CS9 TS2 Electrical Diagrams [PDF]

Zitiervorschau

CS9-TS2 Controller Electrical diagrams manual

D.280.954.04-B - 07/01/2019 CS9 - Master © Stäubli 2019

A "readme.pdf" document may be delivered on the robot's DVD. It contains the documentation addenda and errata.

Stäubli is a trademark of Stäubli International AG, registered in Switzerland and other countries. We reserve the right to modify product specifications without prior notice.

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CS9

Table of contents

TABLE OF CONTENTS 1-

INTRODUCTION...................................................................................................................5

1.1-

Foreword.......................................................................................................................................5

1.2-

Definitions and glossary................................................................................................................6

2-

WIRING DIAGRAMS.............................................................................................................9

2.1-

Connector and component names - CS9 Controller....................................................................9

2.2-

Connector and component names - Arm...................................................................................12

2.3-

Connector pin outs......................................................................................................................13

2.4-

Power supply..............................................................................................................................15

2.5-

AIB connection............................................................................................................................17

2.6-

Remote Brake Release & Solenoid Valves..................................................................................18

2.7-

Encoders.....................................................................................................................................19

2.8-

Brakes.........................................................................................................................................21

2.9-

Motors.........................................................................................................................................22

2.10- Motors thermal sensors..............................................................................................................26 2.11- Arms inputs and outputs.............................................................................................................27 2.12- Communication...........................................................................................................................29 2.13- Safe Inputs/Outputs....................................................................................................................30 2.14- SP2..............................................................................................................................................33 2.15- Fast inputs/outputs.....................................................................................................................34 2.16- External 24 V...............................................................................................................................35

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1 - Introduction

1 - INTRODUCTION 1.1 - FOREWORD

.

M0000242.1

The information contained in the present document is the property of STÄUBLI and it cannot be repro‐ duced, in full or in part, without our prior written approval. The specifications contained in the present document can be modified without notice. Although all necessary precautions have been taken to ensure that the information contained in this document is correct, STÄUBLI cannot be held responsible for any errors or omissions found in the illustrations, drawings and specifications contained in the said document. Electrical drawings provided in this manual are for information only: The reference for robot electrical drawings is provided in a separate manual. The photos are used to make the document easier to un‐ derstand, they cannot be construed as being of a contractual nature. Please report errors and omissions to the STÄUBLI Robotics Customer Support contact for your country, that can be found at: ■ http://www.staubli.com/en/contacts/division/robotics/ STÄUBLI, UNIMATION, VAL are brands registered by STÄUBLI INTERNATIONAL AG. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Safety over EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. 1.1.1 - OBJECTIVE OF THIS MANUAL

M0000548.1

The objective of this manual is to provide information concerning the installation, use and maintenance of the STÄUBLI CS9 controller. It provides help for the persons working on the equipment, for refer‐ ence purposes only. STÄUBLI recommends attending training courses for easier understanding of this manual, better use and robot maintenance. The CS9 Instruction, CS9 Safety, Electrical diagrams and Spare parts manuals along with the Arm's manual, and software manuals (VAL 3, SRS...) are needed to have a complete robot overview.

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1 - Introduction

1.1.2 - SPECIAL MESSAGES CONCERNING SAFETY, DANGERS, CAUTIONS AND INFORMATION M0000549.1

In this document, there are several formats for important warnings. These warnings are as follows (by decreasing order of importance):

DANGER

Instructions drawing the reader's attention to the risks of accidents that could lead to serious bodily harm if the steps shown are not complied with. In general, this type of indication de‐ scribes the potential danger, its possible effects and the necessary steps to reduce the dan‐ ger. It is essential to comply with the instructions to ensure personal safety.

Safety

SAFETY

Instructions drawing the reader's attention that they are responsible if the steps shown are not complied with. It is essential to comply with the instructions to maintain the robot safety level. Instructions directing the reader's attention to the risks of material damage or failure if the steps shown are not complied with. It is essential to comply with these instructions to ensure equipment reliability and performance levels. Supplies further information, or underlines a point or an important procedure. This informa‐ tion must be memorized to make it easier to apply and ensure correct sequencing of the op‐ erations described.

