Chapter 6
C-flex
Contents
Chapter 6
6.1
6.2
6.3
6.4
.................................................................................................................................................................................................................................................................................................................. 6–1
Overview ................................................................................................................................................................................................................................................................................................................ 6–2
C-flex Positioner .................................................................................................................................................................................................................................................................................................... 6–4
C-flex Controllers ................................................................................................................................................................................................................................................................................................... 6–6
C-flex Drawings ................................................................................................................................................................................................................................................................................................... 6–23
C-flex
6–1
6. C-flex
MARMCGMCT06061E REV D
6.1 Overview
This section provides information on the Global C-flex System. The C-flex System was designed specifically for Body Shop fixturing applications and is the direct replacement of the General Motors Programmable Adaptive Assembly
System (P.A.A.S.). C-flex is intended to eliminate style specific hard tooling by replacing it with extremely accurate and repeatable programmable positioners. In the new system, the functionality of the Tool Coordinator and Diagnostic
Monitor software, brake control, and power distribution has all been consolidated within a single FANUC B-cabinet R-30iA controller. The system user interface is an iPendant teach pendant.
The C-flex System includes four types of equipment:
• One or more C-flex Positioners or Mechanical Units (MU). The C-flex Positioner or Mechanical Unit (MU) is the mechanical positioning device of the C-flex System. Refer to the C-flex Mechanical Unit Maintenance manual
for more detailed information on the positioners.
• One or more C-flex Mate Amplifier Boxes (MAB). The C-flex Mate Amplifier Box (MAB) contains the power supply module and servo amplifiers necessary to drive the C-flex positioner. There is always one Mate Amplifier
Box for each C-flex Positioner. Refer to the supplemental C-flex Controller Maintenance manual for more detailed information on this controller.
• One FANUC R-30iA B-cabinet Controller or Main Controller (MC). A single FANUC B-cabinet controller, or Main Controller (MC), is the primary control and power distribution center of the Global C-flex System. Additionally,
a single Main Controller can support up to eighteen positioners. For more detailed information on the Main Controller, refer to both the supplemental C-flex Controller Maintenance manual and the RIA R-30iA Controller
Maintenance Manual.
• One FANUC iPendant User Interface. This color teach pendant is the user interface of the C-flex System. Refer to the C-flex User Interface, Model File Programming, and Fieldbus I/O Manual for more detailed information
on using the iPendant within the C-flex System.
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Figure 6–1.
6. C-flex
C-flex System Components
Fiber Optic
Connection Box
Main Controller (MC)
User Interface
iPendant
Mate Amplifier Box (MAB)
Servo Control Cables (SCC)
Robot Connection
Cables (RCC)
C-flex Positioner
or Mechanical Unit
(MU)
Global C-flex System Maintenance
The Global C-flex System has been designed with the goal of reducing production down time. Therefore, the repair philosophy for some components is complete component replacement. For example, if a problem is encountered with
either a C-flex Positioner or a Mate Amplifier Box, the operator need only turn off system power, remove and replace the defective component, and turn the system power back on. The C-flex System will be ready for production once
power has been restored. There is no need to reload software or to remaster a positioner because the C-flex Main Controller contains the system software and the positioner comes factory calibrated. After system power is turned
on, the mastering process for the positioner occurs automatically.
Note Any Mate Amplifier Box can replace another Mate Amplifier Box, but C-flex positioners must be replaced with the same type or variant.
Repair Philosophy of Global C-flex System
• Positioner — Complete positioner replacement or wrist replacement.
• Mate Amplifier Box (MAB) — Complete controller replacement or component replacement.
• Main Controller (MC) — The controller must be repaired and the defective component replaced to return to production.
• iPendant User Interface — Complete component replacement for hardware issues.
Refer to Section 6.4 for detailed illustrations and connection diagrams of the Global C-flex System. The emergency stop diagrams are the most useful for understanding and troubleshooting the system.
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6. C-flex
MARMCGMCT06061E REV D
6.2 C-flex Positioner
The C-flex Positioner is the core of the Global C-flex System. A positioner is an automated device designed to place and hold a part with a fine degree of accuracy and repeatability. A positioner is not a robot. Although both are automated
systems, robots are directed along paths between points, and all of their axes move in concert to follow that path. A C-flex Positioner, on the other hand, is only directed from one point to another point.
A typical positioner has five axes of movement: two linear and three rotational. They are very reliable, and exhibit highly accurate and repeatable motion, making them ideal for component placement. See Figure 6–2 for a detailed
illustration of the six positioner variants.
