FANUC Robotics SYSTEM R-J3 (RIA) A-Size, B-Size and Paint Controller Connection and Maintenance Manual Section IV PDF

IV PAINT (RIA) CONTROLLER
Contents
MARMRIAMT05001E REV B Contents–1
Chapter 1
PAINT CONTROLLER OVERVIEW
AND OPERATOR PANEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–1
1.1 R–J3 RIA CONTROLLER AND ROBOT OVERVIEW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2
1.2 OPERATOR PANEL A05B–2406–C002 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4
1.3 OPERATOR PANEL STATUS INDICATORS, SWITCHES, AND BUTTONS . . . . . . . . . . . . 1–6
1.3.1 MODE SELECT Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–8
Chapter 2
INTRINSICALLY SAFE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–1
2.1 INTRINSICALLY SAFE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2
2.2 REPLACING THE TEACH PENDANT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4
2.3 TEACH PENDANT STATUS INDICATORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–5
2.4 INTRINSICALLY SAFE BARRIER (ISB) UNIT
A05B-2406–C372 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6
Chapter 3
PURGE CONTROL UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–1
3.1 PURPOSE OF THE PURGE CONTROL UNIT
EE–3505–710–001 & EE–3505–710–002 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2
3.2 FUNCTIONS OF THE PURGE CONTROL UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–3
3.3 PURGE CIRCUIT DESCRIPTION AND OPERATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–3
3.4 PURGE CIRCUIT STATUS INDICATORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–5
3.5 WIRING THE PURGE CONTROL UNIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–8
3.6 TROUBLESHOOTING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–9
3.7 PURGE CONTROL CONNECTION DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–9
Chapter 4
ENCODER/BRAKE PRINTED CIRCUIT BOARD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–1
4.1 ENCODER/BRAKE UNIT
P–120/P–145
EE–3505–740–001 & –002
P–200(E)
EE–3505–761–001, –002
........................................................................... 4–2
4.2 ENCODER/BRAKE PCB INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5
4.3 ENCODER/BRAKE PCB OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5
4.4 PACKAGING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5
Contents–2 MARMRIAMT05001E REV B
Chapter 5
MULTI–TAP TRANSFORMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–1
5.1 MULTI-TAP TRANSFORMER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–2
Chapter 6
PARTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–1
6.1
P–120/P–145 ROBOT
R–J3 (RIA) CONTROLLER PARTS LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2
6.2
P–200(E) ROBOT
R–J3 (RIA) CONTROLLER
PARTS LIST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3
Chapter 7
TOTAL CIRCUIT DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–1
List of Figures
Figure 1–1. R–J3 RIA Paint Application Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2
Figure 1–2. Paint Application Robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–3
Figure 1–3. R-J3 (RIA) Paint Controller Operator Panel (P–120 / P–145 Configuration) . . . . . . . 1–4
Figure 1–4. R-J3 Paint Controller Operator Panel (P–200(E) Configuration) . . . . . . . . . . . . . . . . 1–5
Figure 1–5. R-J3 (RIA) Paint Controller Operator Panel (P–120 / P–145 Configuration) . . . . . . . 1–6
Figure 1–6. R–J3 (RIA) Controller Operator Panel (P–200 Configuration) . . . . . . . . . . . . . . . . . . 1–6
Figure 1–7. MODE SELECT Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–8
Figure 2–1. Intrinsically Safe Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–3
Figure 2–2. Replacing the Teach Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4
Figure 2–3. Teach Pendant Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–5
Figure 2–4. P–200(E), P–145 and the P–120 Location of the
Teach Pendant Intrinsically Safe Barrier Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6
Figure 3–1. Purge Control Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2
Figure 3–2. Fuse Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–4
Figure 3–3. Operator Panel (P–120 and P–145 Configuration) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–5
Figure 3–4. P–200(E) Configuration (Close up) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–6
Figure 3–5. Purge Control Unit Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–7
Figure 3–6. Purge Control Unit Connection Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–10
Figure 4–1. Encoder/Brake Printed Circuit Board with Optional Daughter boards . . . . . . . . . . . . 4–2
Figure 4–2. P–120/P–145 6 Axis Encoder Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–3
Figure 4–3. P–200(E) 7 Axis Encoder Brake Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–4
Figure 5–1. Multi-Tap Transformer Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–3
Figure 7–1. P–120/P–145 6 Axis and 6 + 2k Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–3
MARMRIAMT05001E REV B Contents–3
Figure 7–2. P–200(E) 6 Axis and 6 + 2k Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–4

Figure 7–3. P–200(E) 7 Axis Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–5
Figure 7–4. P–200(E) 7 + 2k Axis Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–6
Figure 7–5. P–200(E) 7 + 2 Axis Opener Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–7
Figure 7–6. P–200(E) 7+3 Axis and 7+3+2k Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–8
Figure 7–7. P–120/P–145 Factory Mutual (FM) Control Drawing . . . . . . . . . . . . . . . . . . . . . . . . . 7–9
Figure 7–8. P–200 Factory Mutual (FM) Control Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–10
Figure 7–9. P–200E Factory Mutual (FM) Control Drawing, Sheet 1 of 3 . . . . . . . . . . . . . . . . . . . 7–11
Figure 7–10. P–200E Factory Mutual (FM) Control Drawing, Sheet 2 of 3 . . . . . . . . . . . . . . . . . . 7–12
Figure 7–11. P–200E Factory Mutual (FM) Control Drawing, Sheet 3 of 3 . . . . . . . . . . . . . . . . . . 7–13
Figure 7–12. P–120, P–145 and P–200(E) 6 Axis Configuration Transformer . . . . . . . . . . . . . . . . 7–14
Figure 7–13. P–200(E) 7 Axis Configuration Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–15
Figure 7–14. Main (CPU) Board Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–16
Figure 7–15. Redundant Emergency Stop Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–17
Figure 7–16. Servo Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–18
Figure 7–17. Servo Amplifier Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–19
Figure 7–18. Beta 12 and 20Amp Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–20
Figure 7–19. Beta 40 and 80Amp Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–21
Figure 7–20. 6 Axis Encoder/Brake Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–22
Figure 7–21. Purge and 7 Axis Encoder/Brake Module Pinout Diagram . . . . . . . . . . . . . . . . . . . . 7–23
Figure 7–22. Purge Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–24
Figure 7–23. Power Supply Unit Connections Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–25
Figure 7–24. P–120/P–145 Operator Panel PCB Connections, Sheet 1 of 3 . . . . . . . . . . . . . . . . . . 7–26
Figure 7–27. P–200(E) Operator Panel PCB, Sheet 1 of 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–29
Figure 7–28. P–200(E) Operator Panel PCB Connections, Sheet 2 of 3 . . . . . . . . . . . . . . . . . . . . . 7–30
Figure 7–29. P–200(E) Operator Panel Connector Pinouts, Sheet 3 of 3 . . . . . . . . . . . . . . . . . . . . 7–31
Figure 7–30. Circuit Protector Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–32
Figure 7–31. P–120/P–145 Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–33
Figure 7–32. P–200(E) Emergency Stop Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–34
Figure 7–33. P–120/P–145 Transformer Secondary and Power Distribution . . . . . . . . . . . . . . . . . 7–35
Figure 7–34. Intrinsically Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–36
Figure 7–35. P–120 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–37
Figure 7–36. P–145 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–38
Figure 7–37. P–200 Pedestal Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–39
Figure 7–38. P–200 Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–40
Figure 7–39. P–200 Clean Wall Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–41
Figure 7–40. P–200E Pedestal Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–42
Figure 7–41. P–200E Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–43
Figure 7–42. P–10 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–44
Figure 7–43. P–15 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–45
Contents–4 MARMRIAMT05001E REV B
Figure 7–44. P–10E Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–46

Figure 7–45. P–15E Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–47
Figure 7–46. P–120/P–145 Fiber Optic Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–48
Figure 7–47. P–200(E) Fiber Optic Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–49
Figure 7–48. Optional I/O Device Connection to Operator Panel PC Board . . . . . . . . . . . . . . . . . 7–50
Figure 7–49. Controller External Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–51
Figure 7–50. P–120/P–145 6 Axis Controller Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–52
Figure 7–51. P–120/P–145 6 Axis + 2k Controller Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–53
Figure 7–52. P–200(E) 6 Axis and 6 Axis + 2k Controller Layout . . . . . . . . . . . . . . . . . . . . . . . . . 7–54
Figure 7–53. P–200(E) 7 Axis Controller Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–55
Figure 7–54. P–200(E) 7 Axis + 2k Paint Process Controller Layout . . . . . . . . . . . . . . . . . . . . . . . 7–56
Figure 7–55. P–200(E) 7 + 2 Axis Opener Controller Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–57
Figure 7–56. P–200(E) 7 + 3 Axis Opener and 7 + 3 + 2k Controller Layout . . . . . . . . . . . . . . . . 7–58
List of Tables
Table 1–1. Standard R–J3 (RIA) Paint Controller Operator Panel
Status Indicators, Switches, and Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–7
Table 2–1. Teach Pendant Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–5
Table 3–1. PCU Terminal Connections – Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–8
Table 3–2. PCU Terminal Connections – Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–9
Table 4–1. Encoder/Brake Assembly Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–5
Table 5–1. Multi-Tap Transformer Part Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–3
Table 6–1. P–120 / P–145 (RIA) R–J3 Paint Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2
Table 6–2. P–200(E) (RIA) R–J3 Paint Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3
MARMRIAMT05001E REV B
1 PAINT CONTROLLER OVERVIEW
AND OPERATOR PANEL
1–1
This chapter discusses the operator panel status indicators, switches, and
buttons.
Topics In This Chapter Page

Overview R–J3 RIA Controller and Robot Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–2
Operator Panel Description of the operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4
Operator Panel Status Description of the operator panel status indicators, switches, and buttons . . . . . 1–6
Indicators, Switches, and MODE SELECT Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–8
Buttons
1–2 MARMRIAMT05001E REV B
1.1 This section was created to provide paint application–specific information

for the FANUC Robotics SYSTEM R–J3 (RIA) controller. Only those
R–J3 RIA
unique characteristics of the paint controller are included in this section.
CONTROLLER AND Refer to the Maintenance and Connections sections of this manual and the
ROBOT OVERVIEW R–J3 (RIA) Controller Parts Manual for nonpaint–specific information.
See Figure 1–1 and Figure 1–2.
Figure 1–1. R–J3 RIA Paint Application Controller
Top Hat Cabinet Note: Paint Application information specific to your system
(Paint Application, will be found in your System Print Package. The Maintenance
System Print Package) Manual provides information on the standard product only.
Documentation on the Top Hat Cabinet will be found in your
Operator Panel System Print Package.
(Chapter 1)
Battery
Box
Teach
Pendant
ISB
Teach Pendant
(Chapter 2) Purge Module Encoder/Brake Module Transformer
B–Size Cabinet Controller (Chapter 3) (Chapter 4) (Chapter 5)
External View Internal View
MARMRIAMT05001E REV B 1–3
Figure 1–2. Paint Application Robots
Pedestal Configurations
P–120 P–145 P–200
P–200E (CWR)
Clean Wall Rail
P–10E
P–200E P–200E (MIBR)

Modular In Booth Rail
Rail Configurations
1.2 Buttons and status indicators on the operator panel of the R-J3 paint
controller are used to start the robot and indicate status. The panel has a
OPERATOR PANEL
port for serial interface to an external device. The operator panel is
A05B–2406–C002 equipped with the following features:
A manual brake release
A DB–25 connector serial interface used for an external disk drive
PCMCIA Memory Card interface
A Purge Control and Purge Status
A Mode Select Switch
Figure 1–3. R-J3 (RIA) Paint Controller Operator Panel

(P–120 / P–145 Configuration)
Figure 1–4. R-J3 Paint Controller Operator Panel

(P–200(E) Configuration)
AXIS 1,4,5,7 OPENER

1.3 The operator panel has several status indicators to assist you in
determining the status of the controller. Figure 1–5 and Figure 1–6 show
OPERATOR PANEL
the operator panel LEDs, switches and buttons for the P-120, P145 and
STATUS INDICATORS, P-200 robots. Table 1–1 describes the status indicator, switch, and button
SWITCHES, AND functions.
BUTTONS
Figure 1–5. R-J3 (RIA) Paint Controller Operator Panel
(P–120 / P–145 Configuration)
Figure 1–6. R–J3 (RIA) Controller Operator Panel

(P–200 Configuration)
AXIS 1,4,5,7 OPENER

Table 1–1. Standard R–J3 (RIA) Paint Controller Operator Panel Status
Indicators, Switches, and Buttons
ITEM DESCRIPTION
BATTERY ALARM Indicates that the backup battery voltage is low. Replace the battery.
FAULT LED Indicates a that fault condition has occurred.
REMOTE LED Indicates that robot motion can only be started by a remote device (PLC or other
remote device). When the REMOTE LED is lighted the operator panel CYCLE START
button is disabled. This LED will only light when the REMOTE/LOCAL key switch is in
the REMOTE position.
PURGE COMPLETE LED This LED identifies that the purge cycle is complete and the robot cavities, for the
P-120, P–145 and P-200(E), have been purged and are presently at the prescribed
internal pressure.
This LED must be illuminated in order to turn on the R-J3 controller.
PURGE FAULT Indicates that a fault exists with the purge system.
PURGE ENABLE BUTTON/LED Indicates that the purge cycle has started. If you are holding the button you can
release it when the LED illuminates.
ON BUTTON/LED Indicates that the robot is turned on.
OFF BUTTON This button turns off the controller.
CYCLE START BUTTON/LED Indicates that the robot is currently running a program.
HOLD BUTTON Indicates that the robot is in a software hold condition.
USER1 and USER2 User programmable button inputs.
BUTTONS
AXIS 2 and AXIS 3 BUTTONS These are the Axis 2 and Axis 3 manual brake release buttons.
(P–120, P–145 and P–200(E))
AXIS 1,4,5 and 7 BUTTON These are the Axis 1, 4, 5 and 7 manual brake release buttons.
(P–200 and P–200E)
OPENER BUTTON P–10(E)/P–15(E) Opener Robot only. This is the manual brake release button for all
(P–200 and P–200E) axes.
BRAKE ENABLE KEY SWITCH Enables the manual brake release. This allows you to push the Axis brake buttons
and manually release the brakes.
REMOTE/LOCAL SWITCH Selects either local or remote operator panel inputs.
FAULT RESET BUTTON Clears a fault condition.
EMERGENCY STOP This item enables the shut down of all servo amps and halts robot movement.
BUTTON
MODE SELECT SWITCH The MODE SELECT switch is used to select the most appropriate way to operate the
robot, depending on the conditions and situation.
1.3.1 The MODE SELECT switch is a keyswitch installed on the operator panel
MODE SELECT Switch or operator box.. You use the MODE SELECT switch to select the most
appropriate way to operate the robot, depending on the conditions and
situation. The operation modes are AUTO, T1, and T2. See Figure 1–7.
Figure 1–7. MODE SELECT Switch
<250mm/s
T1
100%
AUTO T2
When you change the mode using the MODE SELECT switch, a message
is displayed on the teach pendant screen and the robot is paused. You can
also lock the keyswitch in the AUTO or T1 modes by removing the key
from the switch. You cannot remove the key from the keyswitch when the
key is in the T2 position.
NOTE If you change the mode from T1 or T2 to AUTO and the

DEADMAN switch is pressed, a system error will occur and the mode will
not change to AUTO until the DEADMAN switch is released
The operation modes you can select using the MODE SELECT switch are
described in the following sections.
T1 (<250mm/s): Test Mode 1 Program activation – Programs can be activated from the teach pendant
only. However, programs can be activated only when the teach pendant is
enabled and when the DEADMAN switch is in the center position.
Robot speed
During Cartesian jogging, Cartesian speed is less than 250 mm/sec and
joint speed is less than 10% of the maximum joint speed.
During joint jogging, face plate speed is less than 250 mm/sec.
During program test run at 100% override, the robot’s speed will be
the program speed if the program speed is below the T1 mode safe
speed. T1 mode safe speed is defined as 250 mm/sec for TCP and
10% of maximum joint speeds. If the program speed is above the T1
mode safe speed, robot motion will be executed at the T1 mode safe
speed. With lower overrides, the robot speed is reduced proportionally
according to the override setting.
Safety equipment – The safety fence is bypassed.
Locking the mode – You can lock the switch in T1 mode by removing the
key from the switch.
Possible errors
If you turn the teach pendant ON/OFF switch to OFF when the switch
is in T1 mode, the robot stops and an error message is displayed. To
remove the error, turn the teach pendant ON/OFF switch to ON and
press RESET.
If you have set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot will stop
at singularity points while in T1 mode. If you change the value of this
variable, you must turn the controller off and then on again for the
change to take effect.
T2 (100%): Test Mode 2 Program activation – Programs can be activated from the teach pendant
only. However, programs can be activated only when the teach pendant is
enabled and the DEADMAN switch is in the center position.
Robot speed
During Cartesian jogging, Cartesian speed is less than 250 mm/sec and
joint speed is less than 10% of the maximum joint speed.
During joint jogging, face plate speed is less than 250 mm/sec.
During program test run, full program speed is allowed, and
the override can be changed from low to 100%.
Safety equipment – The safety fence is bypassed.
Locking the mode – You cannot lock the switch in T2. You cannot
remove the key from the switch in this mode.
Possible errors
If you turn the teach pendant ON/OFF switch to OFF when the switch
is in T2 mode, the robot stops and an error message is displayed. To
remove the error, turn the teach pendant ON/OFF switch to ON and
press RESET.
If you have set the singularity stop system variable,
$PARAM_GROUP[n].$T1T2_SNGSTP, to TRUE, the robot will stop
at singularity points while in T2 mode. If you change the value of this
variable, you must turn the controller off then on again for the change
to take effect.
AUTO: Automatic Mode Program activation – You must select AUTO mode and satisfy all other
required conditions to enable the activation of programs from remote
devices connected through the peripheral I/O. When the switch is in
AUTO mode, you cannot start programs using the teach pendant.
Robot speed – The robot can be operated at the specified maximum speed.
Safety equipment – The safety fence is monitored. If the safety fence is
opened during program execution:
Case – If the robot deceleration time is less than the hardware
timer, then the robot will decelerate to a stop. When the robot stops,
servo power OFF is initiated.
Case – If the robot deceleration time is greater than the hardware
timer, then the robot will decelerate for the duration of the hardware
timer and then stop abruptly when the hardware timer expires. When
the hardware timer expires, servo power is turned OFF.
2 INTRINSICALLY SAFE TEACH PENDANT
2–1
This section describes the intrinsically safe teach pendant (ISTP) and the
teach pendant Connect/Disconnect feature.

Intrinsically Safe Teach Description of the teach pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–2
Pendant
Replacing the Teach How to replace the teach pendant. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–4
Pendant
Teach Pendant LEDs Description of the teach pendant LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–5
Intrinsically Safe Barrier Description of the ISB Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6

Unit
2.1 The teach pendant is a hand held device used to operate and program the
robot and controller. See Figure 2–1. Keys on the teach pendant are used
INTRINSICALLY SAFE
to enter data, jog the robot, and to display menus.
TEACH PENDANT
The pendant has a liquid crystal display 16 lines long by 40 characters
A05B–2308–C307 wide. The teach pendant also has an EMERGENCY STOP button that,
when pressed, places the robot into an emergency stop condition.
The DEADMAN switches located on the back of the teach pendant can
enable servo drive power by pressing one or both of the switches, as long
as the teach pendant on/off switch is turned to the ON position. When the
teach pendant switch is turned to OFF, pressing the DEADMAN switch is
not required to keep servo drive power enabled.
The Intrinsically Safe Teach Pendant (ISTP) has two three position
DEADMAN switches on it. When the teach pendant is enabled, the three
position DEADMAN switch allows robot motion only while the switch is
held in the middle position. Robot motion will not be allowed when the
switch is pressed all the way down or when the switch is released.
WARNING
The robot will become fully functional and capable of being
started at the operator panel if the teach pendant is turned
off and the fence circuit is installed or closed. When
working in the robot envelope, ALWAYS CARRY THE
TEACH PENDANT and HAVE THE TEACH PENDANT
ENABLED. Otherwise, you could injure personnel or
damage equipment.
NOTE Strong radio frequency fields can cause the teach pendant display
to blank or change. Operator intervention might be required to restore the
desired screen.
Figure 2–1. Intrinsically Safe Teach Pendant
LCD Display
Rubber Seal
Emergency
Indicator
Stop
Labels Button
3 Position
Rubber Seal
DEADMAN
Switches
Enable/disable
switch
Software-Dependent Keys
Seven of the keys on the teach pendant provide different functions

depending on the software in the controller. Eleven indicators, located on
the left side of the LCD display, indicate status of the system. The
indicator labels are different based on software operating in the controller.
2.2 Replace a defective teach pendant using A05B–2308–C307 for ordering and
as shown in Figure 2–2.
REPLACING THE
TEACH PENDANT You can replace the teach pendant by first shutting off the controller and
removing the cable from the teach pendant as pictured in Figure 2–2.
Reconnect the cable to the new teach pendant and turn on the controller.
Figure 2–2. Replacing the Teach Pendant
Teach Pendant Cable

2.3 The teach pendant has several indicators to assist you in determining
controller status. Figure 2–3 shows the teach pendant indicators and
TEACH PENDANT
Table 2–1 lists and describes the teach pendant indicators.
STATUS INDICATORS
Figure 2–3. Teach Pendant Status Indicators
Indicators
FAULT
HOLD
STEP
BUSY
RUNNING
MAN ENBL
PROD MODE
JOINT
XYZ
TOOL
OFF ON
Table 2–1. Teach Pendant Status Indicators
INDICATOR DESCRIPTION
FAULT Indicates that a fault condition has occurred.

HOLD Indicates that the robot is in a hold condition. HOLD is not on continuously during a hold condition.
STEP Indicates that the robot is in step mode.
BUSY Indicates that the controller is processing information.
RUNNING Indicates that a program is being executed.
MAN ENBL Indicates that the robot is in MANUAL MODE.
PROD MODE Indicates that the robot is in PRODUCTION MODE.
JOINT Indicates that the current jog coordinate system is JOINT.
XYZ Indicates that the current jog coordinate system is CARTESIAN (JOG FRAME OR WORLD).
TOOL Indicates that the current jog coordinate system is TOOL.
2.4 The intrinsically safe barrier (ISB) unit is the interface for the intrinsically
safe teach pendant. It contains circuits (electronic barriers and
INTRINSICALLY SAFE
optocouplers) to insure that all electrical signals going to the teach pendant
BARRIER (ISB) UNIT are of limited energy. This circuitry will insure that any electrical current
A05B-2406–C372 going out to the teach pendant will not be significant enough to ignite any
flammable gases that would be present in paint applications.
The ISB Unit is only used with the intrinsically safe teach pendant. See
Figure 2–4 for ISB locations.
Figure 2–4. P–200(E), P–145 and the P–120 Location of the

Teach Pendant Intrinsically Safe Barrier Unit
PURGE MODULE
ENCODER/BRAKE
MODULE
ISB UNIT BETA

2K
AMP
6 CHANNEL AMP
BETA
2K
AMP
FAN
Intrinsically Safe Barrier Unit

for Teach Pendant
3 PURGE CONTROL UNIT
3–1

Purpose of the Purge The Purge Control Unit (PCU) controls the purge
Control Unit and pressurization of the robot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–2
Functions of the Purge This section describes the Purge Control Unit functions. . . . . . . . . . . . . . . . . . . . . 3–3
Control Unit (PCU)
Purge Circuit Description This section describes how the purge circuit operates. . . . . . . . . . . . . . . . . . . . . . 3–3
and Operation
Purge Circuit Status This section describes the purge circuit LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3–5
Indicators
Wiring the Purge Control This section describes the Purge Control Unit terminal connections. . . . . . . . . . . 3–8
Unit
Troubleshooting This section describes troubleshooting problems for the Purge Control Unit. . . . 3–9
Purge Unit Connections This section shows a drawing of the Purge Control Unit. . . . . . . . . . . . . . . . . . . . . 3–9
and Cables
3.1 The Purge Control Unit (PCU) controls the purge and pressurization of the
paint robot. See Figure 3–1. It insures that the interior of the robot has
PURPOSE OF THE
been purged of any hazardous gases and that it is safe to turn on the power
PURGE CONTROL to the controller and the robot. The Purge Control Unit continuously
UNIT monitors the robot pressurization to insure that the robot is safe for
EE–3505–710–001 & continued operation. If for any reason, pressurization is lost all power to
EE–3505–710–002 the controller is shut off.
Figure 3–1. Purge Control Unit
ISTB
SOL1–P 1
SOL1–N 2
SOL2–P 3 CNBKIS
SOL2–N 4
PS–1 5
PS–2/3 6
PS–4 7
FS–1 8
FS–2/3 9
FS–4 10
HBK–P 11
HBK–N 12
TPD–P 13
TPD–N 14
SOL
PR SW
FL SW
HBKN
TPDSC
PWR
CNBK6
I/S
PA
CNBK3
PE
CNPG
HVTB
1
2 HBK
3
4
5 TPDSC
6
7
PGA–1
8
B-size controller 9
10
PGA–2
11 200A IN
12 200B IN
13
FIRE ALARM
14
15 200A OUT
16 200B OUT
PURGE MODULE
3.2 The PCU includes the following:

FUNCTIONS OF THE Two intrinsically safe (IS) outputs for purge solenoid control (robot
and opener).
PURGE CONTROL
IS input circuits for sensing internal pressure and monitoring flow
UNIT switches.
Purge timer and logic functions.
On board DC power supply circuits.
Contacts to energize 200 VAC to controller power supply.
Operator panel interface including start button and status LEDs.
IS ground terminations.
Two auxiliary purge status contacts.
3.3 The intrinsically safe pressure and flow switch input circuits are monitored
by the PCU logic circuits. When the robot mechanical unit is pressurized
PURGE CIRCUIT
and the PURGE ENABLE button on the operators panel is pushed, the
DESCRIPTION AND PCU activates the purge solenoid in the robot. When the flow switch
OPERATION closes, the timing circuits begin a preset timeout. The PURGE ENABLE
button must be held until the flow switch responds to the increased flow
rate. This is caused by the activation of the purge solenoid. After the flow
switch responds the push button can be released. The PURGING light on
the operator panel will light during this phase.
When the timing circuit completes its cycle, if no pressure or flow faults
have occurred, the PURGE COMPLETE light will turn on. Relay contacts
will close, allowing power to the controller to be turned on. Additional
purge complete contacts (PGA-1 and PGA-2, PGB-1 and PGB-2) are
available on the HV terminal block.
If, at any time, the pressure switch signal is lost the PURGE FAULT light
will be illuminated and the controller will be turned off.
The PCU is equipped with intrinsically safe ground terminals for
connection of the main intrinsically safe ground wire as well as for the
shields of the cables and the connection of the battery box and ISB unit.
The unit includes input line fuses, power supply circuit, pressure and flow
switch indicators, and terminals for the fire alarm input.
The PCU also includes a small plug-in fuse module. See Figure 3–2. The
fuse module operates to protect the lines going to the purge air solenoids in
the robot. If the wiring going to the solenoid is shorted, the fuse module
limits the current. If the on board fuse of the fuse module opens, the
module must be replaced by a unit with the same part number. There are
no user serviceable parts on the fuse module. The fuse module is
accessible by removing the side cover of the PCU.
For installations with an opener or a second purged cavity, a second fuse

module is installed. This comes standard in the Purge Control Unit
Assembly, EE–3505–710–002. See Figure 3–2.
Figure 3–2. Fuse Module
WARNING
DO NOT SERVICE
EE–3505–721–001 REV. D
F1
FANUC ROBOTICS
R1
Z2 Z1
3.4 The PCU has two banks of status indicators. The main indicators are
remotely mounted on the operator panel. A second set of status indicators
PURGE CIRCUIT
is mounted on the module itself, inside the controller. See Figure 3–5.
STATUS INDICATORS
The operator panel indicators are as follows:
PURGE FAULT = RED
PURGING = WHITE
(this light is located on the PURGE ENABLE button)
PURGE COMPLETE = GREEN
See Figure 3–3 for the P–120 and P–145 configuration. See Figure 3–4
for the P–200(E) configuration.
Figure 3–3. Operator Panel (P–120 and P–145 Configuration)
PURGE COMPLETE
PURGE FAULT
PURGE ENABLE
Figure 3–4. P–200(E) Configuration (Close up)

The green indicators on the PCU module are as follows:

