3. CONNECTING THE LOADER CONTROL
BOARD OF THE Series 16i/18i/21i
Classification : 24–V input
The common voltage for LDI01 to LDI04 can be set
to 24 V or 0 V. LDI05 and LDI06 are tied to common
Function : The six input signals are used to interface the hand
open/close confirmation signal for the hand at the end
of the loader arm, as well as other signals. These
input signals can be used for any purposes required
by the loader mechanical unit.
When an incremental pulse coder is used and when
zero point return is necessary, LDI01 to LDI04 are
used as deceleration signals *DEC1 to *DEC4. The
loader control CNC references the signals directly.
When zero point return is not necessary, the PMC can
use these signals for any purposes.
Classification : Common selection
Function : When COMLD is connected to 0 V, LDI01 to LDI04
become common 24–V input signals. When
COMLD is connected to +24 V, LDI01 to LDI04
become common 0–V input signals. The signal
polarity changes accordingly. When LDI01 to LDI04
are used as common 24–V signals, a closed contact
makes the signals go to logical 1. When the signals
are used as common 0–V signals, a closed contact
makes the signals go logical 0.
Classification : 24–V source output, 24–V/200–mA load
Function : These eight output signals are provided to open and
close the hand at the end of the loader arm as well as
to control air blow and other operations. The signals
can be used as necessary.
Classification : 24–V input for emergency stop, tied to common 24
Function : The emergency stop input signal is provided to stop
the loader in an emergency, for example, when loader
overtravel is detected (by the hardware) or if the hand
fractures. The signal is connected to contact B. In the
normal state, 24 V should be supplied. As a DI signal,
*LOT is held to 1 in the normal state.
When the signal goes off (open contact), the DI goes
to 0, turning off the *EMG1 signal of connector
CNPW. The externally mounted emergency stop
control relay goes off, shutting down the servo MCC.
This state continues while *LOT is off. The OTR
signal is provided to temporarily release this state.
See also Section 3.7.7, ”Connecting an Emergency
signals LDI01 to LDI06
signals LDO01 to LDO08
Loader overtravel signal