Positioner Variants
• C-flex 105 — Standard 5-axis model
• C-flex 105L — 5-axis model with longer axis 1 base
• C-flex 104 — 4-axis model
• C-flex 104L — 4-axis model with longer axis 1 base
• C-flex 105S — 5-axis model with side mounted wrist
• C-flex 105LS — 5-axis model with longer axis 1 base and a side mounted wrist
C-flex Positioners are plug-n-play replaceable. After the units are calibrated at the factory they are completely interchangeable. This means that a damaged or malfunctioning unit can be removed and replaced with another unit without
requiring any teach time, or re-homing, and that an assembly plant needs to stock only one type of replacement unit. Of course, a positioner must be replaced by the same type or variant of positioner.
Caution
The positioner mastering and pulse coder data is maintained by the positioners battery pack. It is important that the battery pack be maintained as described within the Periodic Maintenance section of the
C-flex Mechanical Unit Maintenance Manual. The Main Controller will post an alarm to warn you when there is a low battery voltage condition.
The life span of the battery pack is as follows:
• 10 years if positioner is in operation 20 hours/day, 5 days/week.
• 8 years if positioner is in operation 12 hours/day, 7 days/week.
• 4.5 years if positioner remains in inventory.
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MARMCGMCT06061E REV D
Figure 6–2.
6. C-flex
C-flex Positioners
C-flex 105
(Standard 5-axis Model)
(-)
J2
C-flex 105L
(5-axis Model with
longer Axis-1 Base)
C-flex 104
(4-axis Model)
(-)
(+)
C-flex 104L
(4-axis Model with
longer Axis-1 Base)
C-flex 105S
(5-axis Model with
Side Mounted Wrist)
(-)
J2
(+)
(-)
J5
(-)
(+)
(+)
(+)
J3
(+)
J4
(-)
(+)
J4
J5
(+)
(+)
J3
J3
(-)
J2
(+)
(-)
C-flex 105LS
(5-axis Model with
longer Axis-1 Base and
Side Mounted Wrist)
(-)
(-)
(-)
(+)
J4
Front Views
(-)
(-)
(-)
(+) J1
(+) J1
(+) J1
Rear Views
Note: Positioners shown with shipping brackets in place.
Note It is important to understand that if you have 10 positioners in a workcell, you do not have 10 5-axis positioners, but actually a 50-axis machine.
Caution
When the C-flex Positioner is used within a Spot Welding application, it is important to ensure that the positioner is electrically insulated. Otherwise, damage to the positioner could occur.
For more detailed information on the installation, preventative maintenance, service, and part numbers for the C-flex Positioners, refer to the FANUC Robotics C-flex Mechanical Unit Maintenance Manual.
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6.3 C-flex Controllers
Two types of FANUC control components make up the Global C-flex control system: a FANUC R-30iA B-cabinet controller or Main Controller (MC), and an R-30iA Mate Controller or Mate Amplifier Box (MAB). The Main Controller is
the primary control and power distribution center of the Global C-flex System. The Mate Amplifier Box (MAB) provides an enclosure for the required power supply module and servo amplifiers necessary to drive a C-flex positioner.
Main Controller (MC)
The Main Controller is the master controller of the Global C-flex System. The functionality of the Tool Coordinator and Diagnostic Monitor software, brake control, and power distribution has all been consolidated within this single
Main Controller. The MC can be configured to control up to eighteen C-flex positioners by adding additional Main CPU Boards and associated power supplies for each additional six positioners. The new C-flex Main Controller is
very similar to a standard robot controller. The difference being the 6-channel servo amplifier has been removed and a Brake Control Unit, a Breaker Unit, and a high capacity transformer have been added. For multiple CPU
configurations, an Ethernet switch must also be added to support multiple CPU communication.
Unique C-flex Main Controller Components
• Brake Control Unit — Controls and distributes the 100VDC brake power, the 200VAC 1Ø power, and the 24VDC Emergency Stop Signal (SVEMG).
• Breaker Unit — Distributes 230VAC 3Ø power for the SVOUT connectors. One additional breaker and XT connector is required for each additional six C-flex positioners.
• Ground Fault Indicator Panel — Provides a visual indication of a ground fault condition within the Mate Amplifier Box 230VAC 3Ø circuit. The LEDs on the panel are lit during normal operation.
• Optional Multiple CPU Configuration — An additional CPU and associated power supply unit is required to control each additional six C-flex positioners.