Solenoid outputs (SOL)
Pressure switch (PRSW)
Flow switch (FLSW)
Optional handbroken input (HBKN)
Optional teach pendant disconnect input (TPDSC)
Power (PWR)
NOTE The power indicator monitors only one of four internal supplies
but serves to indicate that the main 200 VAC power is on.
Figure 3–5. Purge Control Unit Status Indicators
ISTB
SOL1–P 1
SOL1–N 2
SOL2–P 3 CNBKIS
SOL2–N 4
PS–1 5
PS–2/3 6
PS–4 7
FS–1 8
FS–2/3
FS–4
HBK–P
9
10
11
PCU
HBK–N
TPD–P
TPD–N
12
13
14
Status Indicators
SOL
PR SW
FL SW
HBKN
TPDSC
PWR
SOL
CNBK6
I/S
PA PR SW
CNBK3
PE
FL SW
CNPG
HVTB
HBKN
1
2 HBK
3
4
5
6
7
TPDSC
TPDSC
PGA–1
8
9
PGA–2
10
11 200A IN
12
13
14
200B IN
FIRE ALARM PWR

15 200A OUT
16 200B OUT
PURGE MODULE
3.5 The Purge Control Unit (PCU) depends on an Intrinsically Safe (IS)
ground connection to the IS ground terminals. This ground is an
WIRING THE PURGE
independent ground wire from the IS ground terminals to the substation
CONTROL UNIT ground. No other circuits can be grounded to this wire.
The PCU is equipped with terminals for field connections. Connect the
following devices to the terminals indicated. Also see Figure 3–6, Purge
Control Unit Connections Drawing.
Table 3–1. PCU Terminal Connections – Wiring
DEVICE IS TERMINAL STRIP
Solenoid #1 (robot) Terminals SOL1–P and SOL1–N
Solenoid #2 (optional) Terminals SOL2–P and SOL2–N
Pressure Switch #1 (robot) Terminals PS–1 and PS–2/3
Pressure Switch #2 (optional) Terminals PS–2/3 and PS–4
Jumper terminals PS–2/3 to PS–4 if
pressure switch #2 is not used.
Flow Switch #1 (robot) Terminals FS–1 and FS–2/3
Flow Switch #2 (optional) Terminals FS–2/3 and FS–4
Jumper terminals FS–2/3 to FS–4 if
flow switch #2 is not used.
Handbroken Terminals HBK–P and HBK–N
*Must be jumpered if not used
Teach pendant disconnect input Terminals TPD–P and TPD–N (Optional)
NOTE Terminals PS–2/3 and FS–2/3 have two connections.
The optional Handbroken, and TPDSC devices can be wired to terminals

HBK–P, HBK–N, TPD–P, and TPD–N. Refer to the job specific wiring
diagrams for these connections.
The wiring from the PCU to the controller (to or from the HV terminal
block and various connectors, for example) is completed by FANUC
Robotics.
3.6 Use Table 3–2 to troubleshoot problems with the Purge Control Unit.
TROUBLESHOOTING Table 3–2. PCU Terminal Connections – Troubleshooting
SYMPTOM ITEM TO BE CHECKED
No Power (all indicators off) 1. Check 200A and 200B on HVTB
2. Check fuses F1 and F2
Solenoid LED does not light. Check fuse F3
Solenoid does not activate. 1. Check fuse on fuse module.
2. Check that correct fuse module is
plugged in.
Pressure/Flow LEDs do not light. 1. Check fuse F4.
2. Check wiring.
3. Check devices in robot.
Unit does not time out. 1. Check for proper pressure and flow
switch operation.
2. Check fuse F5.
Controller does not turn on even 1. Check that the fire alarm jumper on
though the purge unit has timed out. HVTB is in place.
2. Check fuse F6
Operator Panel LEDs do not light. Check that connector CNPG is fully
plugged in.
3.7 This section contains the Purge Control Unit Connection Diagram.
See Figure 3–6.
PURGE CONTROL
CONNECTION
DIAGRAM
NOTE: ALL CONTACT DEVICES MUST BE ”SIMPLE”
3–10
SOLENOID PARAMETERS
Voc (V) Isc (mA) Ca (uF) La (mH)
29.1 115 2.5 10.0
CONTACT PARAMETERS
Voc (V) Isc (mA) Ca (uF) La (mH)
18.5 23.8 10 60 NON–HAZARDOUS LOCATION HAZARDOUS LOCATION CLASS I, II & III

DIVISION 1 GROUPS C D E F & G
FIELD CONNECTIONS
#20AWG (0.5MM2)
SHIELDED CABLES
MUST BE INSTALLED PER ROBOT
PURGE UNIT DEVICES
NFPA 70–1996, ARTICLE 504
ISTB
SOLENOID 1 SOL1–P PURGE
OPERATOR’S PANEL SOLENOID
CNPG SOL1–N VALVE
FAULT
SOLENOID 2 SOL2–P
SOL2–N DEVICES
PURGING PS–1 ROBOT
Figure 3–6. Purge Control Unit Connection Diagram

(PURGE ENABLE) 1 PRESSURE PRESSURE
2 PS–2/3 SWITCH
3 SWITCH
4 PS–4
5 FS–1 ROBOT
PURGE FLOW FLOW
COMPLETE FUSE FUSE FS–2/3 SWITCH
MODULE 1 MODULE 2 SWITCH
FS–4
(IF USED)
PURGE
SEE NOTE 5 SOLENOID
PURGE
ENABLE TIMER JUMPERS VALVE
D OPTIONAL
FLOW
C SEE NOTE 4 SWITCH
B
A OPTIONAL
PRESSURE
SWITCH
HAND HBK–P OPTIONAL OPENER
BROKEN SEE NOTE 6 OPTIONAL
HBK–N DEVICES
TP TPD–P
OPTIONAL
DISCONNECT TPD–N
SWITCH
SEE NOTE 3 220VAC SEE NOTE 2

INPUT SHIELD CONNECTIONS
PA
FIRE ALRM
PURGE COMPLETE
220VAC OUTPUT
TO CONTROLLER
NOTES:
PURGE COMPLETE I.S. GND
1. RELAY CONTACTS RATED AT 3A, 250VAC
SEE NOTE 1 IS GROUND MUST BE
CONNECTED PER 2. FOR CONTINUED SAFETY, REPLACE WITH
PURGE COMPLETE ANSI/ISA RP 12.6–1987 BUSSMAN FNQ–R–1/4 FUSES
PE
3. MODULE POWER REQUIREMENTS
FRAME GROUND 220VAC +10/–15% 50/60HZ 40VA
4. CUT PURGE TIMER JUMPERS PER THE
INSTRUCTIONS ON THE ROBOT CONTROL DRAWING
CUT TIME CUT TIME
NONE 0 SEC D 268 S
A 33 S A D 301 S
B 67 S B D 335 S
PURGE UNIT MODELS AB 100 S ABD 368 S
C 134 S CD 402 S
MODEL EE–3505–710–001 AC 167 S AC D 435 S
(Single Robot) BC 201 S BC D 469 S
ABC 234 S ABC D 502 S
MODEL EE–3505–710–002 5. CUT FUSE MODULE JUMPERS PER THE
(P–200 with Opener or INSTRUCTIONS ON THE ROBOT CONTROL DRAWING
a second purged cavity) 6. MUST USE JUIMPER IF NOT USED
4 ENCODER/BRAKE
PRINTED CIRCUIT BOARD
4–1

Encoder/Brake Printed This section describes the encoder/brake PCB. . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–2
Circuit Board
6 Axis Encoder/Brake This section provides an illustration of the P–120 / P–145 6 axis
PCB encoder/brake PCB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–3
7 Axis Encoder/Brake This section provides an illustration of the P–200(E) 7 axis
PCB encoder/brake PCB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4–4
Encoder/Brake Inputs This section describes the signals coming into the encoder/brake PCB. . . . . . . . 4–5
Encoder/Brake Outputs This section describes the signals going out from the encoder/brake PCB . . . . . 4–5
Packaging This section shows the different configurations of the encoder/brake PCB . . . . . 4–5
4–2 MARM3ELEC11801E REV C
4.1 The encoder/brake printed circuit board performs the following functions:
ENCODER/BRAKE UNIT Shunts all encoder five volt lines to ground when power is turned off
P–120/P–145 or purge is lost.
EE–3505–740–001 & –002 Provides manual brake release function (energizes the brake solenoids)
P–200(E) if the robot is purged and the controller is in an Emergency Stop
EE–3505–761–001, –002 condition.
Figure 4–1. Encoder/Brake Printed Circuit Board with Optional Daughter boards
Optional 3 Axis
Daughterboard
B-size controller
Optional 3 Axis
Daughterboard
6 Axis Encoder/Brake PCB Shown

MARM3ELEC11801E REV C 4–3
Figure 4–2. P–120/P–145 6 Axis Encoder Brake Unit
OPTIONAL THREE AXIS 6 AXIS ENCODER BRAKE UNIT

ENCODER/BRK BOARD
ENCODER/
BRAKE
MODULE
FRONT
100VAC
2.5–H/SA5
24V
FRONT
BRAKE
2.5–H/SA5 OUT
FRONT +7
MBC
2.5–H/SA5
FRONT –7
CN6B
2.5–H/SA5
14 CIRCUIT
+8
AMP CONN.
FRONT
14 CIRCUIT
AMP CONN.
2.5–H/SA5 –8
CN6B
FRONT
2.5–H/SA5 +9
–9
HONDA
PCR–EV20MDT ENC
HONDA IN
PCR
7
HONDA
PCR–EV20MDT ENC
HONDA IN
#178307 16 POS.
PCR
8
HONDA ENC
PCR–EV20MDT HONDA IN
PCR
CN6A
AMP
9
HONDA HONDA
ENC
OUT
SIDE VIEW
PCR–EV20MDT PCR
7 SIX AXIS ENCODER
ENC
HONDA HONDA
PCR
OUT BRAKE BOARD
PCR–EV20MDT 8
ENC
HONDA OUT
HONDA PCR
PCR–EV20MDT 9
CRF1–B
BRAKE
OUT
+10
–10
+11
–11
SIDE VIEW +12
–12
THREE AXIS ENCODER
BRAKE BOARD ENC
IN
10
ENC
IN
11
ENC
IN
CRF1–A
12
ENC
OUT
10
ENC
OUT
11
ENC
OUT
12
FRONT VIEW
4–4 MARM3ELEC11801E REV C
Figure 4–3. P–200(E) 7 Axis Encoder Brake Unit
OPTIONAL THREE AXIS

ENCODER/BRK BOARDS 7 AXIS ENCODER BRAKE UNIT
BRK1,2
F1
BRK1,2
24VIN MBC
100V
BRK 3,7
BRK 3,7
MBC6 24VPG 24VPG
BRK4–6
BRK4–6
ENC IN 1
ENC IN 2
ENC IN 3
CN6A
SIDE VIEW OF 7 AXIS MODULE
ENC OUT1
ENC OUT2
ENC OUT3
CRF7B
CRF7A
CRF1–B
ENC IN 1
ENC IN 2
ENC IN 3
ENC OUT1
CRF1–A
ENC OUT2
ENC OUT3
MARM3ELEC11801E REV C 4–5
4.2 The encoder/brake PCB has connectors for the following inputs:
ENCODER/BRAKE Normal brake signals from the amplifiers.
PCB INPUTS
Manual brake signals from the operator panel.
Encoder signals and power from the six channel amplifier.
Addional axes signals by installing an optional daughter board.
4.3 The encoder/brake PCB has connectors for the following outputs:
ENCODER/BRAKE Brake signals to the motors.
PCB OUTPUTS
Encoder signals and power to the encoders.
Additional axes signals by installing an optional daughter board.
4.4 The encoder/brake PCB is a bracket mounted item installed in the upper
left corner of the R-J3 controller. See Table 4–1 for robot configurations.
PACKAGING
Table 4–1. Encoder/Brake Assembly Configurations
Robot Configuration Encoder/Brake Assembly

P–120 and P–145, 6 Axis EE–3505–740–001 (Mb)
P–120 and P–145, 6+2K Axis EE–3505–740–002 (Mb + 1 Db)
P–200(E), 6 Axis EE–3505–761–001 (Mb)
P–200(E), 6+2K Axis EE–3505–761–001 (Mb)
P–200(E), 7 Axis EE–3505–761–001 (Mb)
P–200(E), 7+2K Axis EE–3505–761–001 (Mb)
P–200(E), 7+2 Axis or 3 Axis Opener EE–3505–761–002 (Mb + 1 Db)
and 7+3+2K Axis
*Mother board = (Mb)
*Daughter board = (Db)
The optional 3 Axis daughter boards are only necessary when the 2k paint
process option is added or an opener robot is added to the system.
5 MULTI–TAP TRANSFORMER
5–1

Multi Tap Transformer Description of the multi-tap transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–2
R-J3 (RIA) paint controller transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5–2
5.1 The multi-tap transformer is located on the floor of the controller on the
right rear side of the cabinet. See Figure 5–1 for component location.
MULTI-TAP
TRANSFORMER The multi-tap transformer is supplied 3-phase VAC from the main
disconnect or circuit breaker. This supply voltage can range from
380 – 575 volts. To accommodate the various levels of supply, tap
selections are provided on the primary side of the transformer.
The transformer output supplies the following voltages:
3–phase 200 VAC nominal for the servo amplifiers
1–phase 200 VAC nominal for the backplane–mounted components
1–phase 100 VAC nominal for the brakes.
Two series-connected thermostats are mounted on the transformer. They
are connected to fault detection circuitry in one servo amplifier. If the
transformer overheats, the controller will signal a SRVO–0043 DCAL
alarm.
Figure 5–1 shows the transformer location. Table 5–1 lists the information
necessary for selecting a proper primary tap.
Table 5–1. Multi-Tap Transformer Part Numbers
Transformer Type Part Number Power Supply Voltage
7.5kVA Type 3 EE-3505-551–003 440 – 575VAC
P–200(E) Rail Mounted Robot
Configurations
7.5kVA Type 2 EE-3505-552–005 380 – 500VAC
(P–120, P–145 and P–200(E) Pedestal
Configurations
Figure 5–1. Multi-Tap Transformer Location
Transformer Discharge
or resistor
Line filter
6 PARTS
6–1

P–120/P–145 Robot P–120 / P–145 (RIA) Paint Controller Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–2
R–J3 Controller Parts List
P–200E/P–200 Robot P–200(E) (RIA) Paint Controller Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6–3
R–J3 Controller Parts List
6.1 The following table provides part number information for the R–J3 (RIA)
controller for the P–120 and P–145 robots. These lists include the parts
P–120/P–145 ROBOT
for the base paint application controller. Review the cabinet layouts, in
R–J3 (RIA) CONTROLLER Chapter 7, for your controller configuration.
PARTS LIST
Table 6–1. P–120 / P–145 (RIA) R–J3 Paint Controller
No. Name Part Number Remarks
1 R–J3 P–120/P–145 Basic Unit A05B–2406–B010
2 Riser for Main Cabinet A05B–2302–J200
3 Operator Panel A05B–2406–C002 CE Mark
4 Operator Panel PCB A20B–2100–0470
5 Hour meter A05B–2401–J090
6 Intrinsically Safe Teach Pendant A05B–2308–C307 CE Mark
7 IS Teach Pendant Cable A660–2005–T288 10 meter, XGMF–12326
/13R03
8 IS Battery Unit EE–3185–551
9 ISB Unit A05B–2406–C372 Dual Chain
10 Backplane A05B–2400–C060 2 Slot
11 Main CPU Board A16B–3200–0331
12 CPU Card A2 DRAM A20B–3300–0085 16MB
13 Module – SRAM A20B–3900–0060 2MB
14 Module – Flash ROM A20B–3900–0070 16MB
15 Purge Unit EE–3505–710–001
16 6 Axis Encoder / Brake Unit EE–3505–740–001 6 Axis Robot Configuration
17 6 + 3 Axis Encoder / Brake Unit EE–3505–740–002 6 Axis Robot with 2k Paint Process
18 Axis Control Board – 6 Axis A17B–3300–0201 6 Axis Robot Configuration
19 Axis Control Board – 8 Axis A17B–3300–0200 6 Axis Robot with 2k Paint Process
20 Power Supply Unit A16B–2203–0370
21 Transformer EE–3505–552–005
22 6 Axis Control Servo Amplifier A06B–6100–H003 Servo Amplifier
A05B–2401–C201 Discharge Resistor
23 Beta Servo Amplifier A06B–6093–H111 12 Amp Beta
24 E–Stop Unit A05B–2401–C412 Redundant or Dual Chain E–Stop Unit
25 Circuit Protector A05B–2406–C120 Main Circuit Protector
26 Line Tracking PCB A20B–8001–0870 R–J3 Line Tracking PCB (Wide Mini)
27 5 Slot Model A I/O – Base Unit A03B–0807–C003 ABU05B
28 I/O Module A03B–0807–C011 AIF01A
29 I/O Cables XGMF–11900 A660–4042–T027/L1R203
XGMF–11901 A660–8011–T204/L150R0
XGMF–11902 A660–8012–T722/L150R0
30 Spare Fuse Kit B A05B–2406–K002 Fuse GP32, (XGMF–12037)
31 Spare Fuse Kit A05B–2400–K002 Fuse 7.5A, (XGMF–09177)
Fuse LM10, (XGMF–11751)
Fuse 8A, (XGMF–11750)
Fuse 1.0A, (XGMF–00504)
32 Wiring Tool for Terminal Block XGMF–11879 Terminals TBOP4, TBOP5 and TBOP3 located on
Operator Panel Board
6.2 The following table provides part number information for the R–J3 (RIA)
controller for the P–200(E) robot. These lists include the parts for the base
P–200(E) ROBOT
controller only. Review the cabinet layouts, in Chapter 7, for your
R–J3 (RIA) CONTROLLER controller configuration.
PARTS LIST
Table 6–2. P–200(E) (RIA) R–J3 Paint Controller
1 R–J3 P–200(E) Basic Unit A05B–2406–B010
2 Operator Panel A05B–2406–C002
3 Operator Panel PCB A20B–2100–0470
4 Hour meter A05B–2401–J090
5 Intrinsically Safe Teach Pendant A05B–2308–C307
6 IS Teach Pendant Cable A660–2005–T288 10 meter – XGMF–12326
/13R03
7 IS Battery Unit EE–3185–551
8 ISB Unit A05B–2406–C372
9 Backplane A05B–2400–C060 2–Slot
10 Main CPU A16B–3200–0331
11 CPU Card DRAM A20B–3300–0085 16MB
12 Module SRAM A20B–3900–0060 2MB
13 Module FLASH ROM A20B–3900–0070 16MB
14 Purge Unit EE–3505–710–001 Single Robot Pedestal and Rail Configurations
15 Purge Unit EE–3505–710–002 P–200(E) with Opener Robot (Two Purge Cavities)
16 7 Axis Encoder / Brake Unit EE–3505–761–001 Single Robot Pedestal and Rail Configurations
17 7+3 Axis Encoder / Brake Unit EE–3505–761–002 P–200(E) with Opener Robot
19 Axis Control Board – 6 Axis A17B–3300–0201 6 Axis Robot Configuration
20 Axis Control Board – 8 Axis A17B–3300–0200 All Rail Configurations
21 Power Supply Unit A16B–2203–0370
22 Power Transformer EE–3505–552–005 Pedestal Configuration
23 Power Transformer EE–3505–551–003 Rail Configuration
24 6 Axis Control Servo Amplifier A06B–6100–H003 Servo Amplifier
A05B–2401–C201 Discharge Resistor
25 Beta Servo Amplifier A06B–6093–H111 12 Amp Beta (2k Paint Process)
26 Beta Servo Amplifier A06B–6093–H114 80 Amp Beta (Rail or Opener Robot Axes)
27 E–Stop Unit A05B–2401–C412 Redundant or Dual Chain E–Stop Unit
28 Circuit Protector Unit A05B–2406–C120
29 Circuit Protector Unit with Breakers A05B–2406–C124
30 Line Tracking – PCB A20B–8001–0870 Line Tracking PCB (Mini Wide)
31 AB RIO Mini Slot Size A20B–8001–0700
32 R–J3 Mini Slot 4 Axis Auxiliary PCB A20B–8100–0422
33 R–J3 Mini Slot 6 Axis Auxiliary PCB A20B–8100–0421
34 5 Slot Model A I/O – Base Unit A03B–0807–C003 ABU05A
35 I/O Module A03B–0807–C011 AIF01A
36 I/O Cables XGMF–11900 A660–4042–T027/L1R203
XGMF–11901 A660–8011–T204/L150R0
XGMF–11902 A660–8012–T722/L150R0
Table 6–2. (Cont’d) P–200(E) (RIA) R–J3 Paint Controller

37 Spare Fuse B A05B–2406–K002 Fuse – GP32, (XGMF–12037)
38 Spare Fuse A05B–2400–K002 Fuse – 7.5A, (XGMF–09177)
Fuse – LM10, (XGMF–11751)
Fuse – 8A, (XGMF–11750)
Fuse – 1.0A, (XGMF–00504)
39 Wiring Tool for Terminal Block XGMF–11879 Terminals TBOP4, TBOP5 and TBOP3 located on
Operator Panel Board
7
TOTAL CIRCUIT DIAGRAMS
7–1

Total Connection Controller Circuit Diagrams
Diagrams R–J3 (RIA) Paint Controller Block Diagrams
P–120/P–145 6 Axis & 6+2K Option Controller . . . . . . . . . . . . . . . . . . . . . . . . 7–3
P–200(E) 6 Axis & 6+2K Option Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–4
P–200(E) 7 Axis Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–5
P–200(E) 7+2K Option Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–6
P–200(E) 7 + 2 Axis Opener Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–7
P–200(E) 7+3 Axis Opener & 7+3+2K Option Controller . . . . . . . . . . . . . . . . 7–8
R–J3 (RIA) Factory Mutual (FM) Control Drawings
P–120/P–145 FM Control Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–9
P–200 FM Control Drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–10
P–200E FM Control Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–11
R–J3 (RIA) Controller Internal Components and Circuit Diagrams
P–120, P–145 and P–200(E) 6 Axis Configuration Transformer . . . . . . . . . . 7–14
P–200(E) 7 Axis Configuration Transformer . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–15
Main Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–16
Redundant E–Stop Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–17
Servo Amplifier (1/2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–18
Servo Amplifier Connectors (2/2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–19
Beta 12/20 Servo Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–20
Beta 40/80 Servo Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–21
6 Axis Encoder Brake Unit
shown with optional 3 Axis Encoder Brake Board . . . . . . . . . . . . . . . . . . . . . 7–22
7 Axis Encoder Brake Unit
shown with optional 3 Axis Encoder Brake Board . . . . . . . . . . . . . . . . . . . . . . 7–23
Purge Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–24
Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–25
P–120/P–145 Operator Panel (1/3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–26
P–120/P–145 Operator Panel (2/3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–27
P–120/P–145 Operator Panel Connectors (3/3) . . . . . . . . . . . . . . . . . . . . . . . 7–28
P–200(E) Operator Panel (1/3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–29
P–200(E) Operator Panel (2/3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–30
P–200(E) Operator Panel Connectors (3/3) . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–31
Circuit Protectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–32
P–120/P–145 Emergency Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–33
P–200 Emergency Stop Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–34
P–120/P–145 Power Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–35
Intrinsically Safe Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–36
Robot Cable Layouts
P–120 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–37
P–145 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–38
P–200 Pedestal Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–39
P–200 In Booth Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–40
P–200 Clean Wall Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–41
P–200E Pedestal Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–42
P–200E Rail Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–43
P–10 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–44
P–15 Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–45
P–10E Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–46
P–15E Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–47
P–120/P–145 Fiber Optic Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–48
P–200 Fiber Optic Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–49
Optional I/O Device Connection to Operator Panel PC Board . . . . . . . . . . . . 7–50
Total Connection Controller Circuit Diagrams

Diagrams (Continued) R–J3 (RIA) Controller Cabinet Layouts
External Dimensions of Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–51
P–120/P–145 6 Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–52
P–120/P–145 6+2K Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–53
P–200(E) 6 Axis & 6 + 2K Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–54
P–200(E) 7 Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–55
P–200(E) 7+2K Option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–56
P–200(E) 7+2 Axis Opener . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–57
P–200(E) 7+3 Axis Opener & 7 + 3 + 2K Option . . . . . . . . . . . . . . . . . . . . . . 7–58
NOTICE
NO REVISIONS WITHOUT PRIOR
OPER. PANEL PC BOARD I/O UNIT MODEL–A CONTROLLER (4 SLOT) APPROVAL FROM FACTORY MUTUAL (FM)
VERTICAL 5 SLOT (OP.)
BACK PLANE CP6 = X KEY
HOUR METER CRP5 CP32 JD1B
TBOP1 FENCE & EX ESTOP PSU SPARE
OPERATOR’S PANEL TBOP2 EXT ON/OFF JD1A

JDI7 RS232 MAIN CPU
CRT8
PORT B RS232
LINE
HAZARDOUS AREA
CRJ2B CRJ2A
TRK’G
CP1 (AC INPUT)

CRM33 JRS7 JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
CP2 (AC200V)
CP3 (AC200V)
BD
CE I.S. TEACH PENDANT
CNPG1
CRP11
COP10A
SEE NOTE 3
CRP12
EE–3505–583–001
CRS18 CRS9 FAN
(DOOR)
PCMCIA
CE ISB UNIT JRS8
FAN
CP5 (SIDE)
CRS2 CRS16 CRS16 FAN
CRM42 EE–3505–596–001 (CEILING)
IS GND
EE–3505–584–001
PURGE UNIT
PS/FS
I.S. GND WIRE ROBOT
CNPG HBKIN
Figure 7–1. P–120/P–145 6 Axis and 6 + 2k Block Diagram

EE–3287–598–001 EE–3287–118–1XX
HBKOUT PURGE
IS BATT
200 IN 200 OUT GND DEVICES
UNIT
IS GND PE GND EE–3505–599–001 6 AXIS ENC/BRK

24V EE–3505–740–001
I,S. GND WIRE
COP10B 6 AXIS SERVO AMP
CHASSIS 6 + 3 ENC/BRK
INSTALLED CRM30
EE–3505–595–001 GND COP10A EE–3505–740–002
AT SITE RDI/RDO MBC
CRM37 EE–3505–321–0XX (P145)
100V CRF1B ENCODERS
HBK/ROT
EE–3505–331–0XX (P120)
REDUNDANT ESTOP PC BD CRR44 CRF1 CRF1A
ROTARY CN6B
DISCONNECT TRANS CRM42 CP2 CN6A
CRR45A CN6
BREAKER (7.5KVA)
FILTER CRM44 CRM43
QF1 REDUNDANT ESTOP CRR45B DCR
TB 220VAC 1
L1 100v CRR43B CNGB EE–3505–322–0XX (P145)
CP1A CRR45C MOTORS
EE–3505–332–0XX (P120)
L2 TOH QF3 CRR50A CRR43A CRP10 CNJ1A
3 CNMC1 CRR20
CRR50B CRR39 CNJ2B
L3 100VAC 1 (PRECHG)
3 CRR47D CRR47A 3 CNJ3B
G CRR38A AC IN EE–3505–582–001
200VAC 3
TAP CRR47B CNJ4
SELECT QF2 3 EE–3505–581–001
3 CRR47E CRR47C CNJ5
TRANS OPTION LOCKOUT EE–3287–599–001
CNMC2 XT4 EE–3287–590–001 CNJ6
TYPE 1
220–240V CNGA
380–415V
TYPE 2 CRM39
XGMF–11842 BRK EE–3505–351–0XX
200–220V 7
380–400V 8 3 AXIS
CIRCUIT XGMF–11130 (x2) ENCODER BRAKE UNIT
PROTECTOR 2K
(CP) XGMF–11861 100V 24V
MAIN MAIN A05B–2406–C120 COP10 A/B

ROBOT ON1 ON2 CRM CRM EE–3287–585–001 JF1 #7OUT #7IN ENCODERS 1,2
LOCKOUT 58 57 CX11–1 2K AMP
CRM
CX11–3
EE–3287–588–001 41A CX11–4 #8OUT #8IN
CRM EE–3505–
TOTAL 41B JX–5 CX11–6 594–001
LOCKOUT 56
#9OUT #9IN
41
QF11 COP10 A/B
TB1 3 JF1
CX11–1 2K AMP EE–3505–352–0XX
ALTERNATE CONNECTION TB2 CX11–3 MOTORS 1,2
CX11–4
TO CP, TB1
2K JX–5 CX11–6
LOCKOUT OPTION CONTACTORS NOTE: DOTTED LINES SHOW 2K COMPONENTS
EE–3287–595–001
EE–3287–586–001
SEE ROBOT CABLE LAYOUT

EE–3505–003 for P145
EE–3505–004 for P120
P–120/P–145
R–J3 CONTROLLER
NOTES: BLOCK DIAGRAM
7–3
1. SEE SHEET 17 FOR FIBER OPTIC CABLING CONFIGURATIONS 6 AND 6+2K VERSIONS
2. DOTTED LINES SHOW EQUIPMENT FOR 2K AND OTHER OPTIONS.
3. 6 AXIS CONTROLLER HAS CPU WITH 6 AXIS SERVO CARD – A17B–3300–0201
EE–3505–501–001
6+2K CONTROLLER HAS CPU WITH 8 AXIS SERVO CARD – A17B–3300–0200 THRU –002
NOTICE
7–4
APPROVAL FROM FACTORY MUTUAL (FM)
I/O UNIT MODEL–A

