4.3.2.2 Connectors
The following figure shows the locations and usage of various connectors on the BD630 (Safety IO Board)/BD631 (Safety EC Board).
Table 4-5 Types and Usage of the Connectors of the BD630 (Safety IO Board)
Name
Usage
Connection of external device
CNSMPS1
SMPS DC24V Power supply
DC24V SMPS
CNSMPS2
SMPS DC24V Power supply
DC24V SMPS
CNMC
Connection of the Magent Contact (MC) input and output signals
Magnet Contact(MC)
CNTP
Inputs of the emergency stop switch, mode switch, and enable switch of the teach pendant
Teach Pendant
CNSV
Servo sequence board (BD640) I/F
(Status related to motor on/off, feedback, the servo sequence board, and the safety board
BD640
CNEMSW
Emergency stop input of the Operational Panel
Operational Panel (OP)
CNOPLP
Lamp output of the Operational Panel (OP)
Operational Panel (OP)
CNOPSW
Inputs of the mode switch and keys of the Operational Panel (OP)
Operational Panel (OP)
CNLS
Limit switch input for the detection of arm interference and over-travel
CNLS7
Limit switch input for the detection of the over-travel of the additional axis 7
CNLS8
Limit switch input for the detection of the over-travel of the additional axis 8
CANS1
Connection of the CAN communication
BD631(Safety EC Board)
CANS2
Connection of the CAN communication for the system
Reserved
A_JATG
JTAG connector
-
B_JATG
JTAG connector
-
TBEM
External safety inputs
(Emergency stop, auto mode safety guard 1, auto mode safety guard 2, and general safety guard input)
User IO
TBPLC
Connection of the safety PLC safety signals
Safety PLC
SW1
Operation Panel (OP) installation confirmation input
-
SW2
Operation Panel (OP) installation confirmation input
-
Table 4-6 BD631(Safety EC Board) 커넥터 종류 및 용도
Name
Usage
connection of external devices
CN24VB1
DC24V power supply
DC24V SMPS
MJ1
Connection of EtherCAT communication
BD640
MJ2
Connection of EtherCAT communication
-
CJTAG
JTAG connector
-
J1
RS232 communication connector
Reserved
CAN1
Connection of CAN communication
BD630(Safety IO Board)
CAN2
Connection of CAN communication
Reserved
(1) External Safety Signal Terminal Block of the BD630: TBEM
[Caution]: When a safety-related input is connected and activated, you must check whether the function is operating normally by referring to “1.11 Safety Measures When Operating the Robot.”
표 4-7 Description of TBEM of the BD630 (Safety IO Board)
Terminal no.
Terminal name
Usage
Others
1
9
SGG1+
SGG1-
General safety guard chain 1 input
If the general safety guard chain 1 input is not to be used, it should be short-circuited.
2
10
SGG2+
SGG2-
General safety guard chain 2 input
If the general safety guard chain 2 input is not to be used, it should be short-circuited.
3
11
SGA11+
SGA11-
Automatic safety guard 1 chain 1 input
If the automatic safety guard 1 chain 1 input is not to be used, it should be short-circuited.
4
12
SGA21+
SGA21-
Automatic safety guard 1 chain 2 input
If the automatic safety guard 1 chain 2 input is not to be used, it should be short-circuited.
5
13
SGA12+
SGA12-
Automatic safety guard 2 chain 1 input
If the automatic safety guard 2 chain 1 input is not to be used, it should be short-circuited.
6
14
SGA22+
SGA22-
Automatic safety guard 2 chain 2 input
If the automatic safety guard 2 chain 2 input is not to be used, it should be short-circuited.
7
15
EMEX1+
EMEX1-
External emergency stop chain 1 input
If the external emergency stop chain 1 is not to be used, it should be short-circuited.
8
16
EMEX2+
EMEX2-
External emergency stop chain 2 input
If the external emergency stop chain 2 is not to be used, it should be short-circuited.
(2) Safety PLC Connection Terminal Block of the BD630: TBPLC
[Warning]: When a safety-related input is connected and activated, you must check whether the function is operating normally by referring to “1.11 Safety Measures When Operating the Robot.”
표 4-8 Description of TBPLC of BD630 (Safety IO Board)
Terminal no.
Terminal name
Usage
Others
1
PLC_P
Safety PLC 24V
9
PLC_G
Safety PLC GND
To function as Common for the SG/ES signal
2
N.C
-
-
10
N.C
-
-
3
EXMON1
External motor On input
If the robot’s motor On function is used by an external system, the On/Off input will take place while M1 is considered as Common.
11
M1
Common for the External motor On input
If the robot’s motor On function is used by an external system, the On/Off input will take place while M1 is considered as Common.
4
PLC_TO1
Input terminal for the monitoring output of the safety IO
PNP output type applicable only
12
PLC_FDBK1
Feedback signal output for T0 of the safety IO
PNP output type applicable only
5
SG1
Chain 1 for the safety guard input from the safety PLC
PNP output type applicable only
13
SG2
Chain 1 for the safety guard input from the safety PLC2
PNP output type applicable only
6
ES1
Chain for the emergency stop input from the safety PLC
PNP output type applicable only
14
ES2
Chain 2 for the emergency stop input from the safety PLC
PNP output type applicable only
7
15
EMOUT11+
EMOUT11-
Internal emergency stop output chain 1
PNP output type applicable only
8
16
EMOUT21+
EMOUT21-
Internal emergency stop output chain 2
PNP output type applicable only
(3) Reserved System CAN Communication Connector of BD630/BD631: CANS2
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