• Optional Ethernet Switch — Required for multi-CPU communication.
• FSSB Fiber Optic Cable Connection Box — Fiber optic communication from the Main CPU Board(s) to the Mate Amplifier Boxes passes through this enclosure.
• Cell Interface Panel — Servo Power, 24VDC, Ethernet, DeviceNet, and system ground connections are located here.
• Higher Capacity Transformer — One of two transformers can be used base on the number of positioners.
• iPendant — User interface of the Global C-flex System.
Mate Amplifier Box (MAB)
The function of the Mate Amplifier Box is to contain the required power supply module and servo amplifiers necessary to drive a C-flex positioner. Just like the positioner, the MAB can be replaced without the requirement of
reprogramming or loading software. For every positioner there is one Mate Amplifier Box.
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6. C-flex
Figure 6–3. Unique C-flex Controller Components and Main Controller Configurations
C-flex R-30iA Main Controller (MC)
Ground Fault
Indicator Panel
Main Board (Slave: CPU-2)
(Up to12 Positioners)
Ethernet Switch
(Optional - Multiple
CPU Communication)
Main Board (Slave: CPU-3)
(Up to 18 Positioners)
FSSB Fiber Optic Cable Connection Box
Servo Amplifier Modules (SVM)
Power Supply Module (PSMR)
AMP1 AMP2
Brake Control Unit
(18 Positioner Capacity)
High Capacity Transformer:
1-12 Postioners, 14.5KVA
13-18 Positioners, 19KVA
Label A
(Optional - Multiple CPU
Connection Diagram)
12 C-flex Positioner Capacity
Breaker Unit
(18 Positioner Capacity - One Breaker
and XT Connection Terminal required
for each additional 6 Positioners))
Main Board (Master: CPU-1)
(Up to 6 Positioners)
Cell Interface Panel
Cell Interface Panel
(18 Positioner Capacity - 6 SVOUT Connectors)
18 C-flex Positioner Capacity
C-flex R-30iA Mate Amplifier Box (MAB)
6 C-flex Positioner Capacity
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6. C-flex
MARMCGMCT06061E REV D
Operator and Connection Interface Panels
The Main Controller operator panel consists of a 3-position mode switch (AUTO, T1, and T2), Fault and Power LEDs, Fault Reset and Cycle Start buttons, an Emergency Stop button, and a communication port. The Mate Amplifier Box
operator panel consists of a single Status LED that is lit when servo power is supplied. See Figure 6–4 for a detailed illustration.
The Main Controller has two connection interface panels. The first is located on the top of the controller in what is called the Fiber Optic Cable Connection Box. This connection box provides access to the fiber optic communication
cable(s) originating from the Main CPU Board(s). The second panel, or Cell Interface Panel, is located at the base of the controller and is the primary interface of the system. The SVOUT connectors provide servo power, brake power,
and an emergency stop signal to the Mate Amplifier Boxes. Additionally, Ethernet, DeviceNet, 24VDC, and ground connections are provided here.
The Mate Amplifier Box has a single Cell Interface Panel. From this panel, the MAB receives and passes on to the next MAB, servo power, brake power, an emergency stop signal, and fiber optic communication. The Robot Motor
and Pulse (RMP) cable connects the Mate Amplifier Box to the C-flex positioneṙ.
Refer to Section 6.4 for detailed pin out information of the various connectors.
Figure 6–4.
C-flex Controllers
Cycle Start Button
(Not used for C-flex operation)
C-flex Main Controller (MC)
Fault LED
Power ON LED
SYSTEM R-30iA
Fiber Optic
Communication
Interface
Ground Fault
Indicator Panel
iPendant User Interface
Emergency Stop
Button
Status LED
Emergency Stop
Button
Enable Switch
3-position Mode Switch
(AUTO, T1, and T2)
Reset Button
C-flex Mate Amplifier Box (MAB)
USB Port
Operator Panel
Ethernet
24VDC
Output Power
24VDC
Safety PLC
Input Power
Operator Panel
Fiber Optic
Communication
Robot Motor
and Pulse Connection
Cell Interface Panel
DeviceNet
Safety PLC
Input
Cell Interface Panel
6–8
SVOUT - Servo Power Connections
SVOUT - Servo Power Connections
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6. C-flex
Connecting the C-flex System
The C-flex System is comprised of the following four interconnecting cables:
• Servo Control Cables (SCC) — The SCCs connect either the Main Controller to a Mate Amplifier Box, or connect two Mate Amplifier Boxes together. Each SVOUT connector located on the Main Controller Cell Interface Panel can
support up to three Mate Amplifier Boxes daisy chained together. The extra conductors required to drive additional postioners pass through the SCC cables from one MAB to another. See Figure 6–5 .