OPER. PANEL PC BOARD VERTICAL 5 SLOT (OP.) CONTROLLER (4 SLOT)
TBOP1 PSU SPARE
MODE SW CRT–7 TBOP2 JD1A

OPERATOR’S PANEL MAIN CPU
CRT8 JDI7
LEDS AND HAZARDOUS AREA
WITH 8 AXIS SERVO
PUSHBUTTONS PORT B
LINE
OPEMG CRJ2B CRJ2A
TRK’G
CP1 (AC INPUT)

TP RELEASE SW. CRM33 JRS7 JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
CP2 (AC200V)
BD
CP3 (AC200V)
CNPG1
CRP11
COP10A
CRP12
EE–3505–586–001
CRS18 CA39 FAN
(DOOR)
PCMCIA
ISB CA44
FAN
(DCR)
CP5
CRS2 CRS1 CRS16 FAN
CRM42 EE–3505–596–001 (DCR)
IS GND
EE–3505–584–001
Figure 7–2. P–200(E) 6 Axis and 6 + 2k Block Diagram

PURGE UNIT
PS/FS
GND WIRE HBKIN ROBOT
CNPG EE–3287–598–001
HBKOUT EE–3287–118–1XX
PURGE
IS BATT DEVICES
200 IN 200 OUT EE–3287–599–001 GND UNIT
IS GND PE GND 24V 24VPG

GND WIRE 6 AXIS SERVO AMP DC/DC CONV
COP10B MBC6 EE–3505–761–001
EE–3505–595–001 CHASSIS *HBK A EE–3287–133–1XX
INSTALLED CRM37 *ROT B MBC 7 AXIS CRF1B ENCODERS
AT SITE GND COP10A
CRM30 ENCODER/
100V BRAKE CRF7B
RDI/RDO
EE–3505–581–001 MODULE
CRF1 CRF1A BKR1,2
EMERGENCY STOP BD EE–3505–587–001 CRR44
QF1 PL6
TRANS CRM42 CP2 EE–3287–604–001
ROTARY DISCONNECT TAP CRR45A CN6 CN6A BRK3,7
(7.5KVA)
& BREAKER SELECT
TB REDUNDANT ESTOP CRM44 CRM43 CRR45B DCR CNGB CRF7A BRK4–6
220VAC 1
CP1 100v CRR43A CRR45C CNJ1A MOTORS 1,2
EE–3287–130–1XX
TOH CRR QF3 CRR50A CRR43B CNJ2B
CRP10
L2 50B CNMC1
3 CRR20 CRR39 EE–3287–132–1XX
100VAC 1 CNJ3B MOTORS 3,7
LOCKOUT (PRECHG)
L3
3 CRR47D CRR47A 3 CNJ4
200VAC 3 CRR38A AC IN
G EE–3287–131–1XX
QF2 CRR47B CNJ5 MOTORS 4–6
3
3 PHASE
TRANS OPTION
CNMC2 XT4 CNGA
TYPE 1
220–240V CRM39
BRK
380–415V
TYPE 2 NOT USED
200–220V
380–400V
XGMF–11862
TYPE 3 (STANDARD N.A.) 2M OPTICAL
440–480V 2K
XGMF–11861
500–575V CP 2 0.5M OPTICAL B
CRM CRM A COP10 JF1 ENCODERS 1,2
58 57 EE–3287–585–001 CX11–1 2K AMP
EE–3287–601–001 CRM (12A) CX11–3
41A CX11–4
#1 EE–3505–
CRM 41B JX–5 CX11–6 594–001 NOTE: MAY ALSO BE USED
EE–3287–588–001 56 WITH 2 AXIS OPENER
41 B
EE–3287–590–001 QF11 10A A COP10
TB1 JF1
CX11–1 2K AMP
TB2 (12A) CX11–3 MOTORS 1,2
CX11–4
#2
JX–5 CX11–6
EE–3287–595–001 P–200(E)
R–J3 CONTROLLER
6 AXIS BLOCK DIAGRAM
NOTES: EE–3287–502–006
SEE SHEET 14 FOR FIBER OPTIC CABLING CONFIGURATIONS
THIS BLOCK DIAGRAM SHOWS OPTIONS FOR MULTIPLE VERSIONS
6+2K BLOCK DIAGRAM
REFERENCE ONLY
NOTICE
I/O UNIT MODEL–A

PSU SPARE HAZARDOUS AREA
TBOP1
MODE SW CRT7 TBOP2 JD1A

OPERATOR’S PANEL JDI7 MAIN CPU
CRT8
PUSHBUTTONS WITH 8 AXIS SERVO
AND LEDS PORT B
LINE
OPEMG CRJ2B CRJ2A
TRK’G
TP RELEASE SW. CRM33
CP1 (AC INPUT)

JRS7 JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
BD
CP2 (AC200V)
CP3 (AC200V)
CNPG1
CRP11 8 AXIS SERVO CARD
COP10A
CRP12
EE–3505–586–001
CRS18 CA39 FAN
(DOOR)
PCMCIA CA44
ISB FAN F1 F2 F3 F4 F5
(DCR)
CP5
CRS2 CRS1 CRS16 FAN
CRM42 EE–3505–596–001 (DCR)
IS GND
Figure 7–3. P–200(E) 7 Axis Block Diagram

EE–3505–584–001
PURGE UNIT
PS/FS
GND WIRE HBKIN ROBOT
CNPG EE–3287–598–001
PURGE
IS BATT
200 IN DEVICES
200 OUT EE–3287–599–001 GND UNIT
IS GND PE GND EE–3505–587–001 24VPG

24V
GND WIRE DC/DC CONV
COP10B 6 AXIS SERVO AMP MBC6 EE–3505–761–001
INSTALLED COP10A CRM37 *ROT B MBC 7 AXIS CRF1B ENCODERS
AT SITE GND
CRM30 ENCODER/
100V BRAKE CRF7B
RDI/RDO
EE–3505–581–001 MODULE
CRF1 CRF1A BKR1,2
EMERGENCY STOP BD CRR44
QF1 PL6
TRANS CRM42 CP2 EE–3287–604–001 BRK3,7
ROTARY DISCONNECT TAP CRR45A CN6 CN6A
(7.5KVA)
& BREAKER SELECT
TB REDUNDANT ESTOP CRM44 CRM43 CRR45B DCR CNGB CRF7A BRK4–6
220VAC 1
CP1 100v CRR43A CRR45C CNJ1A MOTORS 1,2
EE–3287–130–1XX
TOH CRR QF3 CRR50A CRR43B CRP10 CNJ2B
L2 50B CNMC1
3 CRR20 CRR39 EE–3287–132–1XX
(PRECHG)
L3
G EE–3287–131–1XX
QF2 CRR47B CNJ5 MOTORS 4–6
3
3 PHASE
TRANS OPTION
CNMC2 XT4 XGMF–11842 CNGA
TYPE 1
CRM39 XGMF–11130
220–240V
BRK
380–415V
TYPE 2 COP AXIS 7 CX22
200–220V SERVO AMP JF1
CX21
380–400V EE–3287–
JX–5 CX20 583–001
TYPE 3 (STANDARD N.A.)
CX19A CX23 EE–3287–
440–480V 581–001
500–575V CP
CRMCRM
58 57
CRM EE–3287–584–001
41A
CRM 41B
EE–3287–588–001 56
41
EE–3287–590–001 TB1 QF1110A EE–3287–594–001
TB2
EE–3287–601–001
P–200(E)
R–J3 CONTROLLER
7–5
NOTES:
SEE SHEET 14 FOR FIBER OPTIC CABLING CONFIGURATIONS 7 AXIS BLOCK DIAGRAM
THIS BLOCK DIAGRAM SHOWS OPTIONS FOR MULTIPLE VERSIONS BOM EE–3287–502–001
NOTICE
7–6
I/O UNIT MODEL–A

TBOP1 MAIN CPU PSU SPARE
WITH 8 AXIS
MODE SWITCH CRT7 TBOP2 JD1A SERVO CARD
HAZARDOUS AREA
CRT8 JDI7
OPERATOR PANEL SWITCHES LEDS AND
PORT B AUX LINE
PUSHBUTTONS
4 AXIS TRK’G
CRJ2B CRJ2A BD BD
OPEMG
CRM33
CP1 (AC INPUT)

TP RELEASE SW. JRS7 JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
CP2 (AC200V)
CP3 (AC200V)
CNPG1
CRP11
COP10A
8 AXIS SERVO CARD
CRP12
EE–3505–586–001
CRS18 CA39 FAN
(DOOR)
PCMCIA CA44
ISB FAN
(DCR)
CP5
CRS2 CRS16 FAN
CRS1 (DCR)
CRM42 EE–3505–596–001
IS GND
EE–3505–584–001
Figure 7–4. P–200(E) 7 + 2k Axis Block Diagram

PURGE UNIT
GND WIRE PS/FS
CNPG HBKIN ROBOT
EE–3287–598–001 EE–3287–118–1XX
HBKOUT PURGE
IS BATT
GND DEVICES
200 IN 200 OUT EE–3287–599–001 UNIT
GND WIRE 6 AXIS SERVO AMP DC/DC CONV

COP10B MBC6 EE–3505–761–001 EE–3287–133–1XX
EE–3505–595–001 INSTALLED CHASSIS *HBK A
ENCODERS
CRM37 *ROT B MBC 7 AXIS CRF1B
GND COP10A
AT SITE CRM30 ENCODER/
100V BRAKE CRF7B
RDI/RDO
EE–3505–581–001 MODULE
CRF1 CRF1A BKR1,2
QF1 PL6
TRANS EE–3287–604–001
ROTARY DISCONNECT TAP CP2 CRR45A CN6 CN6A BRK3,7
(7.5KVA) CRM42
& BREAKER SELECT
TB REDUNDANT ESTOP CRM43 CRR45B DCR CNGB CRF7A BRK4–6
220VAC 1
L1 CP1 100v CRR43A CRR45C CNJ1A MOTORS 1,2
CRM44
EE–3287–130–1XX
TOH CRR QF3 CRR50A CRR43B CRP10 CNJ2B
L2 50B CNMC1
3 CRR20 CRR39 EE–3287–132–1XX
(PRECHG)
L3
G 2.4M XGMF–11840 EE–3287–131–1XX
QF2 CRR47B CRM CNJ5 MOTORS 4–6
3 57
3 CRR47E EE–3287–584–001 CNJ6
CRR47C CRM
TRANS OPTION
EE–3287–590–002
41C
CNMC2 XT4 CNGA XGMF–11130
TYPE 1 41D
220–240V 41E CRM39
CRM
BRK
380–415V 56 41F
TYPE 2 41 B COP10 SEE NOTE 2

CX22
QF12 A
200–220V 3 EE–3287–594–001
CX21 AXIS 7 JF1
380–400V TB1 QF13 SERVO AMP EE–3287–
TB2 JX–5 A06B–6093 CX20 583–001
TYPE 3 –H114 2K
CP SIDE CAB MNT’D CX19A CX23 EE–3287–
440–480V 581–001
500–575V B COP10 2K
A
EE–3287–595–002 SERVO AMP JF1 ENCODERS 1,2
CX11–1 A06B–6093
CX11–4 –H111 CX11–3
EE–3287–585–002 EE–3505–
JX–5 CX11–6 594–001
B COP10 2K
A
SERVO AMP JF1
CX11–1 A06B–6093
–H111 CX11–3 MOTORS 1,2
CX11–4
EE–3505–
JX–5 CX11–6 594–001
XGMF–11861 EE–3287–601–001
P–200(E)
NOTES: R–J3 CONTROLLER
1. SEE SHEET 14 FOR FIBER OPTIC CABLING CONFIGURATIONS
2. AXIS 7 SERVO AMP IS IN SIDE CABINET 7+2K BLOCK DIAGRAM
2K AMPS AND CP ARE IN MAIN CABINET
REF BOM EE–3287–502–002
I/O UNIT MODEL–A
BACK PLANE CP6 = X KEY NOTICE
TBOP1 PSU SPARE NO REVISIONS WITHOUT PRIOR
MODE SW CRT7 TBOP2 JD1A
OPERATOR’S PANEL MAIN CPU
CRT8 JDI7
LEDS AND WITH 8 AXIS SERVO
PUSHBUTTONS PORT B
LINE
OPEMG CRJ2B CRJ2A
TRK’G
CRM33
CP1 (AC INPUT)

TP RELEASE SW. JRS7 JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
CP2 (AC200V)
BD
CP3 (AC200V)
CNPG1
COP10A
CRP12
EE–3505–586–001 4 CH
CRS18 CA39 AUX FAN
SERVO
(DOOR)
PCMCIA
ISB CA44
FAN
(DCR)
CP5
CRS2 CRS1 CRS16 FAN
CRM42 (DCR)
IS GND EE–3505–596–001
EE–3505–584–001
ROBOT
PURGE UNIT PS/FS PURGE
GND WIRE HBKIN DEVICES
CNPG EE–3287–598–001
IS BATT
200 IN 200 OUT EE–3287–599–001 GND UNIT
Figure 7–5. P–200(E) 7 + 2 Axis Opener Block Diagram

I.S. GND WIRE 6 AXIS SERVO AMP DC/DC CONV

COP10B MBC6 EE–3505–761–002
INSTALLED CRM37 *ROT B MBC 7 AXIS CRF1B ENCODERS
AT SITE GND COP10A
CRM30 ENCODER/
100V BRAKE CRF7B
RDI/RDO
EE–3505–581–001 MODULE
CRF1 CRF1A BKR1,2
QF1 PL6 EE–3287–604–001
TRANS CRM42 CP2 BRK3,7
ROTARY DISCONNECT TAP CRR45A CN6 CN6A
(7.5KVA)
& BREAKER SELECT
TB REDUNDANT ESTOP CRM44 CRM43 CRR45B CNGB CRF7A BRK4–6
DCR
220VAC 1
L1 CP1 100v CRR43A 2.4M XGMF–11840 CNJ1A MOTORS 1,2
CRR45C
EE–3287–130–1XX
TOH QF3 CRR50A CRR43B 2.4M XGMF–11840
CRR CRP10 CNJ2B
L2 50B CNMC1
3 CRR20 CRR39 EE–3287–132–1XX
(PRECHG)
L3
G EE–3287–602–001 EE–3287–131–1XX
QF2 CRR47B CRM CNJ5 MOTORS 4–6
3
3 PHASE 57 EE–3287–584–00X
EE–3287–590–002
CRM
TRANS OPTION 41C
CNMC2 XT4 CNGA
TYPE 1 41D
CRM39 XGMF–11130
220–240V CRM 41E
BRK
380–415V 56 41F
TYPE 2 41 COP AXIS 7 CX22

QF12
200–220V 3 SERVO AMP
CX21 JF1
380–400V TB1 QF13 EE–3287–
TB2 JX–5 CX20 583–001
TYPE 3 (STANDARD N.A.)
(3) EE–3287–594–00X CX19A CX23 EE–3287–
440–480V 581–001
500–575V
EE–3316–115–025
100V
BRK TERMS
CONN1
OPENER
B COP10 CX22 24V
A
EE–3287–601–001 OPENER
CX21 JF1 CONN2 ENC7
SERVO AMP
OUT
JX–5 (80 AMP) CX20 ENC7 EE–3316–122–025
#1 ENC8 ENCODERS
CX19A CX23 IN
ENC8 ENC9
THREE AXIS
P–200(E) B COP10
A CX22 ENC9 ENCODER/BRAKE
UNIT
OPENER
CX21 SERVO AMP JF1
R–J3 CONTROLLER 0.15m (6’’)XGMF–11858
JX–5 (80 AMP) CX20
XGMF–11130
7–7
#2
7 + 2 AXIS OPENER CX19A CX23 A660–2042–T107
EE–3316–121–025
BLOCK DIAGRAM MOTORS
BOM EE–3287–502–003
I/O UNIT MODEL–A
NOTICE
7–8
HOUR METER CRP5 CP32 JD1B NO REVISIONS WITHOUT PRIOR
TBOP1 FENCE & ESTOP MAIN CPU PSU SPARE APPROVAL FROM FACTORY MUTUAL (FM)
MODE SWITCH CRT7 TBOP2 EXT ON/OFF JD1A
CRT8 JDI7
LEDS AND 6 AXIS MINI SLOT CARD
OPERATOR’S PANEL
PUSHBUTTONS PORT B
A20B–8100–0421 6 LINE
CRJ2B CRJ2A AXIS
TRK’G HAZARDOUS AREA
CP1 (AC INPUT)

TP RELEASE SW. CRM33 MINI
JRS7
CP5 (+24V/7A)
CP6 (+24E/2A)
CP4 (ON/OFF)
JRS7
CP2 (AC200V)
CP3 (AC200V)
SLOT BD
CNPG1 8 AXIS BD
COP10A
CRP12
EE–3505–586–001 A17B–3300–0200
CRS18 CRS9 FAN
(DOOR)
CE ISB UNIT PCMCIA
JRS8
FAN
CP5 (DCR)
CRS2
CE ISTP
CRS16 FAN
CRS16 (DCR)
CRM42 EE–3505–596–001
IS GND
EE–3505–584–002
PURGE UNIT
PS/FS
I.S. GND WIRE CNPG ROBOT
HBKIN
EE–3287–598–002 EE–3287–118–1XX
HBKOUT PURGE
IS BATT
200 IN 200 OUT EE–3287–599–001 GND UNIT DEVICES
Figure 7–6. P–200(E) 7+3 Axis and 7+3+2k Block Diagram

EE–3505–587–001
IS GND PE GND 24VPG
24V
I.S. GND WIRE 6 AXIS SERVO AMP DC/DC CONV
COP10B MBC6 EE–3505–761–002
INSTALLED CRM37 *ROT B 7 AXIS CRF1B ENCODERS
AT SITE GND COP10A MBC
CRM30 ENCODER/
RDI/RDO 100V BRAKE CRF7B
MODULE
CRF1 CRF1A BKR1,2
ROTARY REDUNDANT ESTOP PC BD CRR44
PL6
DISCONNECT TRANS CRM42 EE–3287–604–001
CP2 CRR45A CN6 CN6A BRK3,7
BREAKER (7.5KVA)
FILTER QF1 CRM44 CRM43 CRF7A
REDUNDANT ESTOP CRR45B DCR CNGB BRK4–6
220VAC 1
L1 100v CRR43A
CP1 2.4m XGMF–11840 CRR45C CNJ1A MOTORS 1,2
EE–3287–130–1XX
L2 TOH QF3 CRR50A CRR43B 1m XGMF–11840 CRP10 CNJ2B
3 CNMC1 CRR20 EE–3287–132–1XX
CRR50B CRR39 MOTORS 3,7
100VAC 1 CNJ3B
L3 (PRECHG)
G CRR38A AC IN
200VAC 3 EE–3287–602–001 EE–3287–131–1XX
CRR47B CP 1 CRM CNJ5 MOTORS 4–6
TAP QF2 3 57
SELECT 3 CRR47E CRR47C CRM (4) EE–3287–584–00X CNJ6
EE–3287–590–002
TB 41C
LOCKOUT XGMF–11130
CNMC2 XT4 41D CNGA
CRM 41E CRM39

TRANS OPTION 56 BRK
41F
TYPE 1 41 B COP
A CX22
220–240V QF12
3 RAIL AMP
CX21 AXIS 7 JF1
380–415V TB1 QF13 H114
EE–3287–590–002
TB2 JX–5 CX20

TYPE 2
(4) EE–3287–594–00X CX19A CX23
200–220V EE–3287–589–001 2K
380–400V (2) EE–3287–585–001 B COP10 A/B
A JF1 ENCODERS 1,2
CP 2 CRM
SEE ROBOT CABLE LAYOUT 57 CX11–1 2K
CRM AXIS 11 CX11–3
EE–3287–013 41A CX11–4
CRM EE–3505–
56 41B JX–5 CX11–6 594–001
SEE OPENER CABLE LAYOUTS
41
P–10 EE–3186–004 B
OR TB1 QF11
3 A COP10 A/B JF1
P–15 EE–3715–004 2K CABLES PROVIDED BY SEGMENT MOTORS 1,2
CX11–1 2K
TB2 AXIS 12 CX11–3
CRM CX11–4
58 100V THREE AXIS
JX–5 CX11–6 ENCODER/BRAKE
EE–3287–588–001 (2) EE–3287–595–001
CONN1 BRK TERMS OPENER
B COP 24V
A CX22
EE–3287–601–001 OPENER
CX21 SERVO AMP 1 JF1 CONN2 ENC1
AXIS 8 OUT
JX–5 CX20 ENC1
XGMF–11861 H114 ENC2 ENCODERS
CX19A CX23 IN
0.5m
ENC2 ENC3
B
P–200(E) A COP OPENER
CX22 ENC3
NOTES: CX21 SERVO AMP 2 JF1
XGMF–11858
R–J3 CONTROLLER SEE SHEET 16 FOR FIBER OPTIC CABLING CONFIGURATIONS 0.15m (6’’) JX–5 AXIS 9 CX20
H114 XGMF–11130
THIS BLOCK DIAGRAM SHOWS OPTIONS FOR MULTIPLE VERSIONS CX19A CX23 A660–2042–T107
7 + 3 AXIS VERSION TYP
B
REF BOM EE–3287–502–004 A COP OPENER CX22 MOTORS
2..4M XGMF–11840 CX21 SERVO AMP 3 JF1
7+3+2K VERSION JX–5 AXIS 10 CX20 EE–3287–
H114 583–001
REF BOM EE–3287–502–005 CX19A CX23 EE–3287–
581–001 TYP (4) PL. EACH
NON–HAZARDOUS LOCATION HAZARDOUS LOCATION CLASS I, II & III
REMOVE TIME REMOVE TIME NOTICE
D 268 S NO REVISIONS WITHOUT PRIOR
NONE 0 SEC
A 33 SEC AD 301 S 5 MIN APPROVAL FROM FACTORY MUTUAL (FM)
B 67 S BD 335 S
AB 100 S AB D 368 S
C 134 S CD 402 S
AC 167 S AC D 435 S
BC 201 S BC D 469 S
ABC 234 S ABC D 502 S
ISB UNIT
A05B–2406–C370
I/S TEACH PENDANT
A05B–2308–C300
I.S. GND
P–120 OR P–145 ROBOT PURGED CAVITY

CUT ALL JUMPERS FOR FUSE MODULE #2 PURGE UNIT EE–3505–710–001 ISTB
SOL1–P I.S. CABLE SOLENOID CABLE EE–3505–348–001
SOLENOID 1 EE–3505–323–00X SOL SOL
CUT FUSE MODULE JUMPERS 2 AND 3 SOL1–N PURGE
3 SOLENOID
SOL2–P VALVE
2 SOLENOID 2 NOT USED
SOL2–N PRES. SW CABLE EE–3505–345–001
1 PS1 PS1
PS–1 ROBOT
PRESSURE PRESSURE
PS–2/3 SWITCH
Figure 7–7. P–120/P–145 Factory Mutual (FM) Control Drawing

SWITCH
CUT TIMER JUMPERS A & D FUSE FUSE PS–4
MODULE 1 MODULE 2 FLOW SW CABLE EE–3505–340–001
(NOT USED) FS1 FS1
FS–1 ROBOT
FLOW FLOW
TIMER JUMPERS FS–2/3
SWITCH SWITCH
D FS–4
C
B
INPUT SPECIFICATIONS BATT
8A A ENCODERS
OPERATING: 220VAC +10/–15% 50/60Hz
MAX. PROTECTED VOLTAGE: 600VAC 220AC IN X6
SIGNAL & 5V
220AC OUT HBK–P ENCODER CABLE

HAND
OPTIONAL EE–3505–321–00X
BROKEN HBK–N
AUX BATT OPTIONAL
CONTACT RATING
250VAC 50/60 HZ CONTACT 2K
TP TPD–P
5A MAX OUTPUTS
DISCONNECT OPTIONAL ENCODERS
TPD–N SIGNAL & 5V
SWITCH (X2)
2K ENCODER CABLE
I.S. GND EE–3505–351–00X
I.S. BATTERY PACK +

1
A05B–2363–C040 EURO AND US
EE–3185–551 US ONLY
+
6 P–120 P–145 MODELS
MODEL P–120–6
I.S. GND
MODEL P–145–6
6 AXIS ENCODER / BRAKE UNIT MODEL P–120–6–2K
EE–3505–741
COMM X6 MODEL P–145–6–2K
LINES
5V
AXIS 1
0V 0V
5V
AXIS 6
0V 0V
3 AXIS ENCODER BRAKE UNIT

EE–3505–751
COMM X2
LINES
5V
7–9
0V 0V
5V
0V P–120 AND P–145 FM CONTROL DRAWING

0V
EE–3505–550
TIMING REFERENCE NOTICE
7–10
REMOVE TIME REMOVE TIME
NONE 0 SECONDS D 268 S (4.46min)
A 33 S (0.55min) A D 301 S (5.01min) NON–HAZARDOUS LOCATION HAZARDOUS LOCATION CLASS I, II & III
B 67 S (1.1min) B D 335 S (5.58min)
AB 100 S (1.66min) AB D 368 S (6.13min) DIVISION 1 GROUPS C D E F & G
C 134 S (2.23min) C D 402 S (6.70min)
AC 167 S (2.78min) AC D 435 S (7.25min)
BC 201 S (3.35min) BC D 469 S (7.81min)
ABC 234 S (3.90min) ABC D 502 S (8.36min)
ISB UNIT
A05B–2308–C370
I/S TEACH PENDANT

I.S. GND A05B–2308–C300
ROBOT PURGED CAVITY
CUT JUMPERS 2&3 FOR FUSE MODULE #2 ISTB
PURGE UNIT EE–3505–710–001
(IF INSTALLED) SOL1–P I.S. CABLE
SOLENOID 1 EE–3287–118–00X SOL SOL
SOL1–N PURGE
CUT JUMPERS 2 AND 3 FOR FUSE MODULE #1 3 EE–3287–348–001 SOLENOID
SOL2–P VALVE
2 SOLENOID 2
SOL2–N
1 PS1 PS1
PS–1 ROBOT
PRESSURE EE–3044–345–001 PRESSURE
CUT TIMER JUMPERS PS–2/3
SWITCH SWITCH
RETROFIT CLEANWALL: JUMPERS A,B,D FUSE FUSE PS–4
Figure 7–8. P–200 Factory Mutual (FM) Control Drawing

ALL OTHERS: JUMPERS A, D MODULE 1 MODULE 2
(NOT USED) FS1 FS1
FS–1 ROBOT
FLOW EE–3287–340–001 FLOW
TIMER JUMPERS FS–2/3
SWITCH SWITCH
D FS–4
C
BATT
B +
INPUT SPECIFICATIONS 8A A REMOVE JUMPERS WHEN –
ENCODERS
OPENER DEVICE USED SIGNAL X6
OPERATING: 220VAC +10/–15% 50/60Hz 220AC IN
MAX. PROTECTED VOLTAGE: 600VAC OR
OPTIONAL 5V X7
220AC OUT HBK–P ENCODER CABLE
HAND DC/DC
EE–3287–133–00X
BROKEN HBK–N BATT
+
AUX OPTIONAL OPTIONAL
CONTACT RATING CONTACT 2K
250VAC 50/60 HZ TP TPD–P SIGNAL
5A MAX OUTPUTS ENCODERS
DISCONNECT
TPD–N 5V (X2)
SWITCH
DC/DC
I.S. GND
I.S. BATTERY PACK + OPTIONAL RJ3 P–10 OR P–15 OPENER DEVICE
1 I.S. CABLE
A05B–2363–C040 EURO AND US EE–3186–115–XXX
EE–3185–551 US ONLY OPENER
+ AK1 EE–3186–323–001 SOLENOID
6
I.S. GND OPENER

AJ1 EE–3066–322–001 PRESS
7 AXIS ENCODER / BRAKE UNIT EE–3505–761–00X SWITCH
COMM X6
LINES
OPENER
AH1 EE–3186–340–001 FLOW
24V SWITCH
24VPG
0V 0V +
24V AL,AM,AN BATT
24VPG –
ENCODER
SIGNAL OPTIONAL
0V 0V
5V X3
TO 2K AMPLIFIERS DC/DC
ENCODER INPUTS
APPLICABLE ROBOT MODEL NUMBERS:

P–200 J3 a b c
c = Paint metering systems 1K, 2K, 1KS, or 2KS 3 AXIS ENCODER BRAKE UNIT EE–3505–751 ENCODER CABLE
X2 COMM LINES EE–3186–132–XXX
b = Longer upper arm L 5V
a = Axis Configuration 6, 7, CW, RCW
0V 0V
5V
APPLICABLE OPENER ROBOTS
0V 0V
P–10, P–10R, P–15, Q–HDP, Q–DRP 5V
0V 0V
P–200 R–J3 PAINT ROBOTS

