is opened to a window that is no t
attached to the active screen and the terminate mask included the no window bit .
Remedy : This may be a normal result if the user intended READ_KB requests to fail if the require d
window is not displayed . Otherwise, either modify the terminate mask or use
ATT_WINDOW_D or ATT_WINDOW_S to attach the required window .
WNDW-026 WARN Read for same keys/kbd activ e

Cause : N/A
Remedy: N/A
WNDW-027 WARN Too many pushes activ e

Cause : A READ_KB call was executed where the the keyboard for the specified file currently ha s
another READ_KB call or READ statement that accepts some of the same classes of key s
and the terminate mask included the kbd_busy bit .
Remedy: This may be a normal result if the user intended READ_KB requests to fail if the Keyboard i s
in use . Otherwise, modify the terminate mask, modify the accept mask of this or th e
conflicting read, or use a PUSH_KEY_RD call to suspend conflicting reads .
WNDW-028 WARN Mis-match on push/pop se q

Cause : This indicates that the pop_index specified in a POP_KEY_RD call is not the expected value ,
indicating that call are being made out of order .
Remedy: Check the logic in use of PUSH_KEY_RD and POP_KEY_RD to ensure that the pop_inde x
values are being supplied in the correct order . If more than one task is issuing
PUSH_KEY_RD and POP_KEY_RD calls, extra care is required .
WNDW-030 WARN Invalid tim e

Cause : The interval parameter in a INI_DYN_DISI, INI_DYN_DISR, or INI_DYN_DISS call is invalid .
Remedy: This must be in the range 1-32767 (ms) .
WNDW Error Codes B . ERROR CODES AND RECOVERY
WNDW-032 WARN No match on var disp cnc l

Cause : There is no currently active dynamic display for variable and window specified in a
CNC_DYN_DISI, CNC_DYN_DISR, or CNC_DYN_DISS call .
Remedy : Check the variable and window names. Also check logic to see that dynamic display ha d
been started and not already cancelled .
WNDW-033 WARN Field width invali d

Cause : Field_width parameter in call to INI_DYN_DISI, INI_DYN_DISR, or INI_DYN_DISS is invalid .
Remedy : Value must be in the range of 0-255 .

Eletrical Troubleshooting RJ

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SYSTEM R-J Electrica l

This publication contains proprietary information of FANUC Robotic s

The information illustrated or contained herein is not to be reproduced ,

KAREL®, INSIGHT®, PaintWorks® are Registered Trademarks of

FANUC Robotics conducts courses on its systems and products on a

Find information about a specific topic Table of Contents

Identify the components of the SYSTEM R- J Chapter 1, Overview

Review safety guidelines Chapter 2, Safety

Use diagnostic and controller initializatio n Chapter 3, Diagnosti c

Find pin configurations for each cable Chapter 5, Connectors

Find controller connection schematics Chapter 6, Complete Wirin g

Find complete schematics of the controlle r Chapter 7, Prints

Find troubleshooting techniques and circui t Chapter 8, Power On

Find troubleshooting techniques and circui t Chapter 9, AC Powe r

Find troubleshooting techniques and circuit Chapter 10, DC Powe r

Find troubleshooting techniques and circui t Chapter 11, Emergency Sto p

Find troubleshooting techniques and circuit Chapter 14, Overheat

Find troubleshooting techniques and circui t Chapter 15, Brake Circuitry

Find troubleshooting techniques and circui t Chapter 16, Servo Control

If you want to Refer to

Find troubleshooting information abou t Chapter 17, Modular I/O

Find troubleshooting techniques and circuit Chapter 18, Teach Pendant

Find troubleshooting techniques and circuit Chapter 19, CRT/K B

Find site specific interface drawings Chapter 20, User I/O

Understand any deviation from the standard Appendix A, Reading Prints

Find a quick description of an error code o r Appendix B, Error Codes

NOTE Information appearing next to NOTE concerns related information

OVERVIEW ^,,,,,,,,,,,,,,,,,,,,,,,^^,,,,,,,,,,^^,,,,,, 1_1

Procedure 3-7 Displaying I/O Status 3-1 3

Figure 5-5 . K-035 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1 3

Figure 8-6 Location A- 7

Table 1-1 . Modules 1- 7

Table 12-1 . Component Location 12-3

The SYSTEM R-J robot and controller consists of software, a robot, an d

• Supply drive power to the servomotors of an attached robot and, i n

• Send control signals to process devices and other periphera l

Figure 1-1 . Cabinet Exterior, B-Size Controlle r

Figure 1-2. Cabinet Exterior, C-Size Controller

Figure 1-3 . Cabinet Interior, B-Size Controller

Servo amplifier 6 Fan 1

Axis control printed

Printed circuit board fo r

Process I/O printed

Figure 1-4 . Cabinet Interior, C-Size Controlle r

Servo amplifier # 2 Main CP U

the controller will generate a system overheat alarm.

R-H style extended backplane attached.

Figure 1-5 . Backplane with R-H Style Extended Backplan e

Figure 1-6 . Main CPU Board Layout

NOTE Options are shown in phantom.

Table 1-1 . Module s

Name Part Number Remarks

Figure 1-7. Axis Control Board Layou t

=,', .uut ' 11}iv ..v.

NOTE Options are shown in phantom.

Table 1-2. Modules

d oar B PC unIt -Suply rowe . i-u Figure

1 .5 The emergency stop control PC board is mounted on the backplane in th e

Figure 1-9 .Emergency Stop Control PC Board