Note Any open SVOUT connector located on a Mate Amplifier Box requires a termination plug.
• Fiber Optic Cables — The FSSB fiber optic cables connect either the Main Controller to a Mate Amplifier Box, or connect two Mate Amplifier Boxes together. Each fiber optic cable originating from the Main Controller can
support up to three Mate Amplifier Boxes connected in series. See Figure 6–5 .
• Robot Connection Cables (RCC) — Each C-flex positioner will have an RCC that will connect it to its associated Mate Amplifier Box via the RMP connector.
• Ground Cables — Ground cables connect the entire system: C-flex positioner to Mate Amplifier Box, Mate Amplifier Box to Mate Amplifier Box, and Main Controller to the first Mate Amplifier Box in each branch.
Note The SVOUT connectors and the fiber optic communication cables are tied to a specific CPU. Therefore, it is important that the SCC and fiber optic cables are matched (e.g. SVOUT1 and Branch #1).
Table 6–1 identifies the C-flex control paradigm. The C-flex System can control up to eighteen C-flex positioners by adding two additional slave Main CPU Boards. Each CPU has two specific SVOUT connectors associated with it, and
each SVOUT connector has a specific fiber optic connection, or communication branch, associated with it. For example, CPU-1 is tied to the SVOUT1 and SVOUT2 connectors, and SVOUT1 and SVOUT2 are tied to the Main Board
fiber optic connectors COP10A-1 and COP10A-3 respectively.
Each communication branch must be filled before starting another branch. For example, a C-flex System consisting of four positioners, would have three MABs connected in series to COP10A-1 and one MAB connected to COP10A-3. The
FSSB fiber optic cable COP10A-2 connector located on the Main CPU Board is not used in the C-flex System.
Table 6–1. C-flex System CPU, SVOUT Connector, and Communication Branch Associations
Main CPU Board
(HostName)
SVOUT Connector on
Main Controller Cell
Interface Panel
Fiber Optic Connection
on Main CPU Board
Fiber Optic
Communication
Branch
Associated Software
Motion Group
(MOGRP) “*”
1
SVOUT1
COP10A-1
Branch #1
2
3
CPU-1
(Master)
4
SVOUT2
COP10A-3
Branch #2
5
6
1
SVOUT3
COP10A-1
Branch #3
2
3
CPU-2
(Slave)
4
SVOUT4
COP10A-3
Branch #4
5
6
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6. C-flex
MARMCGMCT06061E REV D
Table 6–1. C-flex System CPU, SVOUT Connector, and Communication Branch Associations (Cont’d)
Main CPU Board
(HostName)
SVOUT Connector on
Main Controller Cell
Interface Panel
Fiber Optic Connection
on Main CPU Board
Fiber Optic
Communication
Branch
Associated Software
Motion Group
(MOGRP) “*”
1
SVOUT5
COP10A-1
Branch #5
2
3
CPU-3
(Slave)
4
SVOUT6
COP10A-3
Branch #6
5
6
Note ”*” For each CPU, the motion group (MOGRP) number is automatically assigned by the physical connections of the FSSB fiber optic cables. Each CPU MOGRP represents one C-flex positioner. The Unit # is manually
assigned within the C-flex Unit Mapping screen located in the C-flex Setup menu. This allows users to assign logical unit numbers to the hardware motion groups (C-flex positioner) in any desired order. Refer to the User Interface
sections of the C-flex User Interface, Model File Programming, and Fieldbus I/O Manual for more details.
Figure 6–5 illustrates the cable connections for a single CPU, six positioner C-flex System. Figure 6–6 illustrates the internal fiber optic connections associated with a three CPU, eighteen positioner, C-flex System.