FM CONTROL DRAWING
EE–3287–552
NOTICE
NON–HAZARDOUS LOCATION HAZARDOUS LOCATION CLASS I, II & III
RJ3 CONTROLLER COMPONENTS
I/S TEACH PENDANT

A05B–2308–C306
OR
ISB UNIT A05B–2308–C307
A05B–2308–C370
P–200E ROBOT PURGED CAVITY

I.S. GND
I.S. CABLE
CUT JUMPERS 2&3 FOR FUSE MODULE #2 PURGE UNIT EE–3505–710–001 OR –002 ISTB EE–3287–184–00X EE–3287–384–001 EE–3287–331–001
(IF INSTALLED) SOL1–P PURGE
SOLENOID 1 SOL SOLENOID
SOL1–N VALVE
CUT JUMPERS 2 AND 3 FOR FUSE MODULE #1 3
SOL2–P EE–3044–332–001
2 SOLENOID 2 ROBOT
SOL2–N PS1 PRESSURE
1
SWITCH
PS–1
PRESSURE EE–3287–XXX–001 *
CUT TIMER JUMPERS PS–2/3
SWITCH ROBOT
RETROFIT CLEANWALL: JUMPERS A,B,D FUSE FUSE PS–4 FS1 FLOW
MODULE 1 MODULE 2 SWITCH
ALL OTHERS: JUMPERS A, D (NOT USED)
FLOW FS–1 EE–3287–363–001
TIMER JUMPERS FS–2/3 HND BKN
D SWITCH EE–3287–387, 388
FS–4 EE–3287–386–001
C OVERTRVL
B EE–3287–385–001
Figure 7–9. P–200E Factory Mutual (FM) Control Drawing, Sheet 1 of 3

8A A REMOVE JUMPERS WHEN BYPASS
INPUT SPECIFICATIONS OPENER DEVICE USED
220AC IN
HDSTP OK
OPERATING: 220VAC +10/–15% 50/60Hz
MAX. PROTECTED VOLTAGE: 600VAC EE–3287–367–001
220AC OUT HBK–P
HAND HDSTP DN
BROKEN HBK–N
AUX +
CONTACT RATING EE–3287–383–001 BATT
CONTACT –
250VAC 50/60 HZ OVER TPD–P SIGNAL ENCODERS
OUTPUTS X6
5A MAX TRAVEL 5V
TPD–N OR
AXIS7 X7
EE–3287–355–XXX
ENCODER CABLE DC/DC
I.S. GND EE–3287–183–00X
PS OVP BARRIER BATT
+
OPTIONAL
BARRIER 2K
SIGNAL
ENCODERS
BARRIER 5V (X2)
NOTE:
DC/DC EE–3287–374–001
* ASSOCIATED APPARATUS MANUFACTURER’S I.S. BATTERY PACK +
1
INSTALLATION DRAWING MUST BE FOLLOWED A05B–2363–C040 EURO AND US
WHEN INSTALLING THIS EQUIPMENT EE–3185–551 US ONLY
I.S. CABLE OPTIONAL RJ3 P–10E OR P–15E OPENER DEVICE
+ EE–3186–185–XXX
* INSTALLATION SHOULD BE IN ACCORDANCE 6
WITH ANSI/ISA–RP12.6 ”INSTALLATION OF OPENER
INTRINSICALLY SAFE SYSTEMS FOR HAZARDOUS EE–3287–331–001 SOLENOID
(CLASSIFIED) LOCATIONS” AND THE NATIONAL I.S. GND
ELECTRICAL CODE (ANSI/NFPA 70). 7 AXIS ENCODER / BRAKE UNIT EE–3505–761–00X
COMM X6 OPENER
LINES EE–3287–332–001 PRESS
SWITCH
24V
24VPG
OPENER
0V 0V EE–3186–369–001 FLOW
24V SWITCH
24VPG
0V 0V +
BATT
–
SIGNAL ENCODER
TO 2K AMPLIFIERS OPTIONAL
ENCODER INPUTS EE–3287–162–XXX 5V X3
3 AXIS ENCODER BRAKE UNIT EE–3505–751 ENCODER CABLE DC/DC

X2 COMM LINES EE–3186–182–XXX
5V
*FLOW SWITCH SELECTION
APPLICABLE ROBOT MODEL NUMBERS: 0V 0V
5V
P–200E – EE–3287–333–001
P–200E a b c P–200E MIBR – EE–3287–391–001
0V 0V
5V
c = Longer upper arm L or blank
0V 0V
b = Paint metering systems 1K, 2K or blank
a = Axis Configuration 6, 7, MIBR
APPLICABLE OPENER ROBOTS PROCESS EQUIPMENT PROCESS CABLE PROCESS EQUIPMENT
7–11
P–10E, P–15E INTRINSICALLY SAFE BARRIERS SEE SHT.S 2&3 SEE SHT.S 2&3
SEE SHT.S 2&3
P–200E R–J3 PAINT ROBOTS

FM CONTROL DRAWING
EE–3287–555
NOTICE
7–12
ROBOT PURGE CAVITY

PROCESS APPLICATION PACKAGE
7
8 BYPAS
1 BYPS–P BYPASS
10 (BLK) EE–3287–184–XXX EE–3287–385–001
3 BYPS–N SWITCH
11 (ORG)
KFD2–SR2–EX1.W.LB
11
P&F I.S.
12
GROUND PROC1 PROC1
7 TRIGGER 1 PROC1–A1 1 TRIGGER MAC VALVES INC.
(WHT) A1 A1 (WHT)
8 P&F Z728.H 2 PROC1–A2 2 VALVE #52A–11–BOA–DM–DFRJ–1KA
(BLU) A2 A2 (BLK)
7 I/P POWER 1 PROC1–A5 6
(WHT) A5 A5 (WHT) FLOW
8 P&F Z728.H 2 PROC1–A6 1 PROPORTION AIR
(GRN) A6 A6 (RED) I/P
4 #SJO–1718–A038
8 1 PROC1–B1 B1 B1 (WHT) TRANSDUCER
(WHT) 2
7 I/P SIGNAL 2 PROC1–B2 B2 B2 (ORG)
(BRN)
5 P&F Z787 4 A FLOW
B3 B3 (WHT) AW COMPANY
6 3 B METER
B4 B4 (BLU) PICK–UP #HPM–20–SLGF=+CAPM–3
C
8 1 PROC1–B3 B5 B5 (WHT)

(WHT)
7 FLOW METER 2 PROC1–B4
PROC2 PROC2 LEAK
(GRY)
5 P&F Z787 + 4 PROC1–B5
(RED) A5 A5 (WHT) 1 (RED)
6 3 LEAK
A6 A6 (GRN) 2 (BLK) SENSOR
7 LEAK POWER + 1 PROC2–A5 B1 B1 (WHT) 3 (WHT) EE–3287–372–001
(RED)
8 P&F Z728.H 2 PROC2–A6 B2 B2 (VLT) 4 (GRN)
(BRN)
8 1 PROC2–B1
(RED) NE–2046–970–001
7 2 NE–2046–976–XXX EE–3287–363–001
10 3 PROC2–B2
OR
(GRY)
11 4 NE–2012–979–XXX
LEAK SIGNAL
14 5 I.S.
P&F KFA6–SR2–EX2.W
15 6 GROUND
DEVICE ITEM Voc (V) Isc (mA) Ca (uF) La (mH)
FUNCTION DEVICE Voc (V) Isc (mA) Ca (uF) La (mH) BYPASS SWITCH GO SWITCH # SIMPLE DEVICE
BYPASS POSITION KFD2–SR2–EX1.W .LB 12.9 19.8 10.18 744.4 MAC VALVES INC.
TRIGGER VALVE 30 175 0 0
GUN TRIGGER 52A–11–BOA–DM–DFRJ–1KA
I/P TRANS. POWER Z728.H 28.9 123 1.06 19.7 I/P PROPORTION AIR
LEAK SEN. POWER 29 150 0.24 0
TRANSDUCER SJO–1718–A038
I/P TRANS. SIGNAL
Z787 28.9 0 1.06 32.1 FLOW METER AW COMPANY
FLOW METER SIG. 30 110 0 1.5
PICK–UP CAPM–3
LEAK SEN. SIGNAL KFA6–SR2–EX2.W
FLUID FRNA
SIMPLE DEVICE
LEAK SENSOR EE–3287–372–001

PROCESS DEVICES
FM CONTROL DRAWING
EE–3287–555
NOTICE
ROBOT PURGE CAVITY

PROCESS APPLICATION PACKAGE
7
8 BYPAS
1 BYPS–P BYPASS
10 (BLK) EE–3287–184–XXX EE–3287–385–001
3 BYPS–N SWITCH
11 (ORG)
KFD2–SR2–EX1.W.LB
14
P&F
15 I.S.
GROUND PROC1 PROC1
7 PAINT FILL 1 PROC1–A3 1 PAINT FILL MAC VALVES INC.
(WHT) A3 A3 (WHT)
(ORG) A4 A4 (BRN)
7 TRIGGER 1 PROC1–A1 1 TRIGGER MAC VALVES INC.
(WHT) A1 A1 (WHT)
(BLU) A2 A2 (BLK)
7 I/P POWER 1 PROC1–A5 6
(WHT) A5 A5 (WHT) FLOW
8 P&F Z728.H 2 PROC1–A6 1 PROPORTION AIR
(GRN) A6 A6 (RED) I/P
4 #SJO–1718–A038
8 1 PROC1–B1 B1 B1 (WHT) TRANSDUCER
(WHT) 2
7 I/P SIGNAL 2 PROC1–B2 B2 B2 (ORG)
(BRN)
5 P&F Z787 4
6 3 PROC1 PROC1 SW
B3 B3 (WHT) 1 (RED) PAINT

8 1 PROC1–B3 APPLICATOR
(WHT) B4 B4 (BLU) 2 (WHT)
7 SLIDE WIRE 2 PROC1–B4 (AQUABELL
(GRY) B5 B5 (WHT) 3 (BLK) SHOWN)
5 P&F Z960 4 PROC1–B5
(RED) B6 B6 (YEL) 4 (GRN)
6 3 PROC1–B6
(BLU)
7 LEAK POWER 1 PROC2–A5
(RED) PROC2 PROC2 LEAK
8 P&F Z728.H 2 PROC2–A6
(BRN)
A5 A5 (WHT) 1 (RED)
8 1 PROC2–B1 LEAK
(RED) A6 A6 (GRN) 2 (BLK) SENSOR
7 2
B1 B1 (WHT) 3 (WHT)
10 3 PROC2–B2 EE–3287–372–001
(GRY) B2 B2 (VLT) 4 (GRN)
11 LEAK SIGNAL 4
14 P&F KFA6–SR2–EX2.W 5
I.S. NE–2046–971–001
15 6 NE–2046–976–XXX EE–3287–363–001
GROUND OR
NE–2012–979–XXX
DEVICE ITEM Voc (V) Isc (mA) Ca (uF) La (mH)

FUNCTION DEVICE Voc (V) Isc (mA) Ca (uF) La (mH)
BYPASS SWITCH GO SWITCH # SIMPLE DEVICE
BYPASS POSITION KFD2–SR2–EX1.W .LB 12.90 19.80 10.18 744.4
FILL VALVE MAC VALVES INC.
PAINT FILL 30 175 0 0
TRIGGER VALVE 52A–11–BOA–DM–DFRJ–1KA
GUN TRIGGER
Z728.H 28.9 123 1.06 19.70
I/P TRANS. POWER I/P PROPORTION AIR
LEAK SEN. POWER TRANSDUCER SJO–1718–A038 29 150 0.24 0
I/P TRANS. SIGNAL Z787 28.90 0 1.06 32.10
SLIDE WIRE SIG. Z960 10.30 210 2.90 0.42
LEAK SEN. SIGNAL KFA6–SR2–EX2.W 12.90 19.80 10.10 678.4 FLUID FRNA
LEAK SENSOR EE–3287–372–001 SIMPLE DEVICE
7–13
FM CONTROL DRAWING
EE–3287–555
7–14
AC POWER
INPUT BREAKER TRANSFORMER
FILTER
L1B 380–415V
380V
L1A 440–500V
400V
200V 3 PH
415V
L2B 380–415V
440V TO REDUNDANT ESTOP
L2A 440–500V
460V 200V 3 PH
480V
L3B 380–415V
500V 440–500V
L3A
Figure 7–12. P–120, P–145 and P–200(E) 6 Axis Configuration Transformer

200V CP1 TO PURGE UNIT
S
NOTE:
TRANSFORMER MUST BE CHOSEN
100V CRR50 TO REDUNDANT ESTOP
FOR CORRECT INPUT VOLTAGE
CRR43B TO REDUNDANT ESTOP
TAP CONNECTIONS
EE–3505–552–005
CONNECTION OF PRIMARY TAP

200A 200B
440, 460
480, 500
380, 400
415
CRR50
100A 100B
TRANSFORMER DETAILS
REDUNDANT E–STOP
CRR50B CRR50A
TRANSFORMER TYPE1
100 VAC
SHOWN WITH JUMPERS TO ENCODER BRAKE UNITS
FOR 380/415
NOTE: (Y CONNECTION)
TRANSFORMER MUST BE CHOSEN 200VAC

PURGE PSU
FOR CORRECT INPUT VOLTAGE
UNIT
CRR43
(TO 6 CH AMP)
Figure 7–13. P–200(E) 7 Axis Configuration Transformer

EE–3505–551–001 OPTIONAL
TRANSFORMER TYPE2
SHOWN WITH JUMPERS 2
FOR 380/400 EE–3505–551–002 OPTIONAL
( Y CONNECTION )
3
EE–3505–551–003
TRANSFORMER TYPE3
7–15
TRANSFORMER DETAILS
Figure 7–14. Main (CPU) Board Connections Diagram
CPU BOARD CONNECTORS
JD1A
JD1A
Normal Operating Condition
QF3 QF2
LED 1 (KA1, E–Stop Monitor Relay) OFF
LED 2 (KA2, 24V E–Stop Chain) ON
CRR50 LED 3 (KA3, 0V E–Stop Chain) ON
A(X–key) B(Y–key) LED 4 (KA4, Servo Amp Precharge) ON
A1 100A2 B1 100A1 LED 5 (KA5, Servo Amp Precharge) ON
A2 100B B2 100B LED 6 (KM1, Main Contactor Relay) ON
A3 B3 LED 7 (KM2, Main Contactor Relay) ON
CRR20
Emergency Stop Condition
A(X–key) B(Y–key)
PC LED 1 (KA1, E–Stop Monitor Relay) ON
A1 0V B1 SVEMG
CRR2OA
CRR20B
BOARD LED 2 (KA2, 24V E–Stop Chain) OFF
CNMC1
A2 OTHBK B2 MAINON 1
CP2A
CP2B
LED 3 (KA3, 0V E–Stop Chain) OFF
CP2
A3 MCCON B3 PCHBON
LED 4 (KA4, Servo Amp Precharge) OFF
CRM44 LED 5 (KA5, Servo Amp Precharge) OFF
A(X–key) B(Y–key)
RELAY LED 6 (KM1, Main Contactor Relay) OFF
A1 DOOR 1 B1 DOOR 2
LED5 CNMC1 LED 7 (KM2, Main Contactor Relay) OFF
CRM44
A2 DOORA 1 B2 DOORA 2
A3 DOORB 1 B3 DOORB 2 A(Y–key) B(Y–key)
KA5 A1 200R B1 COIL 1 Abnormal 24V E–Stop Chain Condition
Figure 7–15. Redundant Emergency Stop Unit

RELAY A2 200S B2 COIL 2 LED 1 (KA1, E–Stop Monitor Relay) OFF
LED4 A3 200T B3 COIL C LED 2 (KA2, 24V E–Stop Chain) ON
LED 3 (KA3, 0V E–Stop Chain) OFF
CRR43
KA4 LED 4 (KA4, Servo Amp Precharge) OFF
RELAY LED 5 (KA5, Servo Amp Precharge) OFF
LED 6 (KM1, Main Contactor Relay) OFF
CRR47A LED 7 (KM2, Main Contactor Relay) OFF
CRM42
(X–key) Note: This indicates a 24 volt single chain fault.
(X–key) KA3 LED3
1 R1 The teach pendant will display a SRVO–230
CRM42
1 SVONA RELAY alarm. Refer to Section 3.5, Troubleshooting

2 S1 Using the Error Code for more information on the
2 SVONB
3 T1 alarm and remedy.
3
KA2 CRR47B Abnormal 0V E–Stop Chain Condition

CRM43 RELAY (X–key) LED 1 (KA1, E–Stop Monitor Relay) OFF
CRM43
A1 0V B1 SVEMG LED2 1 R1 LED 2 (KA2, 24V E–Stop Chain) OFF

A2 OTHBK B2 MAINON 1 2 S1 LED 3 (KA3, 0V E–Stop Chain) ON
A3 MCCON B3 PCHBON 3 T1 LED 4 (KA4, Servo Amp Precharge) OFF
KA1
A4 DCROH B4 TOH RELAY LED 5 (KA5, Servo Amp Precharge) OFF
CRR47C
A5 +24VF B5 MAINON 2 LED1 (X–key) LED 6 (KM1, Main Contactor Relay) OFF
LED6 LED 7 (KM2, Main Contactor Relay) OFF
1 R1
CNMC2 CNMC2
LED7 2 S1 Note: This indicates a 0 volt single chain fault.
A1 +24VF B1 MON C1 MAINON 1 D1 MAINON 2 The teach pendant will display a SRVO–231
B22 3 T1
B21 alarm. Refer to Section 3.5, Troubleshooting
A2 AUXA11 B2 AUXA21 C2 AUXB 1 1 D2 AUXB21 Using the Error Code for more information on the
B12
A3 AUXA12 B3 AUXA22 C3 AUXB 1 2 D3 AUXB22 CRR47D alarm and remedy.
B11
CRR47C
CRR47D
CRR47A
CRR47B
CRR47E
A22 (Y–key)
XT4A
A21 1 R2
XT4
A12 2 S2
1 AUXA1 1 A11
3 T2 Troubleshooting Note: To reset the controller you must
2 AUXA12
eliminate the cause of the abnormal chain, perform a
3 AUXA21 TRANSFORMER Correct Stop Operation (press a known good E–Stop
CRR47E
4 AUXA22 button) and then execute the Special Reset Operation.
TAP (Y–key) Refer to Section 3.5, Troubleshooting Using the Error Code
5 AUXB1 1 SELECT 1 R2 to find the Special Reset Procedure. It is located at the end
L1A L1B L2A L2B L3A L3B
6 AUXB12 2 S2 of the SRVO–230/SRVO–231 alarms.
7–17
7 AUXB21 3 T2
8 AUXB22
REDUNDANT ESTOP UNIT

7–18
6 AXIS SERVO AMP
(A06B–6100–H003)
(80,80,80,12,12,12)
FROM EE–3287–604–00X
MOUNTED ON LOWER PC BD
PL8 PL7 PL6 PL5 CNJ3
CRP10
CNJ6 CRM29
CRM30
CRM39
CRF1
CRM37
Figure 7–16. Servo Amplifier

CNJ5
CNJ2A
(OPTIONAL)
(JUMPERED)
CN6
CNJ4
COPIOB COPIOA
MOTOR POWER
CONTROL BOARD
CNJ1A
CRR39
CNGB
CRR45A
CNGA
CRR38B
SOME CONNECTORS NOT MOUNTED. CRR38A

SOME CONNECTORS NOT USED. POWER BOARD
P–120/P–145 6 AXIS SERVO AMP

P–200(E) SEE NEXT SHEET FOR
CONNECTOR PINOUTS
1 SPDJ1
2 SPDJ1
3 SPRQJ1
4 SPRQJ1
5 SPDJ2
6 SPDJ2
7 SPRQJ2
8 SPRQJ2
9 0V
10 0V
11 0V
12 0V
13 0V
14 0V
Figure 7–17. Servo Amplifier Connections Diagram

15 0V
16 0V
17 0V
18 0V
A (X KEY) B (Y KEY)
CRR39
A (X KEY) B (Y KEY)
200R MCC1
MCC2
7–19
6 AXIS SERVO AMPLIFIER
CONNECTOR PINOUTS
7–20
Servo Amplifiers Amp. rating
BETA SERIES RMS PEAK
Model number
SERVO AMPLIFIER
A06B–6093–H111 2.3A 12A
A06B–6093–H112 5.9A 20A
FIBER OPTIC LINK INPUT COP10A FIBER OPTIC LINK OUTPUT

COP10B
24VDC INPUT CX11–4 CX11–5 24VDC OUPUT SERVO AMPLIFIER UNIT
RATED INPUT 200~240V

220–240V~(1Ph)/200–240V~(3Ph)
JX5 JF1 Yamanashi 401–05 JAPAN

ESTOP INPUT MAX OUTPUT VOLTAGE: 240V~
RATED OUTPUT CURRENT:
CX11–1
CX11–3 MOTOR POWER CAUTION
ALM POWER
Figure 7–18. Beta 12 and 20Amp Amplifiers

CHARGED
LINK READY
Battery Input/Output CX5X CX11–2
CAUTION : DISCHARGE
> 2 min.
(Optional) TIME
Battery Input/Output CX5Y Disch. Resistor

CX11–6
Thermal Sw. SERVO–AMPLIFIER
COP
10B
(Optional) UNIT series
CX11
L2/L1 1 COP
10A
/L3
Main Power Motor Power DCC
/ 2
Input Output DCP
CX11–1 CX11–3 Battery Input/Output
V/U
Pulse Coder PIN SIG PIN SIG PIN SIG PIN SIG CX5X / CX5Y
3 JX5
/W
Feedback Signal CHK A1 L2 B1 L1 A1 V B1 U PIN–1 6V CHK
/
JF1 JX5 G L2 PIN–2 0V
A2 B2 A2 G B2 W
1 SD 11 1 *RST 11 24V A3 G B3 G
2 12 0V 2 12 15V 0V/ JF1
*SD 3.3V Discharge +24V 4
ENC
DC Control
3 13 3 IR 13 –15V Resistor Power Input 0V/ 5
+24V
4 14 0V 4 14 5V CX11–2 CX11–4 CX5X
IS TH2/
PIN SIG PIN SIG PIN SIG PIN SIG TH1 6 BAT
5 REQ 15 5 15 P5MC
A DCC B DCP A 0V B 24V CX5Y
6 *REQ 16 0V 6 16 PSTL BAT
7 +6VA 17 7 0V 17 *ESP
8 18 +5V 8 0V 18
9 19 9 19 Discharge DC Control
+5V 0V
Thermal Sw. Power Output
10 20 +5V 10 TEMP 20 +24V
CX11–6 CX11–5
PIN SIG PIN SIG PIN SIG PIN SIG
A TH2 B TH1 A 0V B 24V
SOME CONNECTORS MAY NOT BE USED.
FRONT VIEW
BETA 12A & 20A

AMPLIFIERS
SERVO AMPLIFIER CURRENT RATING
Model number RMS PEAK
BETA SERIES A06B–6093–H113 12A 40A
SERVO AMPLIFIER A06B–6093–H114 18.9A 80A
FANUC I/O Link Input COP10B COP10A FANUC I/O Link Output EXAMPLE
STATUS LEDS
ALARM
DC Power Input from PSU DC POWER OUT TO
CX19A CX19B SERVO MOTOR POWER
MODULE DRIVE READY
BETA 80
ESTOP INPUT JX5 JF1 FIBER LINK STATUS
COP10B
CX21
CX22 MOTOR POWER
COP10A
Battery Input/Output CX5X CX20 (OPTIONAL)
Figure 7–19. Beta 40 and 80Amp Amplifiers

JX5
Battery Input/Output CX5Y DISCH. RESISTOR (OPTIONAL)
CX23
THERMAL SW. JF1
CX18X CX5X
CX18X FAN (OPTIONAL)
CX5Y
CX18Y
CX18Y FAN (OPTIONAL)
A B
CX–19
DIP SWITCH SETTINGS
ON OFF
CX20
Motor Power 1
Main Power 2
Output ON OFF
Input 1 3
CX22 2
CX21 3 4
4
PIN SIG PIN SIG
PIN SIG
Pulse Coder A1 V B1 U
Feedback Signal 1 L1 THE SWITCH SETTINGS ARE BASED ON
CHK
L2 A2 G B2 W
JF1 JX5 2 CX21 WHICH REGENERATIVE DISCHARGE UNIT IS USED
SWITCH 1
SWITCH 2
SWITCH 3
SWITCH 4
1 SD 11 1 11 24V 3 L3
2 *SD 12 0V 2 3.3V 12 15V 4 G
Discharge
3 13 3 IR 13 –15V Resistor
Discharge CX23 CX22
4 14 0V 4 IS 14 5V Overheat Sw. BUILT–IN
ON ON OFF OFF NORMAL
PIN SIG PIN SIG REGEN RESISTOR
5 REQ 15 5 15 CX20
PIN SIG A1 RC B1 RC CX23 SEPARATE
6 *REQ 16 0V 6 16 ON OFF OFF OFF
A06B–6089–H500
1 TH1 A2 RI B2 RE SEPARATE OFF OFF OFF OFF
7 +6VA 17 7 0V 17 *ESP
2 A06B–6089–H713
8 18 +5V 8 0V 18 SEPARATE
OFF OFF OFF OFF
3 TH2 DC Control A06B–6089–H714
9 +5V 19 9 0V 19
Power Input/Output
10 20 +5V 10 20 +24V Battery Input/Output CX19A/B
CX5X / CX5Y PIN SIG PIN SIG
PIN–1 6V 1 24V 2 0V
7–21
PIN–2 0V
SOME CONNECTORS MAY NOT BE USED.
BETA 40A & 80A
AMPLIFIERS
7–22
OPTIONAL THREE AXIS 6 AXIS ENCODER BRAKE UNIT
ENCODER/BRK BOARD PINOUTS
100V 24V IN
ENCODER/ PIN # SIGNAL NAME PIN # SIGNAL NAME
BRAKE
MODULE 1 100VA 1 24V
FRONT
100VAC
2.5–H/SA5 BRAKE 2 100VB 2 0V
24V
FRONT OUT
2.5–H/SA5
FRONT +7 3
2.5–H/SA5
MBC
FRONT –7
2.5–H/SA5
CN6B
FRONT
+8
2.5–H/SA5 –8
CN6B
FRONT
2.5–H/SA5 +9
–9
HONDA
PCR–EV20MDT ENC
IN 24VPG
7 24VPG
HONDA
PCR–EV20MDT ENC PIN # SIGNAL NAME PIN # SIGNAL NAME
IN
8 1 24VPG 1 24VPG
HONDA ENC 2 0VPG 2 0VPG
PCR–EV20MDT IN
3 0VPG 3 0VPG
CN6A
9 SIDE VIEW
ENC 4 4
HONDA
PCR–EV20MDT
OUT SIX AXIS ENCODER
7
BRAKE BOARD
ENC
HONDA OUT
PCR–EV20MDT 8
Figure 7–20. 6 Axis Encoder/Brake Module