1.2 - DEFINITIONS AND GLOSSARY

M0000594.1

Person: General term identifying all individuals likely to come close to the STÄUBLI machine. Staff: Identifies the persons specifically employed and trained to install, operate, and service the STÄUBLI machine. User: Refers to the persons or the company responsible for operating the STÄUBLI machine. Operator: Refers to the person who starts or stops the robot, or controls its operation. Integrator: Refers to the persons or the company responsible for the design and manufacture of the robot cell. Item AIB

Definition Arm Interface Board (arm base)

BACKPLANE

PCB link between URPS 325 (or RPS 325) power supply and DP

BRK

Brake

COD

Arm Encoder

CPT

Computer drawer

DP

Drive Power drawer

DPM 325

Dual Power Module 325 VDC (Dual drive)

DPMI-CAP

Drive Power Module Interface & Capacitors

DPMI-VBus

Drive Power Module Interface VBus distribution

DSI9

Dual Sensor Interface Board for CS9 controller (arm base)

EV

Solenoid valve

FDI

Fast Digital Input

FDO

Fast Digital Output

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CS9

1 - Introduction

Item IC

Definition Interconnect Cable (between controller and arm)

MMI

Man Machine Interface

MOT

Motor

PCIe

Peripheral Component Interconnect Express (option)

RBR

Remote Brake Release

RPS 325 (SP)

Robot Power supply 325 VDC single-phase

RSI9

Robot Safety Interface for CS9 controller

S1

Main switch

SBL/CPU

STÄUBLI Bus Link & Central Processing Unit

SDI

Safe Digital Input

SDO

Safe Digital Output

SP2 (MCP)

STÄUBLI pendant (Manual Control Pendant)

SRC

STÄUBLI Robotics Controls: The firmware running on the CS9 STÄUBLI controllers

SRS

STÄUBLI Robotics Suite: The PC software to configure, develop, tune and maintain a robotics application

STARC9

STÄUBLI Advanced Robot Control for CS9 controller

TDO

Digital Output Test signal for Safe Inputs

Th

Thermal Sensor

UCB

User connection Board

uniVAL

A SRC control mode allowing to drive the robot from an external computer through an industrial fieldbus

URPS 325 (3P) Universal Robot Power supply 325 VDC three phases USI

User Safe Input

USO

User Safe Output

VAL 3

The STÄUBLI robotics programing language for CS9 STÄUBLI controllers

WMS9

Working Mode Selection control panel for CS9 controller

WMSES

Working Mode Selection Emergency Stop

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CS9

CS9

Backplane

© Stäubli 2019 – D.280.954.04-B

Boards powered either from RPS / URPS or from customer

Boards always powered from RPS / URPS

24V3 : powered-off with Power Save signal

24V1

24V3

24V2

RPS / URPS DPMI-Cap

A C

B

SP2

CPU SBL

5V 3.3V

RSI

DSI

A-B connection : boards powered from RPS / URPS B-C connection : boards powered from user

F1 10At

PCIe

STARC

5V 3.3V

DPM

24V user ( PELV)

F3 6.3At

5V 3.3V

DPM

Logic power supply

UCB

Brakes

2 - Wiring diagrams

2 - WIRING DIAGRAMS .

2.1 - CONNECTOR AND COMPONENT NAMES - CS9 CONTROLLER .

2.1.1 - LOGIC POWER SUPPLY M0004580.1

I0004690

Figure 2.1

9/36

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X1

J1014

J814

J808, J830 J813, J833

J1114

© Stäubli 2019 – D.280.954.04-B J220

J222

J221

24V2

J203….213

SBL

J225

PCIe

J1122

24V1

J1184 J1164-1

fan

24V3

24V3

DPMI-Cap

J1108, J1130 J1113, J1133

EtherCAT

J914

J908, J930 J913, J933

Backplane

HE10 flat cable : URPS I/Os, free I/Os, 24V1 STO

J1008, J1030 J1013, J1033

Input voltage

(24V2) -

(I/O) (24V1-V3) -

RPS / URPS

J1040, J1041 J1042, J1043

Config board

DP

J1200

J100…103

UCB

RSI

CPU

CPT

(24V2-V3)