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6. C-flex
Figure 6–5. Global C-flex System Servo Power and Fiber Optic Communication Connection Diagram
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6. C-flex
MARMCGMCT06061E REV D
Figure 6–6. FSSB Fiber Optic Connections — 18 C-flex Positioner Configuration
#1
ch
an
Br
an
ch
#2
#3
Br
ch
#4
ch
an
Br
an
Br
an
Br
Br
PCMCIA
an
ch
ch
#6
Main Controller
#5
FSSB Fiber Optic Interface Box
(Back View: Located on top of Main Controller)
PCMCIA
Mate Amplifier Box
COP10A-3
PCMCIA
COP10A-1
To Fiber Optic
Interface Box
(Branch #1)
To Fiber Optic
Interface Box
(Branch #2)
Main Board #1
(CPU-1)
To Fiber Optic
Interface Box
(Branch #3)
Note: Each fiber optic communication
circuit, or branch, supports up to
three Mate Amplifier Boxes.
Before connecting a MAB to the next
branch, the previous branch must be
filled. For example, a C-flex System
consisting of four positioners would
have three MABs connected to
Branch #1 and one MAB connected
to Branch #2.
To next MAB
on branch
COP10A-1
COP10A-3
CPU-2
From Main Controller (MC)
Fiber Optic Interface Box
or Mate Amplifier Box (MAB)
To Fiber Optic
Interface Box
(Branch #4)
COP10A-1
To Fiber Optic
Interface Box
(Branch #5)
COP10A-3
To Fiber Optic
Interface Box
(Branch #6)
CPU-3
Note Each fiber optic communication circuit, or branch, supports up to three Mate Amplifier Boxes. Before connecting a MAB to the next branch, the previous branch must be filled. For example, a C-flex System consisting
of four positioners would have three MABs connected to Branch #1 and one MAB connected to Branch #2.
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6. C-flex
Troubleshooting the Global C-flex System
The methodology for troubleshooting the Global C-flex System is very similar to troubleshooting a standard robotic system. When the system encounters a problem, the FAULT LED located on the Main Controller Operator Panel will light,
the STATUS LED located on the Mate Amplifier Box will turn off, servo power will be removed from the system, and an alarm message will be posted on the iPendant. By reviewing the Alarm History, the C-flex Unit Mapping, and the C-flex
Cell Layout screens, an operator can easily identify the nature of the problem and take appropriate actions.
Alarm messages that identify a problem related to a specific component will be followed by a Motion Group / Axis identifier (e.g. G:1 A:1). In the C-flex system, each positioner and MAB combination is identified by one motion group
(MOGRP) and each CPU can control up to six groups. Addtionally, a positioner and MAB pair can be assigned to one of two possible stations identified as either Tray#1 or Tray#2, and each combination can be assigned a unique Unit# to
assist users in performing manual operations. Therefore, being familiar with the system setup is important before you begin to troubleshoot a problem.
It is recommended that the following C-flex menu screens, in addition to the standard robot type Alarm History screen, be reviewed before attempting to repair your system:
• C-flex Unit Mapping Screen
This screen provides the following information:
— HostName — identifies the CPU (Master: CPU-1, Slave: CPU-2 and CPU-3).
— MOGRP — identifies the associated motion group. Each positioner / MAB combination is controlled by one motion group.
— UnitType — identifies the specific C-flex positioner variant or type. There are six positioner variants.
— Tray# — identifies the associated work cell or tray number. There are two trays supported (Tray#1 and Tray#2).
— Unit# — identifies the logical unit number assigned by the operator.
• C-flex Cell Layout Screen
This screen provides the following information:
— Provides a graphical display of the physical layout of the C-flex work cell. It also identifies all of the positioners based on the operator assigned unit numbers (Unit#).
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Figure 6–7. Viewing the C-flex Unit Mapping and Cell Layout Screens
Identifies the CPU (HostName: CPU-1 is Master, CPU-2 and CPU-3 are Slave),
the motion group (MOGRP), the positioner type (UnitType), the tray number (Tray#),
and the logically assigned unit number (Unit#).
Viewing Multiple Screens from the iPendant:
Press SHIFT
and the Display
keys simutaneously.
Select Double or Triple from the pop-up window.
To move from one screen to the next, select Display
.
Viewing the C-flex Unit Mapping Screen from the iPendant:
Press MENUS
, select SETUP, select C-flex Setup, and select Unit Mapping.
Viewing the C-flex Cell Layout Screen from the iPendant:
Press MENUS
, select NEXT, select STATUS, and select C-flex Status.
Select LAYOUT to get to the
C-flex Cell Layout screen.
If the C-flex Position screen appears, select LAYOUT F5 .
Shows physical layout of C-flex Positioners
and identifies the unique Unit# assigned to them.