ENC
HONDA
OUT MBC6
PCR–EV20MDT 9 CN6A CN6B MBC
PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME
A1 BKP1 1 BKP1 1 MB6 1 MB1
A2 BKP3 2 BKP2 2 2 MB2
CRF1–B
A4 4 BKP4 4 MB7
BRAKE
OUT A5 5 BKP5 5 MB4
+10
–10 A6 BKM1 6 BKP6 6 MB5
SIDE VIEW +11 A7 BKM3 7 7 MB6
–11
THREE AXIS ENCODER A8 BKM4 8 BKM1 8
+12
BRAKE BOARD –12 B1 BKM2 9 BKM2 9
B2 BKM7 10 BKM3 10
ENC
THREE AXIS ENCODER IN B3 BKM5 11 BKM4 11
10
BRAKE BOARD PINOUTS B4 12 BKM5 12
ENC
NOT ALL CONNECTORS SHOWN IN ILLUSTRATION ABOVE IN B5 13 BKM6
11
B6 BKP2 14
ENC
IN B7 BKP7 CRF7–A
CRF1–A
12
B8 BKP5 1 D7 11
ENCODER IN CONNECTOR ENCODER OUT CONNECTOR ENC
OUT 2 *D7 12 0VC
(TYPICAL 3 PLACES EACH BD) (TYPICAL 3 PLACES EACH BD) 10
3 13
1 D 11 1 D 11 ENC
OUT CRF1–A CRF1–B 4 14 0VC
2 *D 12 0V 2 *D 12 0V 11
1 D1 33 D5 1 D1 33 D5 5 RQ7 15
ENC
3 13 3 13 OUT 2 *D1 34 *D5 2 *D1 34 *D5 6 *RQ7 16 0VBAT
19 D3 19 D3
12
4 14 0V 4 14 0V 3 RQ1 35 RQ5 3 RQ1 35 RQ5 7 6VBAT 17
20 *D3 20 *D3
5 RQ 15 5 RQ 15 4 *RQ1 36 *RQ5 4 *RQ1 36 *RQ5 8 18
21 RQ3 21 RQ3
6 *RQ 16 0V 6 *RQ 16 0V 5 D2 37 D6 5 D2 37 D6 9 19
22 *RQ3 22 *RQ3
7 17 7 17 6 *D2 38 *D6 6 *D2 38 *D6 10 20
23 D4 23 D4
8 18 5V 8 18 5VPG 7 RQ2 39 RQ6 7 RQ2 39 RQ6 CRF7–B
24 *D4 24 *D4
9 5V 19 9 5VPG 19 FRONT VIEW 8 *RQ2 40 *RQ6 8 *RQ2 40 *RQ6 1 D7 11
25 RQ4 25 RQ4
10 20 5V 10 20 5VPG 9 0VB 41 5V 9 0VB 41 2 *D7 12 0VC
26 *RQ4 26 *RQ4
10 0VB 42 5V 10 0VB 42 3 13
27 0VB 27 0VB
11 0VB 43 5V 11 0VB 43 4 14 0VC
28 0VB 28 0VB
12 0VB 44 5V 12 0VB 44 5 RQ7 15
29 0VB 29 0VB
100V MANUAL BRK CONTROL 1 (MBC1) CN6C TB 13 0VB 45 5V 13 0VB 45 6 *RQ7 16 0VBAT
30 5V 30
PIN # SIGNAL NAME PIN # SIGNAL NAME TERM SIGNAL 14 0VB 46 5V 14 0VB 46 7 6VBAT 17
31 5V 31
15 0VB 47 5V 15 0VB 47 8 18
1 100VA 1 MB1–A 1 BKP1 32 5V 32
16 0VB 48 5V 16 0VB 48 9 19
2 100VB 2 MB2–A 2 BKM1
17 0VB 49 5V 17 0VB 49 10 20
3 MB3–A 3 BKP2
18 0VB 50 5V 18 0VB 50
4 4 BKM2
24V IN
5 BKP3
PIN # SIGNAL NAME MANUAL BRK CONTROL 2 (MBC2) 6 BKM3
1 24V PIN # SIGNAL NAME
2 0V 1 MB1–B
3 2 MB2–B PURGE MODULE AND
3 MB3–A ENCODER BRAKE MODULE
4
CONNECTION DETAILS
OPTIONAL THREE AXIS
ENCODER/BRK BOARDS
7 AXIS ENCODER BRAKE UNIT
BRK1,2 100V 24V IN

BRK1,2 PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME
F1 1 BKP1 1 100VA 1 24V
2 BKM1 2 100VB 2 0V
BRK1,2
24VIN MBC 3 3
100V 4 BKP2
BRK 3,7
5 BKM2
6
BRK 3,7
MBC6 24VPG 24VPG
BRK 3,7 24VPG 24VPG
BRK4–6
PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME
BRK4–6 1 BKP3 1 24VPG 1 24VPG
2 BKM3 2 0VPG 2 0VPG
ENC IN 1 3 3 0VPG 3 0VPG
SIDE VIEW OF 7 AXIS MODULE 4 BKP7 4 4
5 BKM7
ENC IN 2
6
ENC IN 3
CN6A CN6A BRK4–6 MBC6 MBC
ENC OUT1 PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME PIN # SIGNAL NAME
A1 BKP1 1 BKP4 1 MB6 1 MB1
ENC OUT2 A2 BKP3 2 BKM4 2 2 MB2
Figure 7–21. Purge and 7 Axis Encoder/Brake Module Pinout Diagram

A4 4 BKM5 4 MB7
ENC OUT3
A5 5 BKP6 5 MB4
CRF7B A6 BKM1 6 BKM6 6 MB5
A7 BKM3 7 7 MB6
A8 BKM4 8 8
B1 BKM2 9 9
CRF7A B2 BKM7 10
B3 BKM5 11
B4 12
B5
B6 BKP2
B7 BKP7 CRF7–A
B8 BKP5 1 D7 11
2 *D7 12 0VC
3 13
CRF1–B CRF1–A CRF1–B 4 14 0VC
1 D1 33 D5 1 D1 33 D5 5 RQ7 15
2 *D1 34 *D5 2 *D1 34 *D5 6 *RQ7 16 0VBAT
19 D3 19 D3
3 RQ1 35 RQ5 3 RQ1 35 RQ5 7 6VBAT 17
20 *D3 20 *D3
4 *RQ1 36 *RQ5 4 *RQ1 36 *RQ5 8 18
ENC IN 1 21 RQ3 21 RQ3
5 D2 37 D6 5 D2 37 D6 9 19
22 *RQ3 22 *RQ3
6 *D2 38 *D6 6 *D2 38 *D6 10 20
23 D4 23 D4
ENC IN 2 7 RQ2 39 RQ6 7 RQ2 39 RQ6 CRF7–B
24 *D4 24 *D4
8 *RQ2 40 *RQ6 8 *RQ2 40 *RQ6 1 D7 11
25 RQ4 25 RQ4
ENC IN 3 9 0VB 41 5V 9 0VB 41 2 *D7 12 0VC
26 *RQ4 26 *RQ4
10 0VB 42 5V 10 0VB 42 3 13
27 0VB 27 0VB
11 0VB 43 5V 11 0VB 43 4 14 0VC
ENC OUT1 28 0VB 28 0VB
12 0VB 44 5V 12 0VB 44 5 RQ7 15
29 0VB 29 0VB
13 0VB 45 5V 13 0VB 45 6 *RQ7 16 0VBAT
ENC OUT2 CRF1–A 30 5V 30
14 0VB 46 5V 14 0VB 46 7 6VBAT 17
31 5V 31
15 0VB 47 5V 15 0VB 47 8 18
32 5V 32
ENC OUT3 16 0VB 48 5V 16 0VB 48 9 19
17 0VB 49 5V 17 0VB 49 10 20
18 0VB 50 5V 18 0VB 50
THREE AXIS ENCODER BRAKE BOARD PINOUTS
ENCODER IN (TYPICAL 3 PLACES) ENCODER OUT (TYPICAL 3 PLACES) 100V MANUAL BRK CONTROL 1 (MBC1) CN6C TB
(ENC IN 1, ENC IN 2, ENC IN 3) ENC OUT1, ENC OUT2, ENC OUT3) PIN # SIGNAL NAME PIN # SIGNAL NAME TERMSIGNAL
1 D 11 1 D 11 1 100VA 1 MB1–A 1 BKP1
2 *D 12 0V 2 *D 12 0V 2 100VB 2 MB2–A 2 BKM1
3 13 3 13 3 MB3–A 3 BKP2
4 4 BKM2
4 14 0V 4 14 0V 24V IN
5 BKP3
5 RQ 15 5 RQ 15 PIN # SIGNAL NAME MANUAL BRK CONTROL 2 (MBC2) 6 BKM3
6 *RQ 16 0V 6 *RQ 16 0V 1 24V PIN # SIGNAL NAME
7 17 7 17 2 0V 1 MB1–B
8 18 5V 8 18 5VPG 3
7–23
2 MB2–B
9 5V 19 9 5VPG 19
3 MB3–A
10 20 5V 10 20 5VPG
4
ENC/BRK MODULE PINOUT

7–24
PURGE MODULE ISTP
INTRINISICALLY SAFE
TERMINAL STRIP
ISTP
PIN # SIGNAL
1 SOL1–P
1 SOL1–P
2 SOL1–N
2 SOL1–N
3 SOL2–P
3 SOL2–P
4 SOL2–N
4 SOL2–N
5 PS–1
5 PS–1
6 PS2/3
JUMPER 6 PS2/3
7 PS–4 JUMPER
7 PS–4
8 FS–1
FIELD WIRING 8 FS–1
9 FS–2/3
JUMPER 9 FS–2/3
10 FS–4 JUMPER
10 FS–4
JUMPER 11 HBK–P
11 HBK–P
12 HBK–N JUMPER
12 HBK–N
13 TPD–P
13 TPD–P
14 TPD–N
14 TPD–N
Figure 7–22. Purge Module

SOLENOID
PRES SW
FLOW SW
LEDS
HNDBK
TP DISC CNPG
POWER
PIN # SIGNAL
1
2 0V
IS GND 3 0V
I.S. GROUND
IS GND 4 0V
CONNECTIONS IS GND 5 0V
6 PGEN1
IS GND
7
8 PG
PE
9 PGFLT
10 PGCP
11 24VE
12 0VE
TO/FROM OP PANEL CNPG
HVTB
HV TERM BLOCK
HVTB
PIN # SIGNAL
EE–3287–598–001 1 HBK–NC
HBK
2 HBK–C
3 HBK–NO
TP DSC 4 TPD–NC
5 TPD–C
6 TPC–NO
PG COMPL 1 7 PGA–1
8 PGA–2
PG COMP 2 9 PGB–1
EE–3505–595–001 10 PGB–2
FROM XFMR CP1 200 IN
200 IN 11 200A IN
12 200B IN
JUMPER FIRE ALRM 13 FRA–1
EE–3287–596–001 JUMPER
200 OUT 14 FRA–2
TO PSU 15 200A
200 OUT
16 200B
NOTE: HBK AND TPDSC I.S. INTERFACES

MAY BE USED FOR OTHER FUNCTIONS
PURGE MODULE DETAILS

FAN
CA39A
POWER SUPPLY CP1 CP4 CP8

A16B–1212–0871
1 2 3 B1 B2 B3 B1 B2
CP1 200–240 VAC INPUT R S G AL FA FB BAT+ BAT–
FROM PURGE CONTROL
Figure 7–23. Power Supply Unit Connections Diagram

A1 A2 A3
CP2 200–240 VAC OUTPUT
ON OFF COM
CP2
CP3 200–240 VAC OUTPUT
1 2 3
CP5
R1 S1 G1
POWER ON/OFF B1 B2 B3
JNP0 CP4
ALARM +24V 0V
CP5 +24 VDC OUTPUT

CP3
CP6
CP6 +24 VDC OUTPUT 1 2 3
R2 S2 G3 B1 B2 B3
+24E 0V
CP8 SPECIFICATION OF FUSE

BATTERY
NAME FUSE POWER
F1 7.5A 200V
F3 5A +24V
F4 5A +24E
2–SLOT A20B–2002–0771
4–SLOT A20B–2002–0761
BACK PLANE
7–25
POWER SUPPLY UNIT
OP PANEL PC BOARD OP PANEL BOARD
7–26
SWITCHES
CNPG1
PURGE
COMPLETE 3
PURGE
FAULT 4
Figure 7–24. P–120/P–145 Operator Panel PCB Connections, Sheet 1 of 3

JRS7 CRS16
PURGING
5
POWER ON LED
PURGE TEACH PENDANT
ENABLE SERIAL SIGNALS
7
ON/OFF
TBOP3 TO HOUR METER

JRS7
48 0V
50 11
(TO/FROM PURGE BD.)

25 EXT ON/OFF
05 0V
3 MODE SWITCH 12
06
07 SD TERMINALS
08 0V
13
CRM33
01 TP TP TPDSC3A
TPDSC1 CONN DISC 14
02
TPDSC2
03 SEE NEXT SHT
TPDSC3 TPDSC4
15
04
TPDSC4
05 BRAKE REL.
24V AXIS 2 PORT B
06 19
24T 04
05
BRAKE REL. 20
AXIS 3
20 06
TBOP5 02
TPOP4
01 EMERGENCY EES1 – 01 03
USER BRAKE REL.
ESTOP 02 STOP EES11 – 02 AXIS 1,4,5,7 07
CIRCUITS EXTERNAL 17 08
03 EES2 – 03 OPTIONAL
USER ESTOP
ESTOP 04 EES21 – 04 BRAKE ENABLE
05 EAS1 – 05 KEYSWITCH
06 EAS11 – 06 OFF ON 18
EMG OUT
07 EAS2 – 07 FENCE
08 EAS21 – 08
24V IN
09 EGS1 – 09
24V
10 EGS11 – 10
OV IN
11 EGS21 – 12
0V
SEE SHT 22 EGS2 – 11
FOR DETAILS
OPERATOR PANEL PC BOARD
SEE ALSO NEXT TWO SHEETS
OP PANEL PC BD
CRS16
CRS16
01 01
TXTP
14 14
*TXTP
02 02
RXTP
15 15
*RXTP
+24T 06 06
07 07
+24T
08 08
TPESP1
TPESP11 09 09
10 10 TO ISB UNIT
TPESP2
TPESP21 11 11
TPEN1 04 04
05 05
TPEN2
12 12
EMGTP
EMGDM 03 03
EMGEN 16 16
18 18
TPDSC
17 17
0V
0V 19 19
20 20
FG

TP TP
CONNECT DISCONNECT
KA46
KA47
KA48
7–27
TO PREVIOUS PAGE
OPERATOR PANEL
7–28
TBOP3 TBOP4 TBOP5
01 EXON1 01 EES1 01 ESPB1
02 EXON2 02 EES11 02 ESPB11

03 EXOFF1 03 EES2 03 ESPB2
05 SD4 05 EAS1 05 EMGOUT1
08 SD51 08 EAS21 08 EXT24V
09 EGS1 09 INT24V
CRM27 EGS11 INT0V
10 10
A B 11 EGS2 11 EXT0V
01 NTED1 01 NTED2 EGS21
12
02 NTED11 02 NTED21
03 03
CP5 (Y–KEY) CRT7

A B
01 AUTO1A 01 AUTO1B
02 AUTO2A 02 AUTO2B
03 T1T21A 03 T1T21B
04 T1T22A 04 T1T22B
05 MODE1A 05 MODE1B
CRP11 (Y–KEY) CRP14 (X–KEY) CRM42 (X–KEY)
CNPG1 06 MODE2A 06 MODE2B
TPDSC3A SVONA
PGEN2 07 07
TPDSC4
08 08
PGCP SVONB
MB1,4–7 PGFLT
0V/4
MB OPENER PG CRJ2B
0V/3
MB2
0V/2 HSSB1
MB3 PGEN1
HSSB2
CRS16
TPESP1
TPESP11
TPESP2
TPEN1
TPESP21
TPEN2
EMGTP

CONNECTOR PINOUTS
ISB
UNIT
OPERATOR’S PANEL
EMERGENCY STOP
Figure 7–27. P–200(E) Operator Panel PCB, Sheet 1 of 3

HOUR METER
Relay contact output of

Emergency Stop condition
EXT EMERGENCY STOP
OP PANEL BOARD
7–29
OP PANEL DETAILS
TBOP3
SEE ALSO NEXT TWO SHEETS
OP PANEL BOARD
OP PANEL BOARD
7–30
CNPG OPTIONAL I/O DEVICE
PURGE CONNECTIONS
COMPLETE
3
PURGE
FAULT 4
Figure 7–28. P–200(E) Operator Panel PCB Connections, Sheet 2 of 3

PURGING
5
PURGE ENABLE TEACH PENDANT SIGNALS

7
NOTE:
PURGING LAMP PART
OF PURGE ENABLE PB HOUR METER
8
1
2
11 3
(TO/FROM PURGE BD.)

FAN MTR
12
13
FAN MTR
0V
TPDSC3A 14
BRAKE ENABLE TPDSC4 15
KEYSWITCH
OFF ON BRAKE REL.
AXIS 2
19
TBOP4–10 TBOP4–9 BRAKE REL.

AXIS 3
20
TBOP4–12 TBOP4–11
BRAKE REL.
AXIS 1,4,5,7
17
BRAKE REL.
OPENER
18

TBOP3
01 EXON1
02 EXON2 TBOP4 TBOP5
Figure 7–29. P–200(E) Operator Panel Connector Pinouts, Sheet 3 of 3

05 SD4 03 EES2 03 ESPB2
04 EES21 04 ESPB21
06 SD41
05 EAS1
07 SD5 05 EMGOUT1
06 EAS11
08 SD51 06 EMGOUT2
07 EAS2
07 EMGOUT3
08 EAS21
08 EXT24V
09 EGS1
CRM27 EGS11 09 INT24V
10
A B 11 EGS2 10 INT0V
01 NTED1 01 NTED2 11 EXT0V
12 EGS21
02 NTED11 02 NTED21
03 03
CP5 (Y–KEY)
CRT7
A B
CNPG1 01 AUTO1A 01 AUTO1B
TPDSC3A
PGEN2 02 AUTO2A 02 AUTO2B
TPDSC4 03 T1T21A 03 T1T21B
PGCP 04 T1T22A 04 T1T22B
PGFLT MB1,4–7 CRP11 (Y–KEY) 05 MODE1A 05 MODE1B
0V/4
PG MB OPENER CRP14 (X–KEY) CRM42 (X–KEY) 06 MODE2A 06 MODE2B
0V/3 07 07
MB2 SVONA
0V/2 08 08
PGEN1 MB3 SVONB
CRS16
TPESP1
TPESP11
TPESP2
7–31
TPEN1
TPESP21
TPEN2
EMGTP
CONNECTOR PINOUTS
7–32
CIRCUIT PROTECTOR FOR
CIRCUIT PROTECTOR FOR
LARGE AMPLIFIERS
SMALL AMPLIFIERS
A05B–2406–C124 A05B–2406–C120
CRM56
CRM56
CRM57
A B
TB2(OUT) 1 *BRKREL1 OV
2 *BRKREL2 OV
QF12
3 *BRKREL3 24V
TB2 TB2 U21 1 4 SPARE 24V
1 U21 1 U22 5 BRKALM ESTOP
V21
2 V21 2 V22 0
3 W21 3 W22 W21 CRM57
A B
CRM41A
CRM41B
CRM41
CRM58
1 *BRKREL1 OV
2 *BRKREL2 OV
QF13 3 *BRKREL3 24V
Figure 7–30. Circuit Protector Units

U22 4 SPARE 24V
1
TB1 5 BRKALM ESTOP
V22
1 U1 0
W22
2 V1
3 W1 CRM41,A,B
1 24V
2 0V
TB1(IN)
3 ESTOP
KA44
RELAY
CRM56 CRM58
A B U1 A B
1 *BRKREL1 OV 1 24V OV
2 *BRKREL2 OV V1 2 24V OV
3 *BRKREL3 24V QF11 10A 3 SPARE SPARE
4 SPARE 24V W1
5 BRKALM ESTOP ON
10A
CRM56
CRM57
OFF
CRM57 TB1
A B
1 U1
1 *BRKREL1 OV
2 V1
2 *BRKREL2 OV
TB2(OUT) 3 W1
3 *BRKREL3 24V TB1(IN)
4 SPARE 24V
5 BRKALM ESTOP TB2
U21
U1 1 U21
CRM41C
CRM41D
CRM41E
CRM41F
V21 2 V21
CRM41
CRM41,C,D,E,F V1
3 W21
1 24V W21
W1
2 0V
3 ESTOP
CIRCUIT PROTECTION UNITS

CONNECTOR PINOUTS
ISB SIX AXIS AMPLIFIER
UNIT MODE SWITCH
TEACH PENDANT CRM27 MAIN BOARD
JRST CRP12 OPTIONAL
CRT7
CRS16 OVERTRAVEL
INPUT
OPTIONAL DOOR SW OPTIONAL

HANDBRKN
INPUT
OPERATOR PANEL CRM44

EMERGENCY STOP BOARD ROBOT
EMERGENCY STOP
B2
DOORA1 A2
B3
A1
B1
DOORB1 A3
CRT8 CRM43 CRP10
DOORB2
DOORA2
A5 B10
A9
JRS7
B9
SVEMG B1 A6
CRM42
CRM42
1 OTHBK A2 A10
2
HOUR METER CRR39
MCCON A3
PCHBON B3
Figure 7–31. P–120/P–145 Emergency Stop Circuits

ENCODER/
BRAKE
RELAY CONTACT OUTPUT OF MODULE
EMERGENCY STOP CONDITION TBOP5 BRKON
DO CN6 CN6A CN6B
MAINON1
BRAKE ON/OFF BRK
TBOP5 B2
MBC
MAINON2
OPTIONAL
EXTERNAL ESTOP B5
TBOP4
2–EES11 CP2 100VAC
1–EES1
4–EES21
3–EES2 CRR38A
6–EAS11 CRR20 CRR20
X6
BRAKE EN 5–EAS1
8–EAS21 MOTOR
ON OFF
7–EAS2
CRR38B
CNMC1
CNMC1
10–EGS11
9–EGS1
12–EGS21
11–EGS2
OP PANEL PC BOARD
AXIS AXIS
3 2 OPTIONAL TBOP3
SERVO DISCONNECT SD41
CX11–1
2K 2K
AMPLIFIER MOTOR
XT4
JX5
CX22
PURGE CP2
TRANSFORMER UNIT POWER SUPPLY 2K
MOTOR
CRR47D CRR47A
QF2
CX11–1
CRM 2K
41A
CRR47E CRR47B AMPLIFIER
U2 CRM
V2 56 41B JX5 CX22
W2
SERVO CRR47C
LOCKOUT QF11 3
TERMINALS
QF3 TB1 TB2
CRR50B CRR50B
100VAC
Note: Shown with 2k Option

SIGNAL DESCRIPTIONS
Driver – (Output Signal)
Receiver (Input Signal) MODE1, MODE2 – Status signals of 3 OTRST – Reset command of ROT
Mode switch condition
OPEMG – Status signal of Operator’s SVEMG (Servo Amp) – Status of OTREL – Release command signal of
panel Emergency Stop Emergency stop input on Servo Amp overtravel condition
EXEMG – Status signal of External MAINON1, MAINON2 (Servo Amp) – Status MCCON (Servo Amp) – Drive command
Emergency Stop (Customer) signals of Chain condition of magnetic contactor
7–33
FENCE – Status signal of Fence ROT (Servo Amp) – Status signal of PCHGON (Servo Amp) – Connect
signal input (Customer) Robot overtravel condition command of pre–charge power
SVOFF – Status signal of SVOFF HBK (Servo Amp) – Status signal of BRKON – Output signal of brake is
signal input (Customer) Hand breakage condition drive condition (for Hour meter) EMERGENCY
SVDIC – Status signal of Servo NTED – Status signal of No Teaching HBKREL – Release command signal of
Disconnect signal input (Customer) Enabling Device Input hand breakage condition STOP CIRCUITS
7–34
ISB
UNIT MODE SWITCH SIX AXIS AMPLIFIER
TEACH PENDANT MAIN BOARD
JRST CRP12 OPTIONAL
OVERTRAVEL
INPUT
OPTIONAL DOOR SW OPTIONAL

HANDBRKN
INPUT
OPERATOR PANEL CRM44 ROBOT
A1
B1
EMERGENCY STOP EMERGENCY STOP BOARD
DOORB2 B3
DOORA1 A2
DOORB1 A3
DOORA2 B2
CRM43 CRP10
A5 B10
A9
B9
SVEMGB1 A6
CRM42
1 OTHBK A2 A10
2
HOUR METER CRR39
MCCON A3
PCHBON B3 7 AXIS
Figure 7–32. P–200(E) Emergency Stop Circuits

ENCODER/
RELAY CONTACT OUTPUT OF BRAKE
EMERGENCY STOP CONDITION X6
BRKON
DO BRAKE
MAINON1
B2
MAINON2
EXTERNAL ESTOP B5
CP2
X6
CRR20 CRR20
MOTOR
AXIS 7
CX21
OP PANEL PC BOARD AXIS 7 CX22 MOTOR
TBOP3
AMPLIFIER
JX5
PURGE 2K
TRANSFORMER UNIT POWER SUPPLY 24V MOTOR
XT4 CX11–1
2K CX22
JX5 AMPLIFIER 2K
MOTOR
CRR47D CRR47A
U2
V2
W2 CX11–1
TOTAL CRR47E CRR47B
WIRING NOT SHOWN 2K CX22
100VAC ON THIS SHEET SERVO AMPLIFIER
LOCKOUT JX5
TERMINALS
CRR47C
Note: Shown with Optiontal

REDUNDANT ESTOP UNIT Rail and 2k Motors
TO CRR47C OR
SIGNAL DESCRIPTIONS TO OPTIONAL
ROBOT/2K
Receiver (Input Signal) LOCKOUT
Driver – (Output Signal) SEE SHT 1
OPEMG – Status signal of Operator’s
panel Emergency Stop SVEMG (Servo Amp) – Status of OTRST – Reset command of ROT
Emergency stop input on Servo Amp OTREL – Release command signal of
EXEMG – Status signal of External overtravel condition
Emergency Stop (Customer) MAINON1, MAINON2 (Servo Amp) – Status
signals of Chain condition MCCON (Servo Amp) – Drive command
FENCE – Status signal of Fence of magnetic contactor
signal input (Customer) ROT (Servo Amp) – Status signal of
Robot overtravel condition PCHGON (Servo Amp) – Connect
SVOFF – Status signal of SVOFF command of pre–charge power
signal input (Customer) HBK (Servo Amp) – Status signal of
Hand breakage condition BRKON – Output signal of brake is
SVDIC – Status signal of Servo drive condition (for Hour meter)
Disconnect signal input (Customer) NTED – Status signal of No Teaching
Enabling Device Input HBKREL – Release command signal of
MODE1, MODE2 – Status signals of 3 hand breakage condition
Mode switch condition EMERGENCY STOP CIRCUITS
CP3A
TO REAR
PLENUM
COOLING FANS
ENCODER/BRAKE MODULE
CRR50A
CP3 REDUNDANT ESTOP UNIT

PURGE
UNIT PC BOARD UNIT
TRANSFORMER
CP2
200 200
200VAC 1 PH IN OUT 6 AXIS AMPLIFIER
CRR20 CRR20
POWER
SUPPLY PRECHARGE
Figure 7–33. P–120/P–145 Transformer Secondary and Power Distribution

CNMC1
CNMC1
QF3
CRR50B
100VAC 1 PH
XT4
CRR38A
AC IN
QF2 CRR47D CRR47A CRR38B
200VAC 3 PH
CRR47E CRR47B
CP2
QF11
CRR47C
TB1 TB2
TO OPTIONAL
2K AMPS
7–35
POWER DISTRIBUTION
7–36
INTRINSICALLY SAFE
TEACH PENDANT
BARRIER UNIT
CRS16 I.S. BATTERY UNIT
(ISB UNIT)
14 *TXTP 1 TXTP
8 TPESP1
15 *RXTP 2 RXTP
9 TPESP11
16 3 +
10 TPESP2 1
17 0V 4 TPEN1 –
11 TPESP21
18 TPDSC 5 TPEN2
Figure 7–34. Intrinsically Devices

12 +
+ = 6 VDC 2
19 0V 6 +24T – = 0V –
13 BATTERY
20 FG 7 +24T +
3
–
CRS16 ISG
CRS21
+4– +5– +6–
I.S. GROUND
1 IS–TPESP21 14 IS–TPEN2
8 IS–TPEN1
2 IS–TPDSC 15 8VB
9 IS–TPESP11
CRS21 FG 3 0VA 16 0VA
10 0VA
4 IS–*TXTP 17 IS–TXTP
11 8VA
5 IS–*RXTP 18 IS–RXTP A05B–2363–C040 (EE–3185–551)
12 8VA
6 0VA 19 8VA NOTE: BATTERY MUST BE INSTALLED
13 8VA
7 0VA 20 0VB UPSIDE–DOWN TO MAINTAIN PROPER
SPACING FROM TERMINALS TO POWER
CIRCUIT BREAKER
INTRINSICALLY SAFE
DEVICES
NOTE:
CABLES WITH –00X PART NUMBERS
INDICATE A LENGTH VARIANT. SEE
6 AXIS ROBOT HARNESS AND CABLE LAYOUT THE INDIVIDUAL CABLE DRAWINGS
BATTERY IN CONTROLLER, EURO PURGE
UPPER LEVEL BILL OF MATERIAL
EE–3505–004–005 5 METER LENGTH
ROBOT
RJ3 CONTROLLER EE–3505–004–010 10 METER LENGTHS
EE–3505–004–015 15 METER LENGTHS
6 AXIS ENCODER
BRAKE BD
EE–3505–316–001
AXIS 6
ENCODER 4,5,6 ENCODER & BATT
CRF1–A CRF1–B ENCODER EE–3505–331–00X OD=25.1MM (0.99”) EO–3738–030–006
b 0.5/3000
(A06B–0113–B075/0008)
POWER 5,6 POWER
MOTOR EE–3505–334–00X OD=20.4MM (0.805”)
POWER 4
CN6B BATTERY 4,5,6
CN6A
GND EE–3287–116–0XX OD=6.9MM (0.27) AXIS 5
ENCODER & BATT EO–3738–030–006
b 0.5/3000
(A06B–0113–B075/0008)
POWER
6 CH AMP
CN6 CNGC
AXIS 4
CNGB ENCODER & BATT
b 2/3000 A06B–0032–B575
CRF1 POWER
CNGA
CNJ6
Figure 7–35. P–120 Cable Layout