J384

J361

J381

24V3

J1361

DPM 1-4

J1381

J1390

Logic signals and 24V

J362

J1362

STARC

J382

J1382

DPM 2-5

fan

J313

J383

AIB/DSI

J400/J406

EtherCAT

J1201

AIB/DSI

J400/J406

Option : Interconnect cable

J311

J363

2 - Wiring diagrams

2.1.2 - LOGIC SIGNALS AND 24 V M0004581.1

I0004691

Figure 2.2

CS9

CS9

© Stäubli 2019 – D.280.954.04-B

0Vbus -

+Vbus –

EtherCAT DSI

J815 J816 J831

J817 J818 J832

J1017 J1018 J1032

J1115 J1116 J1131

J1117 J1118 J1132

J915 J916 J931

J917 J918 J932

Backplane

J1015 J1016 J1031

RPS / URPS

J1200 J1301

J1304

J1302

DPM 2-5

J1305 J1304-5-6 Mot 4

DPMI-Cap

DPMI-Vbus

J1152

J1301-2-3 Mot 2

J1151

J1304-5-6 Mot 3 J1352

DPM 1-4

J1351

J1301-2-3 Mot 1

Power

J1153

J1303

J1306 J1104

2 - Wiring diagrams

2.1.3 - POWER M0004582.1

I0004692

Figure 2.3

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(option)

J1217

J1202

J1204

TS2

CS9

RBR

J1201

J1209.1

DSI (CPU-I/O)

Interconnect cable

(Option)

J1200

J1217

J1204

J1202

J406

J400

J1203

J1218

J409

J405

J408

J407

J410

J402

J404

J403

J406

AIB

J400

J1209

Arm

User I/O Ethernet

User I/O

JVx

JBx

JCx

JMx

EV1-2

L1 (option)

BRK 3-4

COD 1-4

MOT 1-4

J1218

J1203

2 - Wiring diagrams

2.2 - CONNECTOR AND COMPONENT NAMES - ARM M0004583.1

I0004693

Figure 2.4

CS9

2 - Wiring diagrams

2.3 - CONNECTOR PIN OUTS

M0004840.1

J1200, J1201 1 Female plug 6

M1

5

M2

5

M3

5

M4 M5

M6

6

Module 5 pins Module 6 pins

Pin 5 Pin 6

1 2 3 4 5 6

spacer

Pin 4

Pin 3

Pin 5

Pin 2

Pin 4

Pin 3

Pin 1 Pin 1

Pin 2

W – Motor 4 V – Motor 4 U – Motor 4 NC NC W – Motor 3 W - Motor 1 NC NC V – Motor 3 V - Motor 1 W - Motor 2 V - Motor 2 U – Motor 3 U - Motor 1 NC NC NC NC RXNC NC RX+ 0V2 24V2 0V2-fdbk 24V2-fdbk 0V3

NC NC U - Motor 2 NC TXTX+ 24V3

J406, J407, J410, JBx, JMx, J1209

6

1

1

2

3

1

2

3

4

1

2

3

4

5

1

2

3

2

4

5

6

5

6

7

8

6

7

8

9 10

7

8

9 10 11 12

4

5

6

J403, J404, J405, J408

1 2

11

5

15

D-Sub Female

10 I0004776

Figure 2.5

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2 - Wiring diagrams

M12 M

M12 F Ethernet Cod D

Ethernet Cod D

M16 F

M16 M

J204, J205, J206, J207, J208

J1204, J710

J711

RJ45 F

M9 F

M16 F

J203

J212 5

1

6

9

D Sub Male 9pts

5

9

1

6

D Sub Female 9pts

J100

J101

J103

16 14 12 10 8 6 4 2

8 6 4 2

12 10 8 6 4 2

15 13 11 9 7 5 3 1

7 5 3 1

11 9 7 5 3 1

Mating connector type: DFMC 1,5/8-ST-3,5-LR

Mating connector type: DFMC 1,5/4-ST-3,5-LR

Mating connector type: DFMC 1,5/6-ST-3,5-LR

J213 1 3

2 4 Mating Connector type: DFMC 1,5/2-ST-3,5-LR

J103 SP2

M23 Female I0004775

Figure 2.6

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CS9

CS9

X1

B

PE

L3

L2

L1

L1 L2 L3

L3

L2

L1

PE

L3

L2

L1

onnector type:

