Page 5 - 9Motors ON/Dual Run Chain CircuitryElectricalTroubleshooting GuideIRB6400 M94A5.2.5 Run Chain 1 - Limit (LIM) CircuitThe Limit circuitry:- Begins with 24 VDC at XS3/XT3 terminal A10.- Then it goes to XS3/XT3 terminal A11 (which issupplied for the customer to wire into ourLimit(LIM) circuitry.)The customer may use this circuit to stop the robot froman over travel on external axis or a break-away deviceattached to the wrist of the robot or other such circuits.If this circuit is opened it will stop the robot and generatea Limit error. By pressing and holding the Motors ONpush button the customer may move the robot off of theproblem and continue running the robot. If this circuit isnot to be used by the customer then it should be jumpedbetween XS3/XT3 terminals A11 and A12.- From terminal A12, 24 VDC goes into a noisesuppressor (Z2) terminal 1 and out terminal 2.- Then to the manipulator through XS1 pin D2 toR1.MP pin D2.At this point the robot may have the optional axis oneOver Travel Limit switch wired from R1.MP pin D2 toD4. This switch will open when the robot moves againstthe axis 1 hard stop.If the robot does not have this option then a jumper willgo on R1:MP pin D2 to D4.- 24 VDC will return to the control on XS1 pin D4.- Then to XS22 pin 7.Then if external axes are present (axis 7-12) thecustomer may wire a limit switch to XS7 pin A4 to A5.Otherwise 24VDC is jumpered from XS22 pin 7 to XS22pin 10.- Then 24 VDC goes through XS/XP18 pin 8 to theSystem board (DSQC 256A) AP41:XP1 pin C15.- This turns on the LIM 1 LED (the left one) on theSystem board (DSQC 256A).Sheet 8, line 10 ............Fig. 5-5 ............Fig. 5-8 ............Sheet 8, line 11 ............Fig. 5-5 ............Sheet 13.1, line 16........Sheet 105, line 14.........Fig. 5-4 ............Fig. 5-8 ............Sheet 13.1, line 16........Fig. 5-4 ............Sheet 15, line 16 ..........Sheet 8, line 16 ............Fig. 5-1,2,5 ......Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