CNJ5
CNJ4
AXIS 3
CNJ3B ENCODER & BATT
MODELb 6/2000 A06B–0034–B675
CNJ3A POWER BRAKE
CNJ2B
AXIS 2
CNJ2A
ENCODER & BATT
MODEL a 12/3000 A06B–0143–B675
CNJ1B POWER BRAKE
CNJ1A
AXIS 1
PULSE & BATTERY
PURGE UNIT CONNECTIONS MODELa 6/3000 A06B–0128–B075
SOL1–P POWER
SOL SOL1–N Axes 4,5,6
SOL
PS–1
PS PS–2
FS–1
FS FS–2
ISGND IS GND
INTRINSIC EE–3505–323–00X OD=19.8MM (0.78”)
HR2151
FS 4 REMOVE JUMPER
BATTERY EE–3505–341–001 5 OP P
Axes 2,3
6V 6V 6FL
PS 7
0V 0V Axis 1
SOL EE–3505–348–001
IS SOLENOID
GND IS GND
HBKN
2K AXES
PXXX
PXXX
2K IS WIRING PXXX
PXXX
2K
3 AXIS #7 IN
ENCODER/
BRAKE #8 IN A06B–0373–B075
UNIT #7–OUT 2K ENCODER EE–3505–351–00X OD=17.4MM (0.68”) PULSE & BATTERY
MODELa 2/2000
#8–OUT
220 POWER BRAKE
BETA AMPS ENC 24VDC
L1/L2 2K POWER EE–3505–352–00X OD=14.9MM (0.58”)
AXIS 7 L3/GD A06B–0373–B075
MTR 2 COMPONENT (2K) PAINT CONTROL OPTION PULSE & BATTERY
0V/24V MODELa 2/2000
EE–3505–350–005 5 METER LENGTH POWER BRAKE
ENC
L1/L2
AXIS 8
L3/GD
MTR
0V/24V EE–3505–350–020 20 METER LENGTHS
7–37
P–120 PAINT ROBOT
CABLE LAYOUT
EE–3505–004
NOTE:
CABLES WITH –00X PART NUMBERS
7–38
INDICATE A LENGTH VARIANT. SEE
THE INDIVIDUAL CABLE DRAWINGS
6 AXIS ROBOT HARNESS AND CABLE LAYOUT
BATTERY IN CONTROLLER, EURO PURGE
UPPER LEVEL BILL OF MATERIAL
EE–3505–003–005 5 METER LENGTH ROBOT
RJ3 CONTROLLER
6 AXIS ENCODER EE–3505–003–015 15 METER LENGTHS
BRAKE BD
EE–3505–003–020 20 METER LENGTHS EE–3505–316–001
AXIS 6
ENCODER 4,5,6 ENCODER & BATT
CRF1–A CRF1–B ENCODER EE–3505–321–00X OD=25.1MM (0.99”) b 0.5/3000 A06B–0113–B075
POWER 5,6 POWER
MOTOR EE–3505–324–00X OD=20.4MM (0.805”)
POWER 4
BATTERY 4,5,6
CN6A CN6B GND EE–3287–116–0XX OD=6.9MM (0.27) AXIS 5
ENCODER & BATT
b 2/3000 A06B–0032–B575
POWER
6 CH AMP
CN6 CNGC
AXIS 4
CNGB ENCODER & BATT
b 2/3000 A06B–0032–B575
CRF1 POWER
CNGA
CNJ6
CNJ5

CNJ4
AXIS 3
CNJ3B ENCODER & BATT
MODELb 6/2000 A06B–0034–B675
CNJ3A POWER BRAKE
CNJ2B
AXIS 2
CNJ2A
ENCODER & BATT
MODEL a 12/3000 A06B–0143–B675
CNJ1B POWER BRAKE
CNJ1A
AXIS 1
PULSE & BATTERY
PURGE UNIT CONNECTIONS MODELa 6/3000 A06B–0128–B075
SOL1–P POWER
SOL SOL1–N Axes 4,5,6
SOL
PS–1
PS PS–2
FS–1
FS FS–2
ISGND IS GND
INTRINSIC EE–3505–323–00X OD=19.8MM (0.78”)
HR2151
FS 4 REMOVE JUMPER
BATTERY EE–3505–341–001 5 OP P
Axes 2,3
6V 6V 6 FL
PS 7
0V 0V Axis 1
SOL EE–3505–348–001
IS SOLENOID
GND IS GND
HBKN
2K AXES
PXXX
PXXX
2K IS WIRING PXXX
PXXX
2K
3 AXIS #7 IN
ENCODER/
BRAKE #8 IN A06B–0373–B075
UNIT #7–OUT 2K ENCODER EE–3505–351–00X OD=17.4MM (0.68”) PULSE & BATTERY
#8–OUT MODELa 2/2000
220 POWER BRAKE
BETA AMPS ENC 24VDC
L1/L2 2K POWER EE–3505–352–00X OD=14.9MM (0.58”)
AXIS 7 L3/GD A06B–0373–B075
MTR 2 COMPONENT (2K) PAINT CONTROL OPTION
PULSE & BATTERY
0V/24V EE–3505–350–005 5 METER LENGTH MODELa 2/2000
POWER BRAKE
ENC EE–3505–350–010 10 METER LENGTHS
AXIS 8 L1/L2
L3/GD EE–3505–350–015 15 METER LENGTHS
MTR
0V/24V
P–145 PAINT ROBOT

CABLE LAYOUT
EE–3505–003
CONNECTION CABLE SETS W/O PG
UPPER LEVEL BOMS
ROBOT ARM
R–J3 CONTROLLER EE–3287–105– 005 5M EE–3287–105– 035 35M 6 AXIS NA ROBOT HARNESS AND CABLE LAYOUT
EE–3287–105– 010 10M EE–3287–105– 045 45M UPPER LEVEL BILL OF MATERIAL
EE–3287–105– 015 15M EE–3287–105– 055 55M C1 C4 EE–3287–310–011
CRF1 EE–3287–105– 025 25M
D1 D4
PULSE PULSE BAT
JF7
EE–3287–133– 005 MODEL a 0.5
E1
CABLE POWER BRK
24VPG EE–3287–133– 010
CLAMP AXIS 6 A06B–0113–B078/0008
SHIELD TO EE–3287–133– 015
CHASSIS EE–3287–133– 025
GROUND EE–3287–133– 035
BRK3,7 BRK3,7
EE–3287–133– 045 PULSE BAT
BRK1,2 BRK1,2 EE–3287–133– 055 MODEL a 2/3000
EE–3044–401
F1 OUTER ARM
BRK4–6 POWER BRK
BRK4–6 GROUND
7 AXIS AXIS 5 A06B–0373–B175
ENCODER/BRK
BOARD
PULSE BAT
DC/DC CONVERTER MODEL a 2/3000
EE–3287–322–001
6 CH AXIS 4, 5 & 6 POWER BRK
AMPLIFIER PWR & PULSE HARNESS AXIS 4 A06B–0373–B175
SEAL OFFS USED
AXIS 4 CNJ4 WITH NA PEDESTAL A1 A4
(NO PG FITTINGS)
MOTOR
AXIS 5 CNJ5 B1 B4 PULSE & BATT
EE–3287–131– 005 MODEL a 12/3000
AXIS 6 CNJ6 EE–3287–131– 010 INNER ARM POWER & BRK
EE–3287–131– 015 GROUND
GND CNGB EE–3287–131– 025 AXIS 3 A06B–0143–B175/0008
Figure 7–37. P–200 Pedestal Cable Layout

EE–3287–131– 035
EE–3287–131– 045
EE–3287–131– 055
H1 H4
PULSE & BATT
AXIS 1 CNJ1
MOTOR MODEL a 22/2000
J1 J4 TURRET
EE–3287–130– 005 POWER & BRK
AXIS 2 CNJ2 GROUND
EE–3287–130– 010 AXIS 2 A06B–0147–B175
GND CNGA EE–3287–130– 015
EE–3287–130– 025
EE–3287–130– 035 PULSE & BATT
EE–3287–325–001
EE–3287–130– 045 AXIS 1, 2 & 3 MODEL a 6/3000
EE–3287–130– 055 PWR & PULSE HARNESS POWER & BRK
K1 K4 AXIS 1 A06B–0128–B175
AXIS 3 CNJ3
MOTOR
L1 L4
EE–3287–132– 005
EE–3287–132– 010
CX22 EE–3287–132– 015
EE–3287–132– 025 EE–3287–361–001
BRAKE RESISTOR
EE–3287–132– 035
EE–3287–132– 045
EE–3287–132– 055
GND
CONTROLLER GROUND
EE–3287–116– 005
EE–3287–116– 010
EE–3287–116– 015
SOL1 EE–3287–348–001
FS/PS EE–3287–116– 025 SOL1
4 M1 M4
EE–3287–116– 035
SOL EE–3287–116– 045 PS1 EE–3044–345–001
TO PURGE BD 2 N1 PS1
EE–3287–116– 055 OPTIONAL
HBK CONNECT BYPASS SW FS1 EE–3287–340–001
2 SHIELD TO EE–3185–356–001 EE–3287–323–001 FS1
O1
IS GND INTRINSIC DEVICE
INTRINSIC HARNESS
EE–3287–118– 005 P1 P4
BYPASS EE–3287–118– 010

TO 2 EE–3287–118– 015 R1
PROCESS EE–3287–118– 025
BARRIERS PROC. S1 S4
14 EE–3287–118– 035 EE–3287–324–001
I.S. GND EE–3287–118– 045 INTRINSIC BATTERY
EE–3287–118– 055 HARNESS AXIS 1–6
BATTERY
8
OPTIONAL
HND BROKEN
PG11
I/P I/P
PROPORTIONAIR
TRIG
EE–3287–328–001 TRIGGER
TRIG2
PG29 TRIGGER
7–39
FLOW
FLOW METER
P–200 R–J3
NA PEDESTAL CABLE LAYOUT
EE–3287–010
CONNECTION CABLE SETS W/ PG
UPPER LEVEL BOMS
ROBOT ARM
7–40
R–J3 CONTROLLER EE–3287–105– 125 25M P–200 RJ3 NA RAIL HARNESS AND CABLE LAYOUT
EE–3287–105– 135 35M UPPER LEVEL BOM
CRF1A EE–3287–105– 145 45M C1 C4 EE–3287–311–011
CRF1B EE–3287–105– 155 55M
D1 D4
PULSE ENC & BAT
JF7
EE–3287–133– 125 MODEL a 0.5
E1
CABLE EE–3287–133– 135 POWER BRK
24VPG
CLAMP EE–3287–133– 145 AXIS 6 A06B–0113–B078/0008
SHIELD TO
CHASSIS EE–3287–133– 155
GROUND
BRK3,7 BRK3,7
OUTER ARM ENC & BAT
GROUND
BRK1,2 BRK1,2 MODEL a 2 /3000
EE–3044–401
F1
POWER BRK
BRK4–6 BRK4–6
7 AXIS AXIS 5 A06B–0373–B175
ENCODER/BRK
BOARD
EE–3287–322–001
AXIS 4, 5 & 6 ENC & BAT
DC/DC CONVERTER PWR & PULSE HARNESS MODEL a 2 /3000
6 CH
AMPLIFIER POWER BRK
AXIS 4 A06B–0373–B175
AXIS 4 CNJ4 A1 A4
MOTOR
AXIS 5 CNJ5 B1 B4 ENCODER & BATT
EE–3287–131– 125 MODEL a 12/3000
AXIS 6 CNJ6 EE–3287–131– 135 INNER ARM POWER & BRK
EE–3287–131– 145 GROUND
Figure 7–38. P–200 Rail Cable Layout

CRF1
H1 H4
ENCODER & BATT
AXIS 1 CNJ1
MOTOR MODEL a 22 /2000
J1 J4 TURRET
EE–3287–130– 125 POWER & BRK
AXIS 2 CNJ2 GROUND
EE–3287–130– 135 AXIS 2 A06B–0147–B175
GND CNGA EE–3287–130– 145
EE–3287–130– 155
EE–3287–325–001 ENCODER & BATT
AXIS 1, 2 & 3 MODEL a 6 /3000
PWR & PULSE HARNESS POWER & BRK
K1 K4
AXIS 3 CNJ3 AXIS 1 A06B–0128–B175
MOTOR
L1
EE–3287–132– 125
EE–3287–132– 135
CX22 CX22 EE–3287–132– 145 EE–3185–316–001
ENCODER & BATT
AXIS 7 EE–3287–132– 155 MODEL a 12 /3000
BETA EE–3287–339–001
POWER & BK
AMP
AXIS 7 A06B–0143–B175/0008
GND
CONTROLLER GROUND
EE–3287–116–125
EE–3287–116–135 PG 9
EE–3287–116–145 SOL1 EE–3287–348–001
EE–3287–116–155 SOL1
FS/PS
4 M1 M4 PS1 EE–3044–345–001
PS1
TO PURGE BD SOL
2 N1 FS1 EE–3287–340–001
OPTIONAL FS1
HBK CONNECT BYPASS SW
2 SHIELD TO O1 EE–3185–356–001 EE–3287–323–001
INTRINSIC HARNESS
P1 P4
EE–3287–118– 125
TO BYPASS EE–3287–118– 135 PG29 R1 R4
2 EE–3185–344–001
PROCESS EE–3287–118– 145
BARRIERS PROC. 14 EE–3287–118– 155 S1 S4 EE–3287–324–001
I.S. GND INTRINSIC BATTERY
HARNESS AXIS 1–6
BATTERY
8
OPTIONAL
HND BROKEN
PG11
I/P I/P
PROPORTIONAIR
NON–HAZARDOUS HAZARDOUS TRIG
EE–3287–328–001 TRIGGER
TRIG2
PG29 TRIGGER
FLOW
FLOW METER
P–200 R–J3
NA RAIL CABLE LAYOUT
EE–3287–011
UPPER LEVEL BOMS ROBOT ARM
EE–3287–105– 125 25M
R–J3 CONTROLLER EE–3287–105– 135 35M P–200 RJ3 NA RAIL HARNESS AND CABLE LAYOUT
UPPER LEVEL BOM
CRF1A
EE–3287–105– 145 45M C1 C4 EE–3287–298–011
CRF1B EE–3287–105– 155 55M
D1 D4
PULSE ENC & BAT
JF7
MODEL a 0.5
EE–3287–133– 125 E1
CABLE PG29 POWER BRK
24VPG EE–3287–133– 135
CLAMP AXIS 6 A06B–0113–B078/0008
SHIELD TO EE–3287–133– 145
CHASSIS EE–3287–133– 155
GROUND
BRK3,7 BRK3,7
OUTER ARM ENC & BAT
GROUND
BRK1,2 BRK1,2 MODEL a 2 /3000
EE–3044–401
F1
BRK4–6 POWER BRK
BRK4–6
7 AXIS AXIS 5 A06B–0373–B175
ENCODER/BRK
BOARD
EE–3287–322–001
AXIS 4, 5 & 6 ENC & BAT
DC/DC CONVERTER PWR & PULSE HARNESS MODEL a 2 /3000
6 CH
AMPLIFIER POWER BRK
AXIS 4 A06B–0373–B175
AXIS 4 CNJ4 A1 A4
MOTOR
AXIS 5 CNJ5 B1 B4 ENCODER & BATT
EE–3287–131– 125 MODEL a 12/3000
AXIS 6 CNJ6 EE–3287–131– 135 PG29 INNER ARM POWER & BRK
EE–3287–131– 145 GROUND
Figure 7–39. P–200 Clean Wall Rail Cable Layout

CRF1
H1 H4
ENCODER & BATT
AXIS 1 CNJ1
MOTOR MODEL a 22 /2000
J1 J4 TURRET POWER & BRK
AXIS 2 CNJ2 EE–3287–130– 125 GROUND
PG29 AXIS 2 A06B–0147–B175
EE–3287–130– 135
GND CNGA EE–3287–130– 145
EE–3287–130– 155
AXIS 1, 2 & 3 MODEL a 6 /3000
PWR & PULSE HARNESS POWER & BRK
K1 K4
AXIS 3 CNJ3 AXIS 1 A06B–0128–B175
MOTOR
L1
EE–3287–132– 125
EE–3287–132– 135 PG29
CX22 CX22 EE–3287–132– 145 EE–3185–316–003
ENCODER & BATT
AXIS 7 EE–3287–132– 155
MODEL a 12 /3000
BETA EE–3287–339–002
AMP POWER & BK
AXIS 7 A06B–0143–B175/0008
GND
CONTROLLER GROUND
EE–3287–116–125
EE–3287–116–135 PG 9
EE–3287–116–145 SOL1 EE–3287–348–001
SOL1
FS/PS EE–3287–116–155
4 M1 M4 PS1 EE–3044–345–001
PS1
TO PURGE BD SOL
2 N1 FS1 EE–3287–341–001
OPTIONAL FS1 26 SCFM
HBK CONNECT BYPASS SW
2 SHIELD TO O1 EE–3185–356–001 EE–3287–323–001
INTRINSIC HARNESS
P1 P4
EE–3287–118– 125
TO BYPASS
2
EE–3287–118– 135 PG29 R1 R4 EE–3185–344–002
PROCESS
EE–3287–118– 145
BARRIERS PROC.
14 EE–3287–118– 155 S1 S4 EE–3287–324–001
I.S. GND INTRINSIC BATTERY
HARNESS AXIS 1–6
BATTERY
8
OPTIONAL
HND BROKEN
PG11
I/P I/P
PROPORTIONAIR
NON–HAZARDOUS HAZARDOUS TRIG
EE–3287–328–001 TRIGGER
TRIG2
PG29 TRIGGER
7–41
FLOW
FLOW METER
P–200 R–J3
N.A. CLEAN WALL RAIL
EE–3287–014
UPPER LEVEL BOMS
7–42
EE–3287–041–005 5M
R–J3 CONTROLLER EE–3287–041–010 10M P–200E N.A. ROBOT PEDESTAL VERSION
EE–3287–041–015 15M ROBOT CABLE SET BOM
EE–3287–041–025 25M K=KEYING PINS USED
EE–3287–041–001
7 AXIS EE–3287–041–035 35M
ENCODER/BRK EE–3287–041–045 45M ENC1,2,3
BOARD CABLE CLAMP ENC1,2,3
SHIELD TO
EE–3287–041–055 55M 16 K
CRF1A ENC & BAT
CRF1B CHASSIS 1K OR
MODEL a 0.5 ACCUSPEED
GROUND ENC4,5,6 POWER BRK
ENCODER 1–7 ENC4,5,6
CRF7A 16 K
CRF7B AXIS 8 A06B–0113–B078/0008
EE–3287–183– 005
ENCDR7
24VPG EE–3287–183– 010 6
EE–3287–183– 015 ROBOT PURGED CAVITY
EE–3287–183– 025 ENC & BAT
EE–3287–183– 035 MODEL a 0.5
DC/DC
BRK1,2 BRK1,2
EE–3287–183– 045 POWER BRK
CN6A
EE–3044–401
BRK3,7 BRK3,7 EE–3287–183– 055 AXIS 6 A06B–0113–B078/0008
BRK4–6 BRK4–6
DC/DC CONVERTER
ENC & BAT
EE–3287–350–001
MBC6 POWER B2 /3000 SEGMENT SUPPLIED PROCESS CABLING
BRK
TRIGGER
AXIS 5 A06B–0032–B175
I/P
BRAKE 6 CABLE NON–HAZARDOUS HAZARDOUS
EE–3044–401
6 CH EE–3287–382–001 12
AXIS 4, 5 & 6 ENC & BAT 6pr FLOW METER
AMPLIFIER
PWR & PULSE HARNESS POWER B2 /3000
CRM39 EE–3287–372–001
BRK 12 PG29 LEAK SENSOR
5pr
OUTER ARM AXIS 4 A06B–0032–B175
HND BROKEN
Figure 7–40. P–200E Pedestal Cable Layout

CN6 GROUND +shld
+KEY
AXIS 4 CNJ4 TRIGGER #2
PWR4–6 PW4,5,6
POWER 4–6 12
ENCODER & BATT
AXIS 5 CNJ5
EE–3287–182– 005 POWER a 12/3000
EE–3287–182– 010 INNER ARM BRK
AXIS 6 CNJ6 BRK4–6 BRK4–6
EE–3287–182– 015 6 GROUND AXIS 3 A06B–0143–B175/0008
GND CNGB
EE–3287–182– 025
EE–3287–182– 035
CRF1 EE–3287–182– 045
PWR 1 PWR 1
EE–3287–182– 055 6 XX
ENCODER & BATT
AXIS 1 CNJ1
POWER 1,2 POWER a 22/2000
TURRET BRK
AXIS 2 CNJ2 EE–3287–180– 005
010 GROUND
EE–3287–180– PWR 2 AXIS 2 A06B–0147–B175
EE–3287–180– 015 6 YY
GND CNGA
EE–3287–180– 025 PWR 2
HBK EE–3287–180– 035 ENCODER & BATT
EE–3287–180– 045 EE–3287–381–001
AXIS 1, 2 & 3 POWER a 6/3000
OT EE–3287–180– 055 PWR 3 PWR 3 PWR & PULSE HARNESS BRK
6 XY
AXIS 1 A06B–0128–B175
AXIS 3 CNJ3
POWER 3,7
EE–3287–181– 005 EE–3287–181– 025
EE–3287–181– 010 EE–3287–181– 035 6
CX22 CX22 EE–3287–181– 015 EE–3287–181– 045
PWR 7
EE–3287–181– 055 EE–3287–390–001
AXIS 7
BETA CHAS GND
AMP GND
EE–3287–116– 005 EE–3287–116 –025
EE–3287–116– 010 EE–3287–116 –035
EE–3287–116– 015 EE–3287–116 –045 2KENC1 2KENC1
3 AXIS 6
ENC/BRK 2K ENCODER EE–3287–116 –055 2K HARDNER PUMP
ENC1 ENC1
2KENC2 2KENC2
EE–3287–162– 005 EE–3287–162–025 6 MTR A 0.5/3000
ENC2 ENC2 EE–3287–162– 010 EE–3287–162–035 EE–3287–374–001
EE–3287–162– 015 EE–3287–162–045 2KPWR1 2KPWR1
4
BETA 2K POWER EE–3287–162–055
CX11–3
PURGE
3 X
JF1
12/20 SOL SOL EE–3287–331–001

2KPWR2 AIR SOL
AMP EE–3287–161– 005 EE–3287–161–025 4
BETA
EE–3287–161– 010 EE–3287–161–035 2KPWR2 PRES 3 Y PRES
PRESSURE
SWITCH EE–3287–332–001
CX11–3
EE–3287–161– 015 EE–3287–161–045 PURGE & I.S. HARNESS

JF1
12/20 PURG
EE–3287–161–055 PURG FLOW
AMP 8 EE–3287–384–001 FLOW 3 Y FLOW
SWITCH EE–3287–333–001
PURGE SOL BATT7
UNIT 2 5 OVRTRL
FS/PS BAT1–6 BAT1–6 EE–3287–383–001 HARNESS
4 PURGE/BATT I.S. 20
HBK EE–3287–184– 005 2KBAT 2KBAT
2 5 3 AXIS 3 OT EE–3287–388–001
OT
IS EE–3287–184– 010 OVRTRL
GND EE–3287–184– 015 OVRTRL EE–3287–386–001 OVRTRL
(TPD) 3 OVRTRL 3 AXIS 2 OT EE–3287–387–001
2 EE–3287–184– 025
BYPAS BYPAS
BATTERY EE–3287–184– 035 3 BYPASS SW
8 EE–3287–184– 045 EE–3287–385–001 3 NORMAL
HARDSTOP SENSORS
EE–3287–184– 055 HDSTP HDSTP EE–3287–367–001
12 K 3 NORMAL LH vs RH MODEL DEPENDENT
SEE PDL
HDBK HDBK 3 RETRACTED
2
PROC1 PROC1 PROC HARNESS EE–3287–363–001 11 PAIRS
12 K
TO PROC.
PROCESS
14 PROCESS PROC2 PROC2 P–200E N.A. PEDESTAL
NE–2046–976–005 12 K
BARRIERS BYPASS
2 NE–2046–976–010 PROC3 PROC3
2K SENSORS CABLE LAYOUT
NE–2046–976–015 OPTIONAL
NE–2046–976–025
12 K WITH AMP DYNAMICS, VER 2
NE–2046–976–035
NE–2046–976–145 EE–3287–041
NE–2046–976–155
KEY IN SOCKET – NO PIN IN MATE – PINS IN THAT POSITION IN OTHER CONNECTORS
P–200E N.A. ROBOT RAIL VERSION
R–J3 CONTROLLER CONNECTION CABLE SETS W/ PG
UPPER LEVEL BOMS K=KEYING PINS USED ROBOT CABLE SET BOM
7 AXIS EE–3287–041–025 25M EE–3287–042–001
ENCODER/BRK EE–3287–041–035 35M
BOARD EE–3287–041–045 45M ENC1,2,3 ENC1,2,3
CABLE CLAMP 16 K
CRF1A
SHIELD TO
EE–3287–041–055 55M ENC & BAT
CRF1B 1K OR
CHASSIS MODEL a 0.5 ACCUSPEED
ENC4,5,6 ENC4,5,6 POWER BRK
CRF7A GROUND ENCODER 1–7 16 K
CRF7B EE–3287–183– 025 AXIS 8 A06B–0113–B078/0008
EE–3287–183– 035 ENCDR7 ENCDR7
24VPG 6 K
EE–3287–183– 045 ROBOT PURGED CAVITY
EE–3287–183– 055 ENC & BAT
DC/DC
MODEL a 0.5
BRK1,2 BRK1,2 POWER BRK
SEGMENT SUPPLIED PROCESS CABLING
EE–3044–401
BRK3,7 BRK3,7 AXIS 6 A06B–0113–B078/0008
BRK4–6 BRK4–6
DC/DC CONVERTER
ENC & BAT
EE–3287–350–001
MBC6 POWER B2 /3000
BRK
TRIGGER
AXIS 5 A06B–0032–B175
I/P
BRAKE 6 CABLE NON–HAZARDOUS HAZARDOUS
EE–3044–401
6 CH EE–3287–382–001 12
AXIS 4, 5 & 6 ENC & BAT 6pr FLOW METER
AMPLIFIER
PWR & PULSE HARNESS POWER B2 /3000
CRM39 HBKN X EE–3287–372–001
BRK 12 LEAK SENSOR
5pr PG29
OT Y OUTER ARM AXIS 4 A06B–0032–B175
+shld HND BROKEN
CN6 GROUND
+KEY
Figure 7–41. P–200E Rail Cable Layout

AXIS 4 CNJ4 TRIGGER #2
POWER 4–6 PWR4–6 PW4,5,6 ENCODER & BATT
AXIS 5 CNJ5 12
EE–3287–182– 025 POWER a 12/3000
EE–3287–182– 035 INNER ARM BRK
AXIS 6 CNJ6 BRK4–6 BRK4–6
EE–3287–182– 045 6 GROUND AXIS 3 A06B–0143–B175/0008
GND CNGB EE–3287–182– 055
CRF1
PWR 1 PWR 1
6 XX
ENCODER & BATT
AXIS 1 CNJ1
POWER 1,2 POWER a 22/2000
TURRET BRK
AXIS 2 CNJ2 EE–3287–180– 025
GROUND AXIS 2 A06B–0147–B175
EE–3287–180– 035 PWR 2 PWR 2
EE–3287–180– 045 6 YY
GND CNGA
EE–3287–180– 055
HBK
AXIS 1, 2 & 3 POWER a 6/3000
OT PWR 3 PWR 3 PWR & PULSE HARNESS BRK
6 XY
AXIS 1 A06B–0128–B175
AXIS 3 CNJ3
POWER 3,7
EE–3287–181– 025
EE–3287–181– 035 PWR 7 PWR 7
6 XX
CX22 XX CX22 EE–3287–181– 045 EE–3287–358–002
EE–3287–181– 055 ENCODER & BATT
AXIS 7
BETA POWER a 12/3000
CHAS GND EE–3287–389–002
AMP BRK
GND EE–3287–116 –025
EE–3287–116 –035 250V AXIS 7 A06B–0143–B175/0008
EE–3287–116 –045 2KENC1 2KENC1
3 AXIS EE–3287–116 –055 6
ENC/BRK 2K ENCODER 2K HARDNER PUMP
ENC1 ENC1 EE–3287–374–001
2KENC2 2KENC2 MTR
EE–3287–162 –025 6 A 0.5/3000
ENC2 ENC2
EE–3287–162 –035
EE–3287–162 –045 2KPWR1 2KPWR1
BETA
4
EE–3287–162 –055
CX11–3
PURGE EE–3287–331–001
SOL 3 X SOL
JF1
12/20 AIR SOL

AMP 2K POWER 2KPWR2 2KPWR2
4
EE–3287–161–025 PRES 3 Y PRES PRESSURE
EE–3287–332–001
BETA 600V SWITCH
CX11–3
EE–3287–161–035 PURGE & I.S. HARNESS

