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Chapter 5
Connector Pin Assignment and I/O Circuits
(NPN type)
This chapter explains the connector pin assignment and circuits of NPN type (source
input and sink output) on an I/O board. I/O boards designed for the use in Japan are
of an NPN type.
For a PNP type (sink input and source output), refer to Chapter 6, "Connector Pin
Assignment and I/O Circuits (PNP type)."
5.1 Connector Pin Assignment (NPN type)
This section describes the pin assignment of connectors on the robot controller. The
signals and pin assignments of output connector CN10 and input connector CN8 are
differently defined in standard mode and compatible mode. As for other connectors,
the definitions of pins are common to standard mode and compatible mode.
5.1.1 Connector Pin Assignment Common to Both Modes (NPN type)
(1) HAND I/O CN9: Connector for end-effector I/O (common to both
modes)
CN9 Pin Assignment, common to both modes (NPN type)
View from the cable side
Wire color Wire color
Terminal
No.
Name
Port
number
Standard
High
strength
Terminal
No.
Name
Port
number
Standard
High
strength
1
Hand output
64 Black Blue 11
Hand Input
50 Pink White
2 Hand output 65 Brown Yellow 12 Hand Input 51 Pink White
3
Hand output
66 Black Green 13
Hand Input
52 White White
4
Hand output
67 Brown Red 14
Hand Input
53 White White
5
Hand output
68 Red Violet 15
Hand Input
54 White White
6 Hand output 69 Orange Blue 16 Hand Input 55 White Brown
7
Hand output
70 Yellow Yellow 17
Power E24V for Hand
White Brown
8
Hand output
71 Green Green 18
Power E0V for Hand
White Brown
9
Hand input
48 Blue Red 19
Not connected
White Brown
10 Hand input 49 Violet Violet 20 Not connected White Brown
NOTE: The optional I/O cable for the above connector consists of twisted pair wires--pairs of #1 and #11, #2
and #12,…#10 and #20.