PE

Filter

Mating connector type: BVF 7.62HP/04/180MF4 SN BK BX PRT

PE

L3’

L2’

L1’

P5 P6

© Stäubli 2019 – D.280.954.04-B 12A gG

P12

P13

P7

P14

F1 F2 F3

9

8

Bar

7

Bar Bar

S1

P12

P13

P14

P7

P6

P5

J1046

J1045

J1044

+ PWM

+ -

x

x

1A x x x x x x x

J1006 1 2 4

J1015 J1016 J1031 J1017 J1018 J1032 J1013 J1013 J1014 J1008 J1008 J1008 J1030 J1033 J1033 J1014 J1014 J1014 J1005 1 2 4

200-230V (LOW) / 400-480V (HI) input range configuration

URPS boards

URPS 325 (3P)

PWM

x

x

2A x x x x x x x

+ -

PWM

x

x

2B x x x x x x x

J1007 1 2 4

x

x

x x

1B x x x x x x x

x x

x

1C x x x x x x

x x

x

2C x x x x x x

x

x

x

x

1D x x x x x x

x

x

x

x

2D x x x x x x

+VBus +VBus +VBus -VBus -VBus -VBus +24V1 +24V3 +24V2 Main Power OK 24V OK VBus OK Power SAVE Enable URPS 0V 0V +24V2fdbk 0Vfdbk

2 - Wiring diagrams

2.4 - POWER SUPPLY .

2.4.1 - URPS 325 M0004584.1

I0004695

Figure 2.7

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X1

L2

PE

L2 (L2)

N (L1)

B

N

P’ PE

P

PE

4

N’

2

Filter

N

3

S1

1

PE

Mating connector type: Weidmüller 1563810000 BVF 7.62HP/03/180MF3 SN BK BX LRP

6

5

F2

F1

230V : 12A gG

8

7

J1047

J1046

RPS Boards

RPS 325 (SP 230V)

J1015 J1016 J1031 J1017 J1018 J1032 J1013 J1013 J1014 J1008 J1008 J1008 J1030 J1033 J1033 J1014 J1014 J1014

© Stäubli 2019 – D.280.954.04-B x

x x

x

x

+ -

x

x

x x

1B x x x x x x x

PWM

1 2 4

J1005

2A x x x x x x x

1A x x x x x x x

x x

x

x

x x

2C x x x x x x

1C x x x x x x

J1006

x

x

2B x x x x x x x

x

x

x

x

1D x x x x x x

x

x

x

x

2D x x x x x x

+VBus +VBus +VBus -VBus -VBus -VBus +24V1 +24V3 +24V2 Main Power OK 24V OK VBus OK PowerSAVE Enable URPS 0V 0V +24V2fdbk 0Vfdbk