JF1
12/20 PURG PURG

AMP EE–3287–161–045 8 EE–3287–384–001 FLOW 3 Y FLOW FLOW
EE–3287–333–001
SWITCH
EE–3287–161–055
PURGE SOL BATT7 BATT7 EE–3287–355–002
UNIT 2 5
OK??
FS/PS BAT1–6 BAT1–6 EE–3287–383–001 HARNESS
4 PURGE/BATT I.S. 20
HBK EE–3287–184–025 2KBAT 2KBAT OVRTRL
2 5 3 AXIS 3 OTEE–3287–388–001
EE–3287–184–035
OT OVRTRL OVRTRL OVRTRL
EE–3287–184–045 OVRTRL EE–3287–386–001
(TPD) 3 3 AXIS 2 OTEE–3287–387–001
2 EE–3287–184–055
BYPAS BYPAS BYPASS SW
BATTERY 3
8 EE–3287–385–001 3 NORMAL
HARDSTOP SENSORS
HDSTP HDSTP
12 K 3 NORMAL LH vs RH MODEL DEPENDENT
EE–3287–367–001 SEE PDL
HDBK HDBK 3 RETRACTED
2
PROC1 PROC1 PROC HARNESS EE–3287–363–001 11 PAIRS
12 K
TO PROC.
7–43
14 PROCESS PROC2 PROC2
PROCESS
NE–2046–976–025 12 K P–200E N.A. RAIL
BARRIERS BYPASS
2 NE–2046–976–035 2K SENSORS
PROC3
NE–2046–976–145
PROC3
12 K
OPTIONAL CABLE LAYOUT
NE–2046–976–155 WITH AMP DYNAMICS, VER 2
EE–3287–042
7–44
UPPER LEVEL BOM
DOOR OPENER
INTERCONNECTION CABLES FOR US
EE–3186–103–105 DOOR OPENER

EE–3186–103–110
R–J3 EE–3186–103–115 ARM CABLES
EE–3186–103–125
CONTROLLER EE–3186–103–135 UPPER LEVEL BOM
EE–3186–103–145
EE–3186–103–155 EE–3186–301–001
CONNECTIONS
PURGED
CAVITY
AXIS 3
OUTER ARM
a6/3000 DC/DC
A06B–0128–B175
EE–3044–401
PWR
BCOP10 CX22 INPUT
A
UNIT
CX21 OPENER JF1
AMP 1
JX–5 CX20
80A
CX19A CX23
AXIS 2 MAGNET
BCOP10 CX22 INNER ARM SWITCH EE–3186–333–001

A
a6/3000
CX21 OPENER JF1 BREAKAWAY JOINT
AMP 2 MOTOR/BRAKE A06B–0128–B175 SEE NOTE 1
JX–5 80A CX20
AA1 AA4 EE–3186–311–001
CX19A CX23
B MOTOR POWER (16.9 MM DIA.) AB1 AB4 EE–3186–312–001

ACOP10OPENER CX22
EE–3186–131–105
CX21 AMP 3 JF1 EE–3186–131–1 10 AC1 AC4 EE–3186–313–001
EE–3186–131–1 15 PG29 EE–3186–319–001
JX–5 80A CX20
EE–3186–131–125
CX19A CX23 EE–3186–131–135
EE–3186–131–145
EE–3186–131–155
BYPASS
THREE AXIS (PDL OPTION)
ENCODER/BRAKE
EE–3185–356–001
100V
BRK TERMS
CONN1
PULSE
24V AD1 AD4 EE–3186–314–001
CONN2 ENC1
OUT AE1 AE4
ENC1 ENCODER SIGNALS (17.4 MM DIA) EE–3186–315–001
ENC2
IN EE–3186–132–105 OUTER
ENC2 ENC3 EE–3186–132–1 10 AF1 AF4 EE–3186–316–001 ARM
EE–3186–132–1 15 PG29 EE–3186–351–001
ENC3 EE–3186–132–125
EE–3186–132–135
EE–3186–132–145 REFERENCE
EE–3186–132–155 SOL2 EE–3186–323–001 LINK
SEVEN AXIS 24VPG SOL VALVE SHOWN INNER
ON MECH BOM PURGE VALVE
ENCODER/BRAKE ARM
220VAC
GND WIRES
REFERENCE PS2 EE–3066–322–001 (1) EE–3186–326–004
EOAT1
AM1 AM4
PRES SW SHOWN
AG4
SENSOR
AH1 AH4
AN1 AN4
AK1 AK4
AL1 AL4
AJ1 AJ4
ISRR SWITCH PRESSURE (4) EE–3186–326–003
OUTPUT EOAT2 ON MECH BOM CRANK
EOAT5
AG1
BYPASS ISRR
OUTPUT EOAT6 AXIS 3
FS2 EE–3186–340–001
FLOW SW ASSY FLOW SWITCH AXIS 2
SOL2–P SOL2P
SOL2–N SOL2N
PURGE PS–1 INTRINSICALLY SAFE (17.4 MM DIA)
UNIT PS–2/3 PS2/3
EE–3186–115–105
PS–4 PS–4 EE–3186–115–110
FS–1 EE–3186–115–115 PG29
FS–2/3 FS2/3 IS
GND EE–3186–115–125 AXIS 1
FS–4 FS–4
EE–3186–115–135
EE–3186–115–145
6V EE–3186–115–155
BATTERY 3 AXIS 1
0V RAIL
3
GROUND CABLE (6.8MM) a6/3000
EE–3287–116–105 A06B–0128–B675–0008
EE–3287–116–110 PG9
EE–3287–116–115
EE–3287–116–125
EE–3287–116–135
EE–3287–116–145
EE–3287–116–155
NOTE: I.S. GROUND IS A SEPARATE
INTRINSICALLY SAFE GROUND NOTES
AT THE PURGE CONTROL UNIT
1. CABLES EE–3186–319–001 AND EE–3186–333–001 2. SPARE SPRING CONTACT PART NUMBER
NEED TO BE SOLDERED TO THE BREAKAWAY JOINT PINS HDWMO000004659O
AS SHOWN HERE
SOLDER AND SOLDER AND

COVER W/ SHRINK COVER W/ SHRINK
P–10 RJ3 NA DOOR OPENER
EE–3186–319–001 EE–3186–333–001
ELECTRICAL LAYOUT
EE–3186–003
UPPER LEVEL BOM
DOOR OPENER
INTERCONNECTION CABLES FOR US
EE–3186–103–105
EE–3186–103–110 HOOD DECK OPENER
R–J3 EE–3186–103–115
EE–3186–103–125 ARM CABLES
EE–3186–103–145
CONNECTIONS EE–3186–103–155 EE–3715–301–001
PURGED
CAVITY
AXIS 3
OUTER ARM
a6/3000
A06B–0128–B175 DC/DC
EE–3044–401
PWR
BCOP10 CX22 INPUT
A
CX21 OPENER JF1 UNIT
AMP 1
JX–5 CX20
80A
CX19A CX23 EE–3186–331–001
AXIS 2
MAGNET

BCOP10 CX22 INNER ARM SWITCH
A
CX21 OPENER JF1 a6/3000
AMP 2 A06B–0128–B175
JX–5 80A CX20
CX19A CX23 AA1 AA4 EE–3186–311–001
BCOP10 CX22
MOTOR POWER AB1 AB4 EE–3186–312–001
A OPENER
CX21 AMP 3 JF1 EE–3186–131–105
AC1 AC4 EE–3186–313–001
EE–3186–131–1 10 PG29 EE–3186–317–001
JX–5 80A CX20
EE–3186–131–1 15
CX19A CX23 EE–3186–131–125 MOTOR/BRAKE
EE–3186–131–135
EE–3186–131–145
THREE AXIS EE–3186–131–155 BYPASS
ENCODER/BRAKE
EE–3185–356–001
100V
BRK TERMS
CONN1
PULSE
24V AD1 AD4 EE–3186–314–002
CONN2 ENC1
OUT AE1 AE4
ENC1 ENCODER SIGNALS EE–3186–315–001 OUTER
ENC2
IN EE–3186–132–105 ARM
ENC2 ENC3 AF1 AF4 EE–3186–316–001
EE–3186–132–1 10
PG29 EE–3186–351–001
ENC3
EE–3186–132–1 15
EE–3186–132–125
INNER
EE–3186–132–135 REFERENCE SOL2
INTERNAL
24VPG EE–3186–323–001 ARM GND WIRE
SEVEN AXIS EE–3186–132–145 SOL VALVE SHOWN LINK EE–3158–316–001
PURGE VALVE
ENCODER/BRAKE EE–3186–132–155 ON MECH BOM
220VAC GND WIRES

(1) EE–3186–326–004
SENSOR REFERENCE PS2 EE–3066–322–001
EOAT1 (3) EE–3186–326–003
AM1 AM4
PRES SW SHOWN
AG1 AG4
OUTPUT
AH1 AH4
AN1 AN4
AK1 AK4
AL1 AL4
CRANK
AJ1 AJ4
ISRR SWITCH PRESSURE
EOAT2 ON MECH BOM
BYPASS EOAT5 AXIS 3
OUTPUT ISRR
EOAT6 FS2 EE–3186–340–001 AXIS 2
FLOW SW ASSY FLOW SWITCH
SOL2–P SOL2P
SOL2–N SOL2N
PS–1 INTRINSICALLY SAFE (17.4 MM DIA)
PS–2/3 PS2/3
EE–3186–115–105
PURGE PS–4 PS–4
UNIT FS–1 EE–3186–115–110 PG29
FS–2/3 FS2/3 IS EE–3186–115–115 AXIS 1
FS–4 FS–4 GND EE–3186–115–125
EE–3186–115–135
6V EE–3186–115–145
BATTERY 3
0V
EE–3186–115–155 AXIS 1
3 GROUND CABLE (6.8MM) RAIL
a6/3000
EE–3287–116–105 A06B–0128–B675–0008
PG9
EE–3287–116–110
EE–3287–116–115
EE–3287–116–125
EE–3287–116–135
EE–3287–116–145
INTRINSICALLY SAFE GROUND EE–3287–116–155
7–45
P–15 RJ3 NA HOOD/DECK
ELECTRICAL LAYOUT
EE–3715–003
7–46
UPPER LEVEL BOM
DOOR OPENER
R–J3
INTERCONNECTION CABLES FOR N.A.
CONTROLLER
CONNECTIONS EE–3186–011–005 DOOR OPENER
EE–3186–011–010
EE–3186–011–015 ARM CABLES
EE–3186–011–025
EE–3186–011–035 UPPER LEVEL BOM
EE–3186–011–045 EE–3186–011–001
EE–3186–011–055
PURGED
GROUND CABLE (6.8MM)
CAVITY
EE–3287–116–005 AXIS 3
EE–3287–116–010 OUTER ARM
EE–3287–116–015 a6/3000
EE–3287–116–025 A06B–0128–B175 DC/DC
EE–3287–116–035 EE–3044–401
EE–3287–116–045 PWR
BCOP10 CX22 EE–3287–116–055 INPUT
A
UNIT
CX21 OPENER JF1
AMP 1
JX–5 CX20
80A
CX19A CX23
AXIS 2 MAGNET
BCOP10 CX22 INNER ARM SWITCH EE–3186–333–001
Figure 7–44. P–10E Cable Layout

A
CX21 OPENER JF1 a6/3000 BREAKAWAY JOINT
PWR 1 PWR 1
AMP 2 6 XX A06B–0128–B175 SEE NOTE 1
JX–5 80A CX20
CX19A CX23
MOTOR POWER (16.9 MM DIA.) PWR 2 PWR 2 EE–3186–362–001
BCOP10 CX22 6 YY
A OPENER EE–3186–181–005
CX21 AMP 3 JF1
EE–3186–181–010 EE–3186–368–001
JX–5 80A CX20 EE–3186–181–015 PWR 3 PWR 3 EE–3186–363–001
CX19A CX23 EE–3186–181–025 6 XY
EE–3186–181–035
EE–3186–181–045 EE–3186–361–002
THREE AXIS
EE–3186–181–055 BYPASS
(PDL OPTION)
ENCODER/BRAKE
EE–3287–385–001
100V
BRK TERMS
CONN1
ENCDR1 ENCDR1
24V EE–3186–364–002
6 K
CONN2 ENC1
OUT ENCDR2 ENCDR2
ENC1 ENCODER SIGNALS (17.4 MM DIA) 6 K
EE–3186–365–001
ENC2
IN EE–3186–182–005
ENC2 ENC3 EE–3186–182–010 8 3 OUTER
ENCDR3 ENCDR3 EE–3186–366–001
EE–3186–182–015 6 K ARM
ENC3
EE–3186–182–025
EE–3186–182–035
SEVEN AXIS 24VPG
EE–3186–182–045 INNER
ENCODER/BRAKE ARM
EE–3186–182–055 SOLENOID VALVE AND PRES SW LINK
220VAC CALLED OUT ON MECH BOM
EE–3287–331–001 GND WIRES
SENSOR EOAT1 SOL SOL
ISRR (1) EE–3186–326–004
OUTPUT EOAT2 3 X SOL2 PURGE VALVE
AXIS 1 RAIL CRANK (4) EE–3186–326–003
PRES PRES EE–3287–332–001
BYPASS EOAT5
a6/3000
ISRR 3 Y PS2 PRES SWITCH
OUTPUT EOAT6
A06B–0128–B675–0008 AXIS 3
SOL2–P SOL2P FLOW FLOW EE–3186–369–001
SOL2–N SOL2N 3 Y FS2 FLOW SWITCH AXIS 2
INTRINSICALLY SAFE (17.4 MM DIA)
PURGE PS–1 BATT1 BATT1
UNIT PS–2/3 PS2/3
EE–3186–185–005 EE–3186–364–001
PS–4 PS–4 5
FS–1 EE–3186–185–010 BATT2
IS BATT2 EE–3186–365–001
FS–2/3 FS2/3
GND
EE–3186–185–015 5
FS–4 FS–4 EE–3186–185–025
BATT3 BATT3 EE–3186–366–001 AXIS 1
6V EE–3186–185–035 5
BATTERY 3 EE–3186–185–045
0V
3
EE–3186–185–055 PROC1 PROC1 EE–3186–367–001
12

INTRINSICALLY SAFE GROUND
AT THE PURGE CONTROL UNIT NOTES
1. CABLES EE–3186–319–001 AND EE–3186–333–001 2. SPARE SPRING CONTACT PART NUMBER

NEED TO BE SOLDERED TO THE BREAKAWAY JOINT PINS HDWMO000004659O
AS SHOWN HERE
SOLDER AND SOLDER AND P–10E RJ3 NA DOOR OPENER

COVER W/ SHRINK COVER W/ SHRINK
ELECTRICAL LAYOUT
EE–3186–319–001 EE–3186–333–001 WITH AMP DYNAMICS, NO PGS
EE–3186–011
UPPER LEVEL BOM
DOOR OPENER
INTERCONNECTION CABLES FOR N.A.
EE–3186–011–005
EE–3186–011–010 HOOD DECK OPENER
EE–3186–011–015
R–J3 EE–3186–011–025 ARM CABLES
EE–3186–011–035
CONNECTIONS EE–3186–011–055 EE–3715–011–001
PURGED
GROUND CABLE (6.8MM)
CAVITY
AXIS 3
EE–3287–116–005
OUTER ARM
EE–3287–116–010
EE–3287–116–015 a6/3000
EE–3287–116–025 A06B–0128–B175 DC/DC
EE–3287–116–035 EE–3044–401
EE–3287–116–045 PWR
BCOP10 CX22 INPUT
A EE–3287–116–055
CX21 OPENER JF1 UNIT
AMP 1
JX–5 CX20
80A
CX19A CX23 EE–3715–371–001
AXIS 2 MAGNET
BCOP10 SWITCH
Figure 7–45. P–15E Cable Layout

A CX22 INNER ARM
CX21 OPENER JF1 a6/3000
AMP 2 PWR 1 PWR 1
JX–5 80A CX20 6 XX A06B–0128–B175
CX19A CX23
BCOP10 CX22 MOTOR POWER PWR 2

YY
PWR 2 EE–3186–362–001
A OPENER 6
CX21 AMP 3 JF1 EE–3186–181–005
JX–5 80A CX20
EE–3186–181–010 EE–3715–368–001
EE–3186–181–015 PWR 3 PWR 3 EE–3186–363–001
CX19A CX23 EE–3186–181–025 6 XY
EE–3186–181–035
EE–3186–181–045 EE–3186–361–002
EE–3186–181–055 BYPASS
THREE AXIS (PDL OPTION)
ENCODER/BRAKE
EE–3287–385–001
100V
BRK TERMS ENCODER
CONN1 CONNECTIONS
24V ENCDR1 ENCDR1 EE–3186–364–002

ENC1 6 K
CONN2
OUT ENCDR2 ENCDR2
ENC1 ENCODER SIGNALS 6 K
EE–3186–365–001
ENC2
IN EE–3186–182–005
ENC2 ENC3 ENCDR3 ENCDR3 EE–3186–366–001 8 3 OUTER
EE–3186–182–010 6 K ARM
ENC3 EE–3186–182–015
EE–3186–182–025
EE–3186–182–035 REFERENCE REFERENCE
SEVEN AXIS 24VPG SOL VALVE SHOWN PRES SW SHOWN
ENCODER/BRAKE
EE–3186–182–045 ON MECH BOM ON MECH BOM
INNER INTERNAL
EE–3186–182–055 ARM GND WIRE
LINK EE–3158–316–001
220VAC
EOAT1 SOL GND WIRES
SENSOR ISRR SOL EE–3287–331–001
AXIS 1 RAIL (1) EE–3186–326–004
OUTPUT EOAT2 3 X SOL2 PURGE VALVE
CRANK (3) EE–3186–326–003
PRES PRES a6/3000
BYPASS EOAT5 EE–3287–332–001
ISRR 3 Y PS2 PRES SWITCH
OUTPUT EOAT6 A06B–0128–B675–0008 AXIS 3
FLOW FLOW
SOL2–P SOL2P EE–3186–369–001
3 Y FS2 FLOW SWITCH AXIS 2
PURGE SOL2–N SOL2N
UNIT PS–1 INTRINSICALLY SAFE (17.4 MM DIA)
PS–2/3 PS2/3 BATT1 BATT1
EE–3186–185–005 5
PS–4 PS–4
FS–1 EE–3186–185–010 BATT2 BATT2
FS–2/3 FS2/3 IS EE–3186–185–015
GND 5
FS–4 FS–4 EE–3186–185–025 BATT3 BATT3 AXIS 1
6V EE–3186–185–035 5
BATTERY 3 EE–3186–185–045
0V EE–3186–185–055 PROC1 PROC1 EE–3186–367–001
3 12 K

INTRINSICALLY SAFE GROUND
7–47
P–15E RJ3 NA HOOD/DECK
ELECTRICAL LAYOUT
WITH AMP DYNAMICS
EE–3715–011
7–48
6 AXIS 6 AXIS +2K
MAIN CPU MAIN CPU

W/ 6 AXIS SERVO CARD W/ 8 AXIS SERVO CARD
JD1A JD1A
CRJ2A CRJ2A
JRS7 JRS7
CRP12 CRP12
COP10A COP10A
Figure 7–46. P–120/P–145 Fiber Optic Connections

B COP LINE TRACKING BD B COP LINE TRACKING BD
A A
6 AXIS SERVO AMP 6 AXIS SERVO AMP
COP10B COP10B
CRM37 CRM37
COP10A COP10A
CRF1 CRF1
CN6 CN6
CRP10 CRP10
CRR39 CNJ1A CRR39 CNJ1A

(PRECHG) (PRECHG)
CNJ2B CNJ2B
CRR45A CRR45A
CNJ3B CNJ3B
CRR45B DCR CRR45B DCR
CNJ4 CNJ4
CRR45C CRR45C
CNJ5 CNJ5
AC IN AC IN
CNJ6 CNJ6
CRR38A CRR38A
CNGA CNGA
CRR38B CNGB CRR38B CNGB
B COP10
A JF1
CX11–1
2K CX11–3
CX11–4
JX–5 CX11–6
B
A COP10 JF1
CX11–1
2K CX11–3
CX11–4
JX–5 CX11–6
OPTICAL FIBER
CONFIGURATIONS
6 AXIS 6 AXIS +2K 7 AXIS 7 AXIS + 2K 7 AXIS+OPENER 7 AXIS + OPENER
+ 2K
MAIN CPU MAIN CPU MAIN CPU MAIN CPU MAIN CPU MAIN CPU
W/ 6 AXIS SERVO CARD W/ 8 AXIS SERVO CARD W/ 8 AXIS SERVO CARD W/ 8 AXIS SERVO CARD W/ 8 AXIS SERVO CARD W/ 8 AXIS SERVO CARD
JD1A JD1A JD1A JD1A JD1A JD1A
CRJ2A CRJ2A CRJ2A CRJ2A CRJ2A CRJ2A
JRS7 JRS7 JRS7 JRS7 JRS7 JRS7
CRP12 CRP12 CRP12 CRP12 CRP12 CRP12
COP10A COP10A COP10A COP10A COP10A COP10A

4 AXIS AUX 4 AXIS AUX 4 AXIS AUX
COP10B SERVO CARD COP10B SERVO CARD COP10B SERVO CARD
B COP LINE TRACKING BD B COP LINE TRACKING BD B COP LINE TRACKING BD B COP LINE TRACKING BD B COP LINE TRACKING BD B COP LINE TRACKING BD
A A A A A A
6 AXIS SERVO AMP 6 AXIS SERVO AMP 6 AXIS SERVO AMP 6 AXIS SERVO AMP 6 AXIS SERVO AMP 6 AXIS SERVO AMP
COP10B COP10B COP10B COP10B COP10B COP10B

CRM37 CRM37 CRM37 CRM37 CRM37 CRM37
COP10A COP10A COP10A COP10A COP10A COP10A
CRF1 CRF1 CRF1 CRF1 CRF1 CRF1
CN6 CN6 CN6 CN6 CN6 CN6
Figure 7–47. P–200(E) Fiber Optic Connections

CRP10 CRP10 CRP10 CRP10 CRP10 CRP10
CRR39 CNJ1A CRR39 CNJ1A CRR39 CNJ1A CRR39 CNJ1A CRR39 CNJ1A CRR39 CNJ1A
(PRECHG) (PRECHG) (PRECHG) (PRECHG) (PRECHG) (PRECHG)
CNJ2B CNJ2B CNJ2B CNJ2B CNJ2B CNJ2B
CRR45A CRR45A CRR45A CRR45A CRR45A CRR45A
CNJ3B CNJ3B CNJ3B CNJ3B CNJ3B CNJ3B
CRR45B DCR CRR45B DCR CRR45B DCR CRR45B DCR CRR45B DCR CRR45B DCR
CNJ4 CNJ4 CNJ4 CNJ4 CNJ4 CNJ4
CRR45C CRR45C CRR45C CRR45C CRR45C CRR45C
AC IN AC IN AC IN AC IN AC IN AC IN
CRR38A CRR38A CRR38A CRR38A CRR38A CRR38A
CNGA CNGA CNGA CNGA CNGA CNGA
CRR38B CNGB CRR38B CNGB CRR38B CNGB CRR38B CNGB CRR38B CNGB CRR38B CNGB
B B COP10 B COP10 B COP

A COP10 JF1
A JF1 A JF1 A JF1
CX11–1 CX21 AXIS 7 (RAIL) CX11–1 CX11–1
2K CX11–3 SERVO AMP CX22 2K CX11–3 2K CX11–3
CX11–4 JX–5 CX11–4 CX11–4
CX11–6 CX11–6 JX–5 CX11–6
JX–5 JX–5
B COP10 B COP10 B COP

A A A JF1
JF1 JF1
CX11–1 CX11–1 CX11–1
2K 2K 2K CX11–3
CX11–3 CX11–3 CX11–4
CX11–4 CX11–4
CX11–6 CX11–6 JX–5 CX11–6
JX–5 JX–5
SIDE CABINET SIDE CABINET SIDE CABINET

B B COP B COP
A COP JF1 A JF1 A JF1
CX21 AXIS 7 (RAIL) CX21 AXIS 7 (RAIL) CX21 AXIS 7 (RAIL)
SERVO AMP CX22 SERVO AMP CX22 SERVO AMP CX22
JX–5 JX–5 JX–5
B COP OPENER B COP OPENER

A JF1 A JF1
SERVO AMP SERVO AMP
AMPS MOUNTED IN MAIN CABINET CX21 CX21
UNLESS NOTED CX22 CX22
JX–5 JX–5
B COP OPENER B COP OPENER

A JF1 A JF1
SERVO AMP SERVO AMP
CX21 CX21
7–49
CX22 CX22
JX–5 JX–5
B B COP OPENER
OPTICAL FIBER A COP OPENER JF1 A JF1
SERVO AMP SERVO AMP
CX21 CX21
CONFIGURATIONS CX22 CX22
JX–5 JX–5
Figure 7–48. Optional I/O Device Connection to Operator Panel PC Board
OPTIONAL I/O DEVICE CONNECTION
TO OP PANEL PC BOARD
OPERATORS PANEL
550.00 400.0 740.0
EMERGENCY STOP
LOCAL BATTERY
FAULT CYCLE
USER1 USER2 REMOTE HOLDRESET START REMOTEFAULT ON
ALARM OFF
PURGE PURGE
COMPLETE FAULT
PURGE
ENABLE
BRAKE
AXIS 1,4–7 ENABLE OPENER
AXIS 2 AXIS 3
Figure 7–49. Controller External Dimensions

1100.0
CLASS I, II & III DIV. 1

APPROVEDPER DRAWING:
P–120–6J3CE
P–120–6+2J3CE
EE–3285–800–045
F–XXXXX
TYPE
SERIAL NO
POWER SUPPLY
FANUC LTD
200.0
7–51
Note: Values in millimeters
CABINET EXTERNAL DIMENSIONS

7–52
ENCODER/BRAKE UNIT AND CABLES
PURGE UNIT AND CABLES
EE–3505–740–001
EE–3505–710–001
6 Axis Encoder/Brake Unit
Purge Module
EE–3505–581–001
EE–3505–595–001
CRF1 Encoder Cable
Transformer CP1 Cable
EE–3505–582–001
EE–3505–596–001
EE–3185–551 CN6 Brake Cable EE–3287–598–001
Power Supply CP1 Cable
Battery Unit EE–3505–584–001 HandBrake Jumper
EE–3505–583–001
Rotate Battery Unit 24V Cable EE–3287–599–001
to Position Shown CNPG Purge/Manual Brake Cable
EE–3505–599–001 Overtravel Jumper
100V Cable
EMERGENCY STOP
LOCAL FAULT CYCLE BATTERY
Figure 7–50. P–120/P–145 6 Axis Controller Layout

USER1 USER2 REMOTE HOLD RESET START ALARM
ON
PURGE MODULE
REMOTE FAULT OFF
ISTB ENCODER/
PURGE PURGE SOL1 BRAKE
MODULE
COMPLETE SOL1 BRKBRK
OUT
FAULT SOL2 OUT1,2
SOL2 +8
PRES –8
PRES +9 BRK
OUT
FLOW –93,7
FLOW +10
PURGE HBKN –10BRK
HBKN ENCOUT
ENABLE TPDSC IN 4–6
TPDSC 8
ENC
IN OPTIONAL
CRF7–BCN6A
SOL 9
BRAKE PR SW ENC
IN
FL SW
ENABLE HBKN
TPDSC
10
ENC
OUT I/O RACK
PWR 8
ENC
OUT ASSEMBLY
CRF7–A
9 PCR
IS GND ENC
OUT
AXIS 2 AXIS 3 IS GND 10 PCR
IS GND
IS GND
CRF1–B
BRK
OUT
PE +11
–11
CNPG +12
–12
+13
–13
ENC
IN
11
HVTB ENC
IN
HBKN 12
HBKN ENC
HBKN IN
TPDSC 13
CRF1–A
TPDSC ENC
OUT
TPDSC 11
PGC1
PGC1 ENC
OUT
PGC2 12
PGC2 ENC
220IN OUT
220IN
FIRE 13
ALM
FIRE
ALM
220
OUT
220
+6– +5– +4– OUT
ENCODER/BRAKE
MODULE
–
3
+
–
BATTERY 2
+
–
1
+
EE–3505–552–005
A05B–2406–C372
ISB UNIT Transformer
Paint 7.5KVA Type 2
(Dual Chain) CRM37
CRR50
(Location in rear)
A B
EE–3287–410–002 REV. A
EE–3287–410–002 REV. A
6 CHANNEL AMP
Modlel ID Tag
FAN
P–120–6J3CE P–145–6J3CE
P–120–6+2J3CE P–145–6+2J3CE
L1A
L1B
L2A
L2B
L3A
L3B
F–XXXXX
TYPE
SERIAL NO
POWER SUPPLY
FANUC LTD
MAIN CABINET DOOR, INSIDE VIEW

