3. CONNECTING THE LOADER CONTROL BOARD
OF THE Series 16i/18i/21i
B–62443EN–2/03
104
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
24 V.
Function : The six input signals are provided to interface a hand
open/close confirmation signal for the hand at the end
of the loader arm, as well as other signals. These
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 purpose.
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 also 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 to 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
V
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
Stop System.”
Classification : 24–V input, set to common 24 V or 0 V
Function : These eight input signals are provided as an interface
with a workpiece feeder. The signals can be used for
any purpose related to the mechanical unit. When the
skip function is used, however, FDI08 is used as a
3.7.6.4
Signals
General–purpose input
signals LDI01 to LDI06
Common selection
signal for
general–purpose input
signals COMLD
General–purpose output
signals LDO01 to LDO08
Loader overtravel signal
*LOT
General–purpose input
signals for workpiece
feeder FDI01 to FDI08