2 - Wiring diagrams

2.4.2 - RPS 325 M0004585.1

I0004696

Figure 2.8

CS9

CS9

CS9

SBL

RPS / URPS 325

J1201-m 5-1 J1201-m 5-2 J1201-m 5-3 J1201-m 5-6

J1200-m 5-1 J1200-m 5-2 J1200-m 5-3 J1200-m 5-6

J220-2 J220-3

J220-6

J1201-M6-5 J1201-M6-6

J1200-M6-5 J1200-M6-6

J1164-1 J1164-2

J220-1

J1201-M6-1 J1201-M6-2 J1201-M6-3 J1201-M6-4

J1200-M6-1 J1200-M6-2 J1200-M6-3 J1200-M6-4

J1164-3 J1164-4 J1164-6 J1164-5

IC

Option : Interconnect cable

24V3 0V3 24V2 fdbk 0V2 fdbk

J400-1 TD+ -J400-3 TDJ400-2 RD+ -J400-4 RD-

24V2 J406-6 0V2 -

J406-1 J406-4 J406-2 J406-5 -J406-3

AIB

Arm

2 - Wiring diagrams

2.5 - AIB CONNECTION M0004586.1

I0004697

Figure 2.9

© Stäubli 2019 – D.280.954.04-B

17/36

18/36 JV1.1 + JV1.1 -

JV1.2 + JV1.2 -

JV2.1 + JV2.1 -

JV2.2 + JV2.2 -

SDO2 Valve1.2 J407-2 0V3 J407-6

SDO3 Valve2.1 J407-3 0V3 J407-7

SDO4 Valve2.2 J407-4 0V3 J407-8

Led+ J410-1 0V3 J410-2

0V3 J408-14 0V3 J408-15 Coding pin

0V3 J408-12 24Vext J408-13

SDI8 J408-10 24Vext J408-11

EV1

JL1-1 JL1-2

J711- 4 0V -

© Stäubli 2019 – D.280.954.04-B

EV2

J711-2

User power supply (Customer)

24VDC SELV / PELV 1.5A min

J711-3

JV2.1 + JV2.1 -

Release Axis selection

Enable

RBR (option)

24V

EV2

EV1

J710-I -J710-L J710-R -J710-M

J710-F J710-G J710-N -J710-O

J710-A J710-B -J710-C J710-D -J710-K -J710-E

J711-1

Single or Double effect valves (option)

JV1.1 + JV1.1 -

L1 (option)

J1204-R -J1204-M

J1204-I -J1204-L

J1204-E J1204-F J1204-G J1204-N -J1204-O

SDI3 J408-5 SDI5 J408-7

SDI6 J408-8 SDI7 J408-9

J1204-A J1204-B -J1204-C J1204-D -J1204-K

TDO1 J408-1 TDO2 J408-2 SDI1 J408-3 SDI2 J408-4 SDI4 J408-6

Arm

SDO1 Valve1.1 J407-1 0V3 J407-5

AIB

Key switch

2 - Wiring diagrams

2.6 - REMOTE BRAKE RELEASE & SOLENOID VALVES M0004587.1

I0004698

Figure 2.10

CS9

On

Off Δ

AIB

CS9

Up 2 J403-10 Un 2 J403-9 Clk 2 J403-15 /Clk 2 J403-14 Data 2 J403-5 /Data 2 J403-4

Polarizing Pin J403-3 Polarizing Pin J403-13

Up 1 J403-7 Un 1 J403-6 Clk 1 J403-12 /Clk 1 J403-11 Data 1 J403-2 /Data 1 J403-1

JC2 – 13 JC2 – 14 JC2 – 9 JC2 – 10 JC2 – 7 JC2 – 8

JC1 – 13 JC1 – 14 JC1 – 9 JC1 – 10 JC1 – 7 JC1 – 8

Up Un Clk /Clk Data /Data

Up Un Clk /Clk Data /Data

COD 2

COD 1

2 - Wiring diagrams

2.7 - ENCODERS .

2.7.1 - TS2-40; TS2-60; TS2-80 AND TS2-100 M0004588.1

I0004699

Figure 2.11

© Stäubli 2019 – D.280.954.04-B

19/36

AIB

20/36

Polarizing Pin J405-8 Polarizing Pin J405-13

Up 4 J404-10 Un 4 J404-9 Clk 4 J404-15 /Clk 4 J404-14 Data 4 J404-5 /Data 4 J404-4

Polarizing Pin J404-3 Polarizing Pin J404-8

Up 3 J404-7 Un 3 J404-6 Clk 3 J404-12 /Clk 3 J404-11 Data 3 J404-2 /Data 3 J404-1