MAIN CABINET DOOR, OUTSIDE VIEW MAIN CABINET
6 AXIS VERSION COMPONENT LAYOUT

BOM EE–3505–501–001
EE–3287–595–001 AO6B–6093–H111
3 Phase Power Cable 12 Amp Beta Servo Amplifier ENCODER/BRAKE UNIT AND CABLES
(CP to Beta Amplifier) EE–3287–585–001 PURGE UNIT AND CABLES
EE–3505–740–002
EE–3505–594–001 24V & E–Stop Cable EE–3505–710–001 6+3 Axis Encoder/Brake Module
EE–3185–551 Thermal Jumper EE–3287–586–001 Purge Module EE–3505–581–001
Battery Unit XGMF–11861 24V, E–Stop & Brake Cable EE–3505–595–001 CRF1 Encoder Cable
Rotate Battery Unit A66L–6001–0023/L500R0 EE–3287–588–001 Transformer CP1 Cable EE–3505–582–001
to Position Shown Cable .5m 24V Jumper A05B–2406–C120 EE–3505–596–001 CN6 Brake Cable
XGMF–11842 EE–3287–592–001 Circuit Protector Power Supply CP1 Cable A17B–3300–0200
Cable 1m EE–3505–584–001
3 Phase Power Cable EE–3505–583–001 8 Axis Servo Card
24V Cable
(MCC to CP) CNPG Purge/Manual Brake Cable
EE–3505–599–001
100V Cable
EMERGENCY STOP
ON
PURGE MODULE
REMOTE FAULT OFF
Figure 7–51. P–120/P–145 6 Axis + 2k Controller Layout

ISTB ENCODER/
BRAKE
PURGE PURGE SOL1 MODULE
COMPLETE FAULT SOL1 BRK
OUT
SOL2 OUT1,2
SOL2 +8
PRES –8 BRK
PRES +9 OUT
FLOW –9
FLOW
HBKN +103,7
PURGE –10BRK
ENABLE HBKN ENC
TPDSC IN OUT
4–6
TPDSC 8
ENC
IN REDUNDANT EE–3287–598–001
#178307 16 POS.
CRF7–BCN6A
SOL 9
BRAKE ENC
PR SW IN ESTOP
AMP
ENABLE FL SW 10
HBKN ENC
TPDSC
PWR
OUT
8
ENC
ASSEMBLY HandBrake Jumper
OUT
CRF7–A
9 PCR
IS GND ENC
OUT
AXIS 2 AXIS 3 10
IS GND PCR
IS GND
IS GND
EE–3287–599–001
CRF1–B
BRK
HONDA MR–50RFA
PE OUT
+11
CNPG
–11
+12
–12
+13
Overtravel Jumper
–13
ENC
IN
11
HVTB ENC
IN
HBKN 12
HBKN ENC
HBKN IN
TPDSC 13
TPDSC ENC
CRF1–A
OUT
HONDA MR–50RMA
TPDSC 11
PGC1 ENC
PGC1 OUT
PGC2 12
PGC2 ENC
220IN OUT
220IN
FIRE 13
ALM
FIRE
ALM
220
OUT
220
OUT
+6– +5– +4–
ENCODER/BRAKE
A05B–2363–C040 MODULE
–
3
+
–
BATTERY 2
+
–
1
+
ISB UNIT EE–3505–552–005

SERVO–AMPLIFIER
UNIT series COP
CX11
10B
CP Transformer
1 COP
/L3
/ 2
10A
CRM37
/W
/
3
4
JX5
CHK
JF1
Paint 7.5KVA Type 2
5 ENC
6
(Location in rear)
6 CHANNEL AMP ESTOP
ALM
COP
SERVO–AMPLIFIER
UNIT series 10B
CX11
1 COP
10A
/L3
/ 2
/W 3 JX5
CHK
MCC
Modlel ID Tag /
4
5
JF1
ENC
FAN 6
1 2 3 4 5 6
F1 F2
Rochester Hills, MI 48309
100B
100A
P–120–6J3CE P–145–6J3CE R S T
P–120–6+2J3CE P–145–6+2J3CE
EE–3285–800–045
L1A
L1B
L2A
L2B
L3A
L3B
F–XXXXX
TYPE
SERIAL NO
POWER SUPPLY
FANUC LTD
MAIN CABINET DOOR, OUTSIDE VIEW MAIN CABINET DOOR, INSIDE VIEW
MAIN CABINET
EE–3505–760–001
Plate
7–53
6 AXIS VERSION COMPONENT LAYOUT
BOM EE–3505–501–002
7–54
EE–3505–761–001
7 Axis Encoder/Brake Module
EE–3505–581–001
EE–3505–710–001
CRF1 Encoder Cable
Purge Module
EE–3505–586–001
EE–3505–595–001
Brake Harness
Transformer CP1 Cable
EE–3185–551 EE–3287–604–001
EE–3505–596–001
Battery Unit Brake Cable
Rotate Battery Unit EE–3505–584–001
to Position Shown
24V Cable
EE–3505–587–001
100V Ext Cable
EMERGENCY STOP
ON
PURGE MODULE
REMOTE FAULT
OFF
EE–3287–598–001
ISTB CNBK3 ENCODER/
PURGE
COMPLETE
PURGE
FAULT
SOL1
SOL1
SOL2
SOL2
BRAKE
MODULE
BRAKE
OUT
+7
HandBrake Jumper
PRES –7
PRES CNBK6 +8
Figure 7–52. P–200(E) 6 Axis and 6 Axis + 2k Controller Layout

FLOW –8
FLOW
OPTIONAL EE–3287–599–001
CN6B
HBKN +9
PURGE HBKN –9
ENABLE
TPDSC
TPDSC
ENC
IN
7 VERTICAL
ENC
IN STYLE
BRAKE
SOLCNBKIS
PR SW
FL SW
8
ENC
IN
9 I/O Overtravel Jumper
CN6A
HBKN ENC
AXIS 1,4–7 ENABLE OPENER TPDSC
PWR
OUT
7
ENC
UNIT
OUT
8
IS GND ENC
OUT
IS GND 9
AXIS 2 AXIS 3 IS GND
IS GND
CRF1–B
BRAKE
OUT
PE +10
–10
CNPG +11
–11
+12
–12
ENC
IN
10
HVTB ENC
IN
HBKN 11
HBKN ENC
HBKN IN
CRF1–A
TPDSC 12
TPDSC ENC
OUT
TPDSC 10
PGC1
PGC1 ENC
OUT
PGC2 11
PGC2 ENC
220IN OUT
220IN 12
FIRE
ALM
FIRE
ALM
220
OUT
220
OUT
ENCODER/BRAKE
MODULE
BATTERY
A05B–2406–C372 CAUTION ALM EE–3505–552–005

CAUTION : LINK
>2 min.
TIME
ISB UNIT SERVO–AMPLIFIER
UNIT series COP
Intrinsically Safe Barrier Unit CX11
1
10B
Transformer
COP
10A
2
(Dual Chain) 3 JX5

CHK Paint 7.5KVA Type 2
CIRCUIT PROTECTOR
4 JF1
ENC
5
6 CRM37
(Location in rear)
6 CHANNEL AMP
CAUTION
CHARGED
CAUTION
> :
TIME
SERVO–AMPLIFIER
COP
UNIT series 10B
CX11
1 COP
10A
2
FM Approval Tag 3
4
JX5
CHK
JF1
5 ENC
6
FAN
FOR CONNECTION TO:

Model ID Tag
CLASS I, II & III DIV. 1
APPROVED PER DRAWING:
F–XXXXX
TYPE
SERIAL NO
POWER SUPPLY
FANUC LTD
INSIDE VIEW OF DOOR

FRONT VIEW MAIN CABINET
(DOOR OPEN)
6 AXISCONTROLLER LAYOUT
EE–3287–502–006
NOTE: NOT ALL COMPONENTS DETAILED
6+2K AXISCONTROLLER LAYOUT
2K SHOWN IN DOTTED
EE–3505–761–001 EE–3505–586–001
7 Axis Encoder/Brake Module Brake Harness
EE–3505–710–001
EE–3505–581–001
Purge Module
CRF1 Encoder Cable
EE–3185–551 EE–3505–595–001
EE–3287–604–001
Warning Tag Battery Unit Transformer CP1 Cable
Brake Cable
Rotate Battery Unit EE–3505–596–001
EE–3505–584–001 A17B–3300–0200
to Position Shown Power Supply CP1 Cable
24V Cable 8 Axis Servo Card
EE–3505–587–001
100V Ext Cable

EMERGENCY STOP
EE–3287–598–001
ON
OFF
PURGE MODULE
HandBrake Jumper
REMOTE FAULT
PURGE PURGE ISTB

SOL1 CNBK3 ENCODER/
BRAKE
MODULE
EE–3287–599–001
COMPLETE FAULT SOL1 BRAKE
SOL2 OUT
SOL2 +7
PRES
PRES
FLOW CNBK6
–7
+8
–8 Overtravel Jumper
AMP CONN.
14 CIRCUIT#178307 16 POS.
FLOW
OPTIONAL
CN6B
HBKN +9
PURGE HBKN –9
ENABLE TPDSC
TPDSC
ENC
IN
7 VERTICAL
ENC
SOL CNBKIS IN
8 STYLE
PR SW ENC
BRAKE FL SW IN
9 I/O
CN6A
AMP
HBKN ENC
AXIS 1,4–7 ENABLE OPENER TPDSC
PWR
OUT
7
ENC
UNIT
OUT
8
IS GND ENC
OUT
IS GND 9
AXIS 2 AXIS 3 IS GND
IS GND
CRF1–B
BRAKE
OUT
PE +10
–10
CNPG +11
Figure 7–53. P–200(E) 7 Axis Controller Layout

–11
+12
–12
ENC
IN
10
HVTB ENC
IN
HBKN 11
HBKN ENC
HBKN IN
CRF1–A
TPDSC 12
TPDSC ENC
OUT
TPDSC 10
PGC1 ENC
PGC1 OUT
PGC2 11
PGC2 ENC
220IN OUT
220IN
FIRE 12
ALM
FIRE
ALM
220
OUT
220
OUT
ENCODER/BRAKE
MODULE
BATTERY
EE–3505–551–003
Transformer
A05B–2406–C372
ISB UNIT Paint 7.5KVA Type 3
CIRCUIT PROTECTOR
(Location in rear)
(Dual Chain)
CRM37
6 CHANNEL AMP
FM Approval Tag
FAN
Model ID Tag
F–XXXXX
TYPE
SERIAL NO
POWER SUPPLY
FANUC LTD
INSIDE VIEW OF DOOR

FRONT VIEW MAIN CABINET
AO6B–6093–H114 (DOOR OPEN)
80 Amp Beta Servo Amplifier
EE–3287–594–001 EE–3287–581–001
3 Phase Power Cable Discharge Resistor Jumper
(CP to Beta Amplifier) XGMF–11130
A05B–2406–C120
NOTE: NOT ALL COMPONENTS DETAILED XGMF–11842 1.8m / J4 Cable
Circuit Protector Unit
FOR THIS VERSION, THE SMALL CP IS USED 1m Optical Cable EE–3287–584–001
FOR AXIS 7 EE–3287–588–001
EE–3287–601–001 24V E–Stop Cable
7–55
24V Jumper Cable
E–Stop/Brake Cable EE–3287–583–001
EE–3287–590–001
(Amplifier to CP Unit) Discharge Overheat Jumper
3 Phase Power Cable
7 AXIS CONTROLLER LAYOUT
(E–Stop Unit to CP2)
BOM EE–3287–502–001
EE–3287–583–001 A05B–2406–C124 EE–3505–761–001
Discharge Overheat Jumper Circuit Protection Unit EE–3505–710–001 7 Axis Encoder/Brake Module
7–56
EE–3287–594–001 A06B–6093–H114 Purge Module EE–3505–581–001
EE–3185–551 3 Phase Power Cable 80 Amp Beta Servo Amplifier EE–3505–595–001 CRF1 Encoder Cable
Battery Unit (CP to Beta Amplifier) EE–3287–581–001 Transformer CP1 Cable EE–3505–586–001
A17B–3300–0200
Rotate Battery Unit XGMF–11840 Discharge Resistor Jumper EE–3505–596–001 Brake Harness
8 Axis Servo Card
to Position Shown A66L–6001–0026/L2R403 XGMF–11130 Power Supply CP1 Cable EE–3287–604–001
A20B–8100–0422
Optical Cable 1.8m / J4 Cable Brake Cable
4 Axis Mini Slot Card
EE–3287–601–001 EE–3287–584–001 EE–3505–584–001
E–Stop/Brake Cable 24V E–Stop Cable 24V Cable
(Amplifier to CP Unit) EE–3505–587–001
EE–3287–410–001 100V Ext Cable
Mounting Plate
EE–3287–410–002
PURGE MODULE
Cover Plate MODULE
BETA 80
PURGE MODULE
ISTB CNBK3
SOL1
SOL1
SOL2
SOL2
PRES
PRES CNBK6
EE–3287–598–001
FLOW
FLOW
HBKN OPTIONAL
HBKN
TPDSC
TPDSC VERTICAL HandBrake Jumper
SOL CNBKIS STYLE
PR SW
FL SW
HBKN
I/O EE–3287–599–001
TPDSC
PWR
UNIT
IS GND
IS GND Overtravel Jumper
IS GND
IS GND
Figure 7–54. P–200(E) 7 Axis + 2k Paint Process Controller Layout

PE
CNPG
HVTB
HBKN
HBKN
CP1 HBKN
TPDSC
TPDSC
TPDSC
PGC1
PGC1
PGC2
PGC2
220IN
220IN
FIRE
ALM
FIRE
ALM
220
OUT
220
OUT
ENCODER/BRAKE
MODULE
BATTERY
EE–3505–551–003
A05B–2406–C372 CAUTION
CHARGED ALM POWER
Transformer
DISCHARGELINKREADY
LINK
CAUTION
>2 min.
TIME :
ISB UNIT A05B–2302–J290
SERVO–AMPLIFIER
UNIT series COP
CX11
10B
Paint 7.5KVA Type 3
1 COP
10A
Side Cabinet Assembly 2
(Location in rear)
(Dual Chain) 4
3 JX5
CHK
JF1
ENC
5
A05B–2302–J201 6
CRM37
Side Cabinet Riser
RATED INPUT 200~240V
CAUTION
CHARGED ALMPOWER 6 CHANNEL AMP
CAUTION : LINKREADY
DISCHARGE
>2 min.
TIME
SERVO–AMPLIFIER
UNIT series COP
10B
CX11
1 COP
10A
2
3 JX5
CHK
4 JF1
ENC
5
6
FAN
MAIN CABINET DOOR, INSIDE VIEW SIDE CABINET MAIN CABINET
A06B–6093–H111 (DOOR OPEN) (DOOR OPEN)

12 Amp Beta Servo Amplifier
EE–3287–590–002 EE–3505–594–001
3 Phase Power Cable Thermal Switch Jumper
(E–Stop Unit to CP1) EE–3505–760–001
NOTE: NOT ALL COMPONENTS DETAILED EE–3287–585–002 Plate

24V E–Stop Cable XGMF–11861
EE–3287–595–002 A66L–6001–0023 5m Cable
3 Phase Power Cable XGMF–11840 7+2K CONTROLLER LAYOUT
(CP to Beta Amplifier) A66L–6001–0026/L2R403 Optical Cable BOM EE–3287–502–002
EE–3287–584–002 EE–3287–594–001 A06B–6093–H114
24V E–Stop Cable 3 Phase Power Cable 80 Amp Beta Servo Amplifier
EE–3287–594–002 (CP to Beta Amplifier) A05B–2406–C124
EE–3505–761–002
3 Phase Power Cable XGMF–11840 Circuit Protector
7 + 3 Axis Encoder/Brake Module
(CP to Beta Amplifier) A66L–6001–0026/L2R403 EE–3287–581–001
EE–3505–581–001
XGMF–11858 Optical Cable Discharge Resistor Jumper
CRF1 Encoder Cable
EE–3185–551 A66L–6001–0023#L150R0 EE–3287–601–001 XGMF–11130 EE–3505–710–001
Optical Cable EE–3505–586–001
Battery Unit E–Stop/Brake Cable 1.8m / J4 Cable Purge Module
Brake Harness
Rotate Battery Unit EE–3287–590–002 (Amplifier to CP Unit) EE–3287–584–001 EE–3505–595–001
to Position Shown EE–3287–604–001
3 Phase Power Cable EE–3287–410–001 24V E–Stop Cable Transformer CP1 Cable
Brake Cable
(E–Stop Unit to CP1) Mounting Plate EE–3287–583–001 EE–3505–596–001 A17B–3300–0200
EE–3505–584–001
EE–3287–602–001 EE–3287–410–002 Discharge Overheat Jumper Power Supply CP1 Cable 8 Axis Servo Card
24V Cable
Opener Brake Harness Cover Plate A20B–8100–0422
EE–3505–587–001
(CP to 3 Axis Encoder/Brake Board) 4 Axis Mini Slot Card
100V Ext Cable
SERVO SERVO SERVO PURGE MODULE

AMP AMP AMP
MODULE MODULE MODULE
SVU SVU SVU
BETA 40 BETA 40 BETA 40 ISTB CNBK3 ENCODER/
SOL1 BRAKE
Figure 7–55. P–200(E) 7 + 2 Axis Opener Controller Layout

BETA 80 BETA 80 BETA 80 SOL1 MODULE
BRK
SOL2 BRKOUT
SOL2 OUT1,2
PRES +8
PRES CNBK6 –8 BRK
FLOW +9 OUT
FLOW –9 3,7
HBKN
HBKN
+10
–10BRK OPTIONAL
TPDSC
TPDSC IN OUT
ENC4–6 VERTICAL
8
ENC
IN STYLE
SOL CNBKIS
CRF7–B CN6A
9
PR SW
FL SW
HBKN
TPDSC
ENC
IN
10
ENC
OUT
I/O
UNIT
EE–3287–598–001
PWR 8
ENC
OUT
CRF7–A
9
IS GND
IS GND
IS GND
ENC
OUT
10
PCR
PCR HandBrake Jumper
IS GND
EE–3287–599–001
CRF1–B
BRK
OUT
PE +11
CNPG –11
+12
–12
EE–3287–410–002 REV. A
+13
–13
ENC
IN
11
Overtravel Jumper
HVTB ENC
HBKN IN
12
HBKN
HBKN ENC
IN
CP1 TPDSC
TPDSC 13
CRF1–A
TPDSC ENC
OUT
HONDA MR–50RMA
PGC1 11
PGC1 ENC
PGC2 OUT
12
PGC2
220IN ENC
OUT
220IN
FIRE 13
ALM
FIRE
ALM
220
OUT
220
OUT
ENCODER/BRAKE
MODULE
BATTERY
A05B–2406–C372 EE–3505–551–003
Intrinsically Safe Barrier Unit Transformer

ISB UNIT
(Dual Chain) Paint 7.5KVA Type 3
(Location in rear)
CRM37
6 CHANNEL AMP
EE–3287–410–002 REV. A
EE–3287–410–002 REV. A
FAN
MAIN CABINET DOOR, INSIDE VIEW SIDE CABINET MAIN CABINET

(DOOR OPEN) (DOOR OPEN)
A05B–2302–J290
Side Cabinet Assembly
7–57
A05B–2302–J201
Side Cabinet Riser
A05B–2302–J200 7 + 2 AXIS OPENER CONTROLLER LAYOUT
Main Cabinet Riser BOM EE–3287–502–003
P–10 AMPS AXIS 7 AMP
XGMF–11858 A06B–6093–H114 A06B–6093–H114 XGMF–11840 EE–3505–761–002
7–58
A66L–6001–0023#L150R0 80 Amp Beta Servo Amplifier 80 Amp Beta Servo Amplifier A66L–6001–0026/L2R403 7 + 3 Axis Encoder/Brake Module
Optical Cable Optical Cable EE–3505–581–001
EE–3287–581–001 EE–3287–581–001
XGMF–11840 CRF1 Encoder Cable
Discharge Resistor Jumper Discharge Resistor Jumper EE–3287–410–001 A05B–2406–C124
A66L–6001–0026/L2R403 Circuit Protection Unit EE–3505–586–001
XGMF–11130 XGMF–11130 Mounting Plate
Optical Cable
1.8m / J4 Cable 1.8m / J4 Cable EE–3287–590–002 Brake Harness
EE–3287–584–002 EE–3287–584–001 3 Phase Power Cable EE–3287–604–001
24V E–Stop Cable 24V E–Stop Cable (E–Stop Unit to CP1) Brake Cable
EE–3185–551 EE–3287–583–001 EE–3287–583–001 EE–3287–602–001 EE–3505–584–001
Battery Unit Discharge Overheat Jumper Discharge Overheat Jumper Opener Brake Harness 24V Cable
EE–3287–594–002 EE–3287–594–001 (CP to 3 Axis EE–3505–587–001
Rotate Battery Unit
to Position Shown Brake/Encoder Board) 100V Ext Cable
3 Phase Power Cable 3 Phase Power Cable
(CP to Beta Amplifier) (CP to Beta Amplifier)
A17B–3300–0200
8 Axis Servo Card
PURGE MODULE
ISTB ENCODER/
A20B–8100–0422
A05B–2406–C120 SERVO
AMP
MODULE
SERVO
AMP
MODULE
SERVO
AMP
MODULE
SERVO
AMP
MODULE
SOL1
SOL1
SOL2
CNBK3 BRAKE
MODULE
BRKBRK
OUT
SVU
BETA 40
SVU
BETA 40
SVU
BETA 40
SVU
BETA 40
SOL2
PRES
PRES
FLOW CNBK6
OUT
+8
–8
1,2
BRK
+9 OUT
–9 3,7
4 Axis Mini Slot Card
Circuit Protector Unit
Figure 7–56. P–200(E) 7 + 3 Axis Opener and 7 + 3 + 2k Controller Layout

BETA 80 BETA 80 BETA 80 BETA 80 FLOW
HBKN
HBKN
+10
–10BRK VERTICAL
TPDSC IN OUT
ENC
STYLE
CP1 TPDSC 8
ENC
4–6
IN I/O
CRF7–BCN6A
EE–3287–588–001 SOL CNBKIS
PR SW
FL SW
HBKN
9
ENC
IN
10
ENC
UNIT
TPDSC
PWR
OUT
8
ENC
(OPTION)
OUT
CRF7–A
24V Jumper Cable IS GND
IS GND
9
ENC
OUT
10
HONDA
PCR
HONDA
PCR
IS GND
EE–3287–590–001 IS GND
CRF1–B
BRK
OUT
PE +11
–11
CNPG +12
–12
3 Phase Power Cable +13
–13
Axis 7 Amp
ENC
IN
11
HVTB ENC
IN
(E–Stop Unit to CP2) HBKN
HBKN
HBKN
TPDSC
TPDSC
12
ENC
IN
13
EE–3287–598–001
CRF1–A
ENC
OUT
HONDA MR–50RMA
TPDSC 11
PGC1 ENC
PGC1
EE–3287–589–001 PGC2
PGC2
220IN
220IN
OUT
12
ENC
OUT
13
HandBrake Jumper
FIRE
ALM
FIRE
ALM
220
OUT
CP–CP E–Stop/24V Cable
220
OUT
EE–3287–599–001
ENCODER/BRAKE
MODULE
Overtravel Jumper
BATTERY
A05B–2406–C372 CAUTION ALM

ISB UNIT CHARGED
DISCHARGE
CAUTION
>2 min.
TIME :
EE–3505–551–003
Intrinsically Safe Barrier Unit SERVO–AMPLIFIER
UNIT series COP
CX11
10B
L2/L1 1 COP CP2

EE–3505–760–001 /L3
DCC
DCP / 2
10A
Transformer
(Dual Chain) V/U
/W
0V/
+24V
/
3
4
JX5
CHK
JF1
ENC
CRM37
0V/ 5
Mounting Plate
+24V
TH2/
TH1 6
Paint 7.5KVA Type 3
(Location in rear)
6 CHANNEL AMP
CAUTION
CHARGED ALM
CAUTION :LINK
DISCHARGE
>2 min.
TIME
SERVO–AMPLIFIER
UNIT series COP
10B
CX11
L2/L1 1 COP
10A
/L3/
DCC 2
DCP
V/U
/W 3 JX5
CHK
/
4 JF1
ENC
5
FAN
2K AMPS 6
A06B–6093–H111
12 Amp Beta Amplifier
EE–3505–594–001
Thermal Switch Jumper
XGMF–11840
A66L–6001–0026/L2R403
MAIN CABINET DOOR, INSIDE VIEW ID TAG Optical Cable SIDE CABINET
FRONT OF DOOR MAIN CABINET
XGMF–11861 (DOOR NOT SHOWN) EE–3505–710–001
NOTE: BASE NOT SHOWN
A66L–6001–0023/L500R0 Purge Module
Optical Cable A05B–2302–J290 EE–3505–595–001
EE–3287–585–001 Side Cabinet Assembly Transformer CP1 Cable
24V E–Stop Cable A05B–2302–J201 EE–3505–596–001
EE–3287–595–001 Side Cabinet Riser 7+3 CABINET LAYOUT
3 Phase Power Cable A05B–2302–J200 BOM EE–3287–502–004
(CP to Beta Amplifier) Main Cabinet Riser 7+3+2K CABINET LAYOUT
NOTE: NOT ALL COMPONENTS DETAILED
BOM EE–3287–502–005

FANUC Robotics SYSTEM R-J3 (RIA) A-Size, B-Size and Paint Controller Connection and Maintenance Manual Section IV PDF

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IV PAINT (RIA) CONTROLLER

Figure 7–2. P–200(E) 6 Axis and 6 + 2k Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–4

Figure 7–44. P–10E Cable Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7–46

Topics In This Chapter Page

Operator Panel Description of the operator panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1–4

1.1 This section was created to provide paint application–specific information

Figure 1–1. R–J3 RIA Paint Application Controller

Figure 1–2. Paint Application Robots

P–120 P–145 P–200

P–200E P–200E (MIBR)

 A manual brake release

 A DB–25 connector serial interface used for an external disk drive

 PCMCIA Memory Card interface

 A Purge Control and Purge Status

 A Mode Select Switch

Figure 1–3. R-J3 (RIA) Paint Controller Operator Panel

Figure 1–4. R-J3 Paint Controller Operator Panel

AXIS 1,4,5,7 OPENER

Figure 1–6. R–J3 (RIA) Controller Operator Panel

AXIS 1,4,5,7 OPENER

Figure 1–7. MODE SELECT Switch

NOTE If you change the mode from T1 or T2 to AUTO and the

Topics In This Chapter Page

Intrinsically Safe Barrier Description of the ISB Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2–6

Figure 2–1. Intrinsically Safe Teach Pendant

Seven of the keys on the teach pendant provide different functions

Figure 2–2. Replacing the Teach Pendant

Teach Pendant Cable

Table 2–1. Teach Pendant Status Indicators

FAULT Indicates that a fault condition has occurred.

Figure 2–4. P–200(E), P–145 and the P–120 Location of the

ISB UNIT BETA

Intrinsically Safe Barrier Unit

Topics In This Chapter Page

Figure 3–1. Purge Control Unit

3.2 The PCU includes the following:

For installations with an opener or a second purged cavity, a second fuse

Figure 3–2. Fuse Module

Figure 3–3. Operator Panel (P–120 and P–145 Configuration)

Figure 3–4. P–200(E) Configuration (Close up)

The green indicators on the PCU module are as follows:

Figure 3–5. Purge Control Unit Status Indicators

FIRE ALARM PWR

NOTE Terminals PS–2/3 and FS–2/3 have two connections.

The optional Handbroken, and TPDSC devices can be wired to terminals

29.1 115 2.5 10.0

18.5 23.8 10 60 NON–HAZARDOUS LOCATION HAZARDOUS LOCATION CLASS I, II & III

Figure 3–6. Purge Control Unit Connection Diagram

SEE NOTE 3 220VAC SEE NOTE 2

Topics In This Chapter Page

6 Axis Encoder/Brake PCB Shown

Figure 4–2. P–120/P–145 6 Axis Encoder Brake Unit

OPTIONAL THREE AXIS 6 AXIS ENCODER BRAKE UNIT

Figure 4–3. P–200(E) 7 Axis Encoder Brake Unit

OPTIONAL THREE AXIS

 Encoder signals and power from the six channel amplifier.

 Addional axes signals by installing an optional daughter board.

 Additional axes signals by installing an optional daughter board.

Robot Configuration Encoder/Brake Assembly

Topics In This Chapter Page

Figure 5–1. Multi-Tap Transformer Location

Topics In This Chapter Page

Table 6–2. (Cont’d) P–200(E) (RIA) R–J3 Paint Controller

A manual brake release

A DB–25 connector serial interface used for an external disk drive

PCMCIA Memory Card interface

A Purge Control and Purge Status

A Mode Select Switch

Encoder signals and power from the six channel amplifier.

Addional axes signals by installing an optional daughter board.

Additional axes signals by installing an optional daughter board.