Mitsubishi Electric CR750-D Instruction Manual page 47

Table 2-8 ： Pin assignment (CNUSR2)
Pin
Name
No.
1 MPI11 (850)
2 MPICOM1
3
4
5
6
7
8
9 SKIP11
10 SKIP21
11 SKIP31
12 SKIP41
13
14
15 SG
16 ROBOTERR11
17 ROBOTERR21
18
19 AXMC21
20 AXMC11
21 LAH2
22 LBH2
23 LZH2
24
25
Note1) The reserved pins cannot be used. Do not wire the pins.
Note1)
Remarks
Function
Servo digital input
1
MPI input common
(COM)
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Dedicated stop This pin and pin 34
input common is a pair.
(COM)
SKIP21 common This pin and pin 35
(COM)
is a pair.
SKIP31 common This pin and pin 36
(COM)
is a pair.
SKIP41 common This pin and pin 37
(COM)
is a pair.
Reserved
Reserved
Common pin Common pin (SG)
Robot error output This pin and pin 41
is a pair.
Robot error output This pin and pin 42
is a pair.
Reserved
Magnet contactor To synchronize an
control connector additional axis to a
output for addi -
robot's servo ON/
tional axes OFF.
This pin and pin 44
is a pair.
Magnet contactor To synchronize an
control connector additional axis to a
output for addi -
robot's servo ON/
tional axes OFF.
This pin and pin 45
is a pair.
A-phase signal + Encoder input of a
(plus) side of dif -
trucking function
ferential encoder CH2
CH2
B-phase signal +
(plus) side of dif -
ferential encoder
CH2
Z-phase signal +
(plus) side of dif -
ferential encoder
CH2
Reserved
Reserved
Pin
Name
Function
No.
26 MPI14 (851) Servo digital input
2
27 MPI16 (852) Servo digital input
3
28 Reserved
29 Reserved
30 Reserved
31 Reserved
32 Reserved
33 Reserved
34 SKIP12 Dedicated stop
input common
35 SKIP22 (801) SKIP2 input
36 SKIP32 (802) SKIP3 input
37 SKIP42 (803) SKIP4 input
38 Reserved
39 Reserved
40 SG Common pin
41 ROBOTERR12 Robot error output This pin and pin 16
42 ROBOTERR22 Robot error output This pin and pin 17
43 Reserved
44 AXMC22 Magnet contactor
control connector
output for addi -
tional axes
45 AXMC12 Magnet contactor
control connector
output for addi -
tional axes
46 LAL2 A-phase signal -
(minus) side of dif -
ferential encoder
CH2
47 LBL2 B-phase signal -
(minus) side of dif -
ferential encoder
CH2
48 LZL2 Z-phase signal -
(minus) side of dif -
ferential encoder
CH2
49 Reserved
50 Reserved
2Unpacking to installation
Note1)
Remarks
This pin and pin 9
is a pair.
This pin and pin 10
is a pair.
This pin and pin 11
is a pair.
This pin and pin 12
is a pair.
Common pin (SG)
is a pair.
is a pair.
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 19
is a pair.
To synchronize an
additional axis to a
robot's servo ON/
OFF.
This pin and pin 20
is a pair.
Encoder input of a
trucking function
CH2
Installation 2-35