JC2 – 13 JC2 – 14 JC2 – 9 JC2 – 10 JC2 – 7 JC2 – 8

JC1 – 13 JC1 – 14 JC1 – 9 JC1 – 10 JC1 – 7 JC1 – 8

Up Un Clk /Clk Data /Data

Up Un Clk /Clk Data /Data

COD 4

COD 3

2 - Wiring diagrams

I0004700

Figure 2.12

© Stäubli 2019 – D.280.954.04-B

CS9

AIB

CS9

© Stäubli 2019 – D.280.954.04-B

JM4-4 Brk4+ JM4-9 Brk4-

SDO8 J402-7 0V2 J402-8

SDO10 J402-11 0V2 J402-12

SDO9 J402-9 0V2 J402-10

JM3-4 Brk3+ JM3-9 Brk3-

SDO7 J402-5 0V2 J402-6

SDO6 J402-3 0V2 J402-4

SDO5 J402-1 0V2 J402-2

BRK 4

BRK 3

2 - Wiring diagrams

2.8 - BRAKES .

2.8.1 - TS2-40; TS2-60; TS2-80 AND TS2-100 M0004589.1

I0004701

Figure 2.13

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DPM 2-5

DPM 1-4

CS9

© Stäubli 2019 – D.280.954.04-B

J1200-M3-4 J1200-M2-4

J1200-M3-1 J1200-M3-2 J1200-M3-3

V J1301-2

W J1301-1

U J1302-3

V J1302-2

W J1302-1

earth

J1200-M4-4

U J1301-3

IC

earth

J1209-12

J1209-5

J1209-10

J1209-3

J1209-8

J1209-1

JM2-7-gnd

JM2-6-W

JM2-2-V

JM2-1-U

JM1-5-W JM1-6-gnd

JM1-2-V

JM1-1-U

MOT 2

MOT 1

TS2 Arm

2 - Wiring diagrams

2.9 - MOTORS .

2.9.1 - TS2-40; TS2-60; TS2-80 AND TS2-100 M0004590.1

I0004702

Figure 2.14

CS9

CS9

DPM 2-5

DPM 1-4

CS9

© Stäubli 2019 – D.280.954.04-B

J1200-M3-5 J1200-M2-5

J1200-M1-4 J1200-M1-5 J1200-M1-6

V J1304-2

W J1304-1

U J1305-3

V J1305-2

W J1305-1

earth

J1200-M4-5

U J1304-3

IC

earth

J1209-6

J1209-11

J1209-4

J1209-9

J1209-2

J1209-7

JM4-7

JM4-6

JM4-2

JM4-1

JM3-7

JM3-6

JM3-2

JM3-1

MOT 4

MOT 3

TS2 Arm

2 - Wiring diagrams

I0004703

Figure 2.15

23/36

24/36

DPM 2-5

DPM 1-4

CS9

© Stäubli 2019 – D.280.954.04-B

J1200-M4-4 J1200-M3-4 J1200-M2-4

J1200-M3-1 J1200-M3-2 J1200-M3-3

U J1301-3

V J1301-2

W J1301-1

U J1302-3

V J1302-2

W J1302-1

earth

Option: Interconnect cable

earth

J1201-M3-3

J1201-M3-2

J1201-M3-1

J1201-M2-4

J1201-M3-4

J1201-M4-4

J1209.1-12

J1209.1-5

J1209.1-10

J1209.1-3

J1209.1-8

J1209.1-1

JM2-7-gnd

JM2-6-W

JM2-2-V

JM2-1-U

JM1-5-W JM1-6-gnd

JM1-2-V

JM1-1-U

MOT 2

MOT 1

TS2 Arm

2 - Wiring diagrams

2.9.2 - TS2-40; TS2-60; TS2-80 AN TS2-100 WITH INTERCONNECT CABLE M0004755.1

I0004704

Figure 2.16

CS9

CS9

DPM 2-5

DPM 1-4

CS9

Option:

© Stäubli 2019 – D.280.954.04-B J1201-M3-1

J1200-M3-1 J1200-M3-2 J1200-M3-3

U J1302-3

V J1302-2

W J1302-1

earth

J1201-M2-4

J1200-M2-4

W J1301-1

earth

J1201-M3-3

J1201-M3-2

J1201-M3-4

J1200-M3-4

V J1301-2

J1201-M4-4

J1200-M4-4

U J1301-3

Interconnect cable

J1209.1-12

J1209.1-5

J1209.1-10

J1209.1-3

J1209.1-8

J1209.1-1

JM2-7-gnd

JM2-6-W

JM2-2-V

JM2-1-U

JM1-5-W JM1-6-gnd

JM1-2-V

JM1-1-U

MOT 2

MOT 1

TS2 Arm

2 - Wiring diagrams

I0004705

Figure 2.17

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2 - Wiring diagrams

2.10 - MOTORS THERMAL SENSORS

.

