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BA II Arm Robot Catalog - TM Robotics - #210

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Text version of the page
[I/O pin number and signal name] Type of: controller: CA20-S10, CA20-S40
' See Page 239 of Technical Notes for I/O connections.
No.
I/O
Signal name
No.
I/O
Signal name
1
+COM1
19
COM3
2
Output
General-purpose output port 1-1
20
Input
General-purpose input port 1-1
3
Output
General-purpose output port 1-2
21
Input
General-purpose input port 1-2
4
Output
General-purpose output port 1-3
22
Input
General-purpose input port 1-3
5
Output
General-purpose output port 1-4
23
Input
General-purpose input port 1-4
6
-COM1
24
NC
7
Emergency stop output (N.O)
25
NC
8
Emergency stop output
26
NC
9
Emergency stop output (N.C)
27
COM4
10
NC
28
Input
General-purpose input port 1-5
11
Output
General-purpose output port 1-5
29
Input
General-purpose input port 1-6
12
Output
General-purpose output port 1-6
30
Input
General-purpose input port 1-7
13
Output
General-purpose output port 1-7
31
Input
General-purpose input port 1-8
14
Output
General-purpose output port 1-8
32
NC
15
NC
33
NC
16
NC
34
NC
17
-COM2
35
NC
18
NC
36
NC
Connector pin arrangement on panel side
(Bottom view)
50
26­27­1­2-
-49 -25 -24
NC: No Connection
[Dimensions]
Type of controller: CA20-S10
Type of controller: CA20-S40
109
100
6
(Margin for connecting
cable )
r—^
100
MIN.80
6
(Margin for connecting cable )
in
P
CM
Battery input connector
3.3
130
Batteryinput connector 3.3 .
10
35
112
130
10
. 35 .
in
.5
CM I
112
" if"
Wall
in
Wall
ml oo I
o
CO
ID COl
o
CO
COI M
CO
Wall 4-M3
.5
CM I
Wall
30
in
Terminal block screw size M4
4-M3
DD k
flllliU
c\iu
illuminili
100
.5 5.
Terminal block screw size M4
Length "A": 30 mm or over When the controller is installed in parallel with ABSU-4000, however, a space for cooling fan should be considered.
CM
100
A
When viewed from arrow "A"
Lithium battery harness
[Name of each part]
C
o
o
Battery holder
Status indicator LED
Connector for communication
Battery input connector
!rri ski
^— Station number setting switch
.. When viewed from arrow "B"
Terminating — resistor setting switch
Regenerative output connector
Motor output connector
-r R
Voltage changeover terminal —\ 6 I Power input —Q ^ i
B
- Encoder input connector
Connector for extension I/O connection
-I/O connector
LG FG
Terminal block
For details on each part, see the descriptions on the master unit on Page 200.
208
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