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1. SPECIFICATIONS OF MOTION SYSTEM COMPONENTS
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(2) Selection of teaching unit and connection with CPU module
(a) Selection of teaching unit
There are the A30TU-E and A31TU-E teaching units. Refer to the following
table for selection.
Selection of Teaching Unit
Comparison A30TU-E A31TU-E
Dead-man switch
*1
Without With
Emergency stop
With (signal on semiconductor
level)
With (signal on relay level)
Connection with CPU Directly connectable
Directly unconnectable
Via A31TUCBL03M
External circuit required
(In direct connection, CPU
module does not operate.)
*1: Releasing the deadman switch turns off servo power.
(b) Connection of A31TU-E unit (teaching unit with deadman switch) and CPU
module
To connect the A31TU-E teaching unit with deadman switch and the CPU
module, use the A31TUCBL03M for connection within the panel and plug its
A31TU-E side connector into the operator panel surface for A31TU-E
connection. When using the A31TU-E unit, use it by plugging it into the
connector on the operator panel surface. When not using the A31TU-E, fit the
A31SHORTCON into the connector on the operator panel surface.
The A31TUCBL03M's signal wires connected to the external circuit, e.g. EMG
and EMGL, are used for external safety circuit connection for the emergency
stop switch and deadman switch of the A31TU-E. Refer to Section 2.3(2) for
details of the external circuit.
EMGL
CPU module
A31TU-E
A31SHORTCON
A31TUCBL03M
Control panel
External circuit
A31TUCBL03M connector
*2
(Fitted when A31TU-E is not used)
*2: The CPU module does not o
p
erate if the A31TU-E and CPU module are connected directl
y
.
EMG
EMG1
EMG2
DED1
DED2
POINT
When using the A31TU-E, be sure to use the A31TUCBL03M.
When the A31TU-E is not connected, be sure to connect the
A31SHORTCON. Failing to do this could result in the system entering an
emergency stop state.
An external circuit is essential to form a safety circuit. (For details of external
circuit configuration, refer to the section 2.3.)