2.10.1 - TS2-40; TS2-60; TS2-80 AND TS2-100

JM4-5

JM4-10

JC4-5

JC4-6

COD 4

JM3-10 JC3-6

Th M4

MOT 4

MOT 3 Th M3 JM3-5 JC3-5

COD 3

JM2-10 JC2-6

Th M2 JM2-5

JM1-8 JC1-6

JC2-5

COD 2

JM1-4

COD 1

JC1-5

Th M1

MOT 2

MOT 1

TS2 Arm

M0004591.1

I0004706

Figure 2.18

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© Stäubli 2019 – D.280.954.04-B

CS9

CS9

M12 M Ethernet Cod D

M16 M

2

J1203-R J1203-S

J1202-R J1202-S

J1203-A J1203-N J1203-O J1203-P J1203-E

J1202-A J1202-N J1202-O J1202-P J1202-E

J1218-1 J1218-3 J1218-2 J1218-4

J1203-M

J1202-M

J1217-1 J1217-3 J1217-2 J1217-4

J1203-L J1203-U

J1202-L J1202-U

J1203-J J1203-T

J1202-J J1202-T

2 x 2 x 0.15mm² / AWG26 Max 50V, 1A

J1203-G

J1202-G

3 x 0.5mm² / AWG20 Max 60V, 3A

TS2 Arm 5x (2 x 0.21mm² / AWG24) Max 60V, 2A

M12 F Ethernet Cod D

M16 F

2 - Wiring diagrams

2.11 - ARMS INPUTS AND OUTPUTS .

2.11.1 - TS2-40; TS2-60; TS2-80 AND TS2-100 M0004592.1

I0004707

Figure 2.19

© Stäubli 2019 – D.280.954.04-B

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TD+ 1 TD- 2 RD+ 3 RD- 6

J206 J1217-1 J1217-2 2 J1217-3 J1217- 4 3 RD4 TD-

1 TD+ 2 RD+

J1203-G J1203-R J1203-S

J1202-x J1202-x

0V

3,4 GND

1,2 +24V

eg. Beckhoff ZK1090-3161

TD+ J1218-1 RD+ J1218-2 TD- J1218-3 RD- J1218- 4

J1202-x

TDRD-

TD+ RD+

TS2 Arm

+24V

eg. Beckhoff ZK1090-6292

User power supply

2

CS9

Remote I/O module

2 - Wiring diagrams

2.11.2 - ETHERCAT WIRING EXAMPLE M0004593.1

I0004708

Figure 2.20

© Stäubli 2019 – D.280.954.04-B

CS9

CS9

5V USB USB DUSB D+ 0V USB

USB USB 2.0 typ A USB 2.0 typ A

1 2 3 4

J209 J210 RJ45 RJ45 RJ45

© Stäubli 2019 – D.280.954.04-B RD-

TD+ TDRD+

1 2 3 4 5 6 7 8

EtherCAT J206 (Master) J207 (Slave IN) J208 (Slave OUT)

RD-

TD+ TDRD+

1 2 3 4 5 6 7 8

Ethernet RJ45 User J204 RJ45 Service J205

1

GND

RXD TXD

6

9

UNC 4/40

1 2 3 4 5 6 7 8 9

RS232 SUBD-9 M J203

5

2 - Wiring diagrams

2.12 - COMMUNICATION M0000979.1

I0004682

Figure 2.21

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© Stäubli 2019 – D.280.954.04-B

Pulsed 24V

usi x

TDO x

15 13 11 9 7 5 3 1

16 14 12 10 8 6 4 2

Mating connector type: DFMC 1,5/8-ST-3,5-LR J100 1 3 2 4 5 7 6 8 9 11 10 12 13 15 14 16

