Robots are dangerous; use this information entirely at your own risk!
These are specifications for customer connections plug for ABB robots with S4C+ M2000 control. This is located under the top cover of the cabinet at the rear right. Here 4 terminal blocks are used for customer connections; this may be jumpered using short lengths of wire or using Phoenix grey bus bars.
Please note that this should only be used for test purposes. Under no circumstances should a robot be run in Automatic mode without proper safety systems that comply with local legislation. This will almost certainly include guarding, safety interlocks etc. Please also consider that the robot may over balance and fall if it is not bolted down securely.
Parts required:
The cabinet will usually have 4 connectors included but if required they are Phoenix 12 pole COMBICON MSTB2.5/12-ST-5.08. RS part number 189-6098.
Customer connections on panel unit: X1 to X4.
====== Denotes link
- Denotes no connection
|
X1 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
|
- |
- |
============= |
- |
======== |
======== |
======== | ||||||
|
X2 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
|
- |
- |
============= |
- |
======== |
======== |
======== | ||||||
|
X3 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
|
- |
- |
======== |
- |
- |
============= |
============= | ||||||
|
X4 |
1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
|
- |
- |
======== |
- |
- |
============= |
============= | ||||||
X1
|
Signal |
Terminal No: |
Comment |
|
ES1 out:A |
1 |
Emergency stop out chain1 |
|
ES1 out:B |
2 |
Emergency stop out chain1 |
|
ES1 top |
3 |
Top of emergency stop chain1 |
|
24V panel |
4 |
+24V emergency stop chain1 and run chain 1 |
|
Run Ch1 top |
5 |
Top of run chain 1 |
|
ES1 internal |
6 |
Internal signal from emergency stop relay chain 1 |
|
Sep. ES1:A |
7 |
Separated emergency stop out chain1 |
|
Sep. ES1:B |
8 |
Separated emergency stop out chain 1 |
|
ES1 bottom |
9 |
Bottom of emergency stop chain 1 |
|
0v |
10 |
0v emergency stop chain1 |
|
Ext.LIM1:A |
11 |
External limit switch chain 1 |
|
Ext.LIM1:B |
12 |
External limit switch chain 1 |
X2
|
Signal |
Terminal No: |
Comment |
|
ES2 out:A |
1 |
Emergency stop out chain2 |
|
ES2 out:B |
2 |
Emergency stop out chain2 |
|
ES2 top |
3 |
Top of emergency stop chain 2 |
|
0v |
4 |
0V emergency stop chain 2 and run chain 2 |
|
Run Ch2 top |
5 |
Top of run chain 2 |
|
ES2 internal |
6 |
Internal signal from emergency stop relay chain 2 |
|
Sep. ES2:A |
7 |
Separated emergency stop out chain 2 |
|
Sep. ES2:B |
8 |
Separated emergency stop out chain 2 |
|
ES2 bottom |
9 |
Bottom of emergency stop chain 2 |
|
24V panel |
10 |
+24v emergency stop chain 2 |
|
Ext.LIM2:A |
11 |
External limit switch chain 2 |
|
Ext.LIM2:B |
12 |
External limit switch chain 2 |
X3
|
Signal |
Terminal No: |
Comment |
|
Ext. MON 1:A |
1 |
Motor contactor1 |
|
Ext. MON1:B |
2 |
Motor contactor 1 |
|
0v |
3 |
External contactor 1 0v |
|
CONT1 |
4 |
External Contactor 1 |
|
5 |
No connect | |
|
6 |
No connect | |
|
0v |
7 |
0v to auto stop and general stop |
|
GS1- |
8 |
General stop minus chain 1 |
|
AS1- |
9 |
Auto stop minus chain 1 |
|
GS1+ |
10 |
General stop plus chain1 |
|
AS1+ |
11 |
Auto stop plus chain 1 |
|
24v Panel |
12 |
24v to auto and general stop |
X4
|
Signal |
Terminal No: |
Comment |
|
Ext. MON 2:A |
1 |
Motor contactor 2 |
|
Ext. MON2:B |
2 |
Motor contactor 2 |
|
24v panel |
3 |
External contactor 2 24v |
|
CONT2 |
4 |
External contactor 2 |
|
Ext. Brake A |
5 |
Contactor for external brake |
|
Ext Brake B |
6 |
Contactor for external brake |
|
0v |
7 |
0v to auto stop and general stop |
|
GS2- |
8 |
General stop minus chain 2 |
|
AS2- |
9 |
Auto stop minus chain 2 |
|
GS2+ |
10 |
General stop plus chain2 |
|
AS2+ |
11 |
Auto stop plus chain 2 |