0V J213-4

usi x

TDO x

Other possible user wirings

Protective Stop

Protective Stop / Manual mode Protective Stop / Automatic mode

Emergency Stop

Safe Inputs usiA1 TDO 0 usiA2 TDO 1 usiB1 TDO 2 usiB2 TDO 0 usiC1 TDO 0 usiC2 TDO 3 usiD1 TDO 3 usiD2 TDO 2

Safe digital output

Safe PLC

User wiring

0V

24V

2 - Wiring diagrams

2.13 - SAFE INPUTS/OUTPUTS M0000980.1

I0004683

Figure 2.22

CS9

CS9

© Stäubli 2019 – D.280.954.04-B 7 5 3

1

8 6 4 2

Mating connector type: DFMC 1,5/4-ST-3,5-LR Safe Inputs WMS local WMS remote WMS manu TDO 0 WMS restart TDO 1 WMS eStop2 WMS eStop1 J101 1 2 3 5 4 6 8 7

J131 1 2 3 5 4 6 8 7

EStop

Restart

WMS Mode selection

2 - Wiring diagrams

I0004684

Figure 2.23

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11 9 7 5 3

1

12 10 8 6 4 2

Mating connector type: DFMC 1,5/6-ST-3,5-LR

Enabling status

Auto/Manu status

E-Stop status

Safe Outputs usoA1 usoA2 0V 0V usoB1 usoB2 0V 0V usoC1 usoC2 0V 0V J102 1 2 3 4 5 6 7 8 9 10 11 12 0V

uso x

Load

User wiring

0V J213-4

uso x Safe digital input (-)

Safe PLC

User wiring

0 V

24V

2 - Wiring diagrams

I0004685

Figure 2.24

© Stäubli 2019 – D.280.954.04-B

CS9

CS9 24V 0V MCP eStop2+ (TDO3) MCP eStop2- (SDI15) MCP eStop1+ (TDO2) MCP eStop1- (SDI14) Enabling1 (TDO0) Enabling1 GND (SDI12) NC NC NC Enabling2 (TDO1) Eth TD+ Eth TDEth RD+ Eth RDEnabling2 GND (SDI13)

SP2 interface J103 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17

© Stäubli 2019 – D.280.954.04-B Blue Orange White Red

Pink Black Brown White/Green Grey Red/Blue Green/Brown Yellow Green Grey/Pink

SP2

TD+ TDRD+ RD-

Ethernet

24V 0V MCP eStop2 MCP eStop2 GND MCP eStop1 MCP eStop1 GND Enabling1 Enabling1 GND Enabling2 Enabling2 GND NC NC NC

Signals

S3 1 2 3 6

S2 6 7 8 9 10 11 1 2 3 4

Enable

EStop

2 - Wiring diagrams

2.14 - SP2 M0000981.1

I0004686

Figure 2.25

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FDO 1+ FDI 0+ FDI 1+ FDO 0+ (GND) FDO 1NC FDI 0FDI 1(GND) FDO 0-

© Stäubli 2019 – D.280.954.04-B

9

5

6

1

UNC 4/40

1 2 3 4 5 6 7 8 9

Fast I/O SUBD-9 F J212

FDO -

FDI -

FDO +

FDI +

shielded cable

max 250mA

Load

User wiring

0VDC

24V

24VDC RJ45

RD-

TD+ TDRD+

1 2 3 4 5 6 7 8

EtherCAT J211 (Reserved)

2 - Wiring diagrams

2.15 - FAST INPUTS/OUTPUTS M0000982.1

I0004687

Figure 2.26

CS9

CS9

© Stäubli 2019 – D.280.954.04-B

2 4

1 3

Connector type: DFMC 1,5/2-ST-3,5-LR 24V 24V-out 24V-in 0V 0V

Default configurat on

J213 1 2 3 4 J213 1 2 3 4

SELV / PELV 7.5A max

External 24V power supply

0VDC

24V

24VDC

User wiring

2 - Wiring diagrams

2.16 - EXTERNAL 24 V M0000983.1

I0004688

Figure 2.27

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© Stäubli 2019 – D.280.954.04-B

CS9