Multiple CPU System Troubleshooting
In normal operation and manual use, a multiple CPU C-flex System behaves in the same manner as a single CPU system. However, the additional CPUs post alarm messages with an added designator (CPU-1 or ROBOT) identifying the CPU
as either a master (CPU-1) or a slave (CPU-2 and CPU-3). In a multi-CPU configuration, when one CPU posts an alarm it will also post the same alarm on the other CPUs. The difference being that when the alarm is being generated
by another CPU, the alarm message will ALWAYS be followed by a SYST-207 alarm within the Alarm History screen. By reviewing both the C-flex Unit Mapping and Cell Layout Screens, you will be able to determine which units
are associated with which CPU. See Figure 6–8 for examples.
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MARMCGMCT06061E REV D
6. C-flex
Figure 6–8. Master (CPU-1) and Slave CPU (CPU-2 and CPU-3) Alarm Message Examples in a Multi-CPU System
3 CPU System - Alarm example posted by Slave CPU (CPU-2 or CPU-3)
3 CPU System - Alarm example posted by Master CPU (CPU-1)
Last alarm
Top/Down order of alarm
messages is last to first
Rob#1
Posted by Slave CPU-3
Posted by Slave CPU-2
First alarm
Rob#2
Posted by Master CPU-1
(No following SYST-207 alarm)
Rob#3
The combination of the two posted alarm messages,
SRVO-134 DCLVAL (PSM) alarm (G:1 A:1-5) and
SYST-207 Message posted at Rob#3 (ROBOT)
provides the following information:
SRVO-134 DCLVAL (PSM) alarm (G:1 A:1-5) - indicates that the MAB associated with
Motion Group 1 (MOGRP) of a particular CPU has experinced a DC low voltage alarm.
SYST-207 - indicates that the error message is coming form a different CPU other than
the one the operator is currently logged on to. The default is the master CPU (CPU-1),
but it is possible to log in to the slave CPUs (CPU-2 and CPU-3) and view
their Alarm History screens independently. In this example, if we were to log in to CPU-3
we would see the SRVO-134 alarms without the SYST-207 alarm being present.
In this example, you can determine that the SRVO-134 alarm is being posted by the
current, or in this case the Master (CPU-1), CPU because there is no SYST-207 alarm
following the SRVO-134 alarm. However, you will also notice that both Slave CPUs
(CPU-2 and CPU-3) are posting SRVO-105 alarms of their own.
Note: If you were to log in to CPU-2, we would see the SRVO-134 alarms being
posted by CPU-1 followed by SYST-207 alarms. However, the SYST-207 alarm
sent by the Master CPU is slightly different from a Slave CPU as follows:
SYST-207 Message posted at Rob#1 (CPU-1)
(CPU-1) - you will only see (CPU-1) if you are logged on to a Slave CPU and the alarm
message is being generated by the Master CPU.
Rob#3 - identifies that the problem is coming from the 3rd Positioner / MAB pair
in the C-flex System. By reviewing the Unit Mapping screen, you can see that the Rob#3
is controlled by CPU-3. The number "3" has nothing to do with the Unit#. It is a
coincidence that the Unit# and Rob# match.
Logging on to other CPUs:
(ROBOT) - identifies that the alarm message is being sent by a slave CPU.
Press SHIFT
and the Display
keys simutaneously.
Select Change Robot, select either CPU-1, CPU-2, or CPU-3.
Conclusion: The MAB controlled by slave CPU-3, Motion Group 1 has experienced a
DC low voltage alarm.
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6. C-flex
MARMCGMCT06061E REV D
Detailed information on alarm messages or error codes is located in several locations. Standard Cause / Remedy information is located in the R-30iA Software Error Code Manual, while more detailed hardware specific information can be
found in the Troubleshooting Using the Error Code section of the RIA R-30iA Controller Maintenance Manual. Additionally, the iPendant provides access to the standard alarm Cause / Remedy information. By moving the teach pendant
cursor down to a specific error code within the Alarm History screen, an operator can view specific Cause / Remedy information by pressing both the SHIFT and Diagnostics/Help keys simultaneously. See Figure 6–9 for more information.
Figure 6–9. Viewing Basic Alarm Message Cause / Remedy Information
Note (Multi-CPU Configurations): You can only select alarms
that are preceeded by a line number. If the primary alarm is being
posted by another CPU, you must log on to the other CPU before
you can select the primary alarm.
Otherwise, press the SHIFT
and the Display
keys simultaneoulsy.
Select Help / Diagnostics, select Diagnostics Home, select the Alarm
documentation link, and then select the alarm link that you are interested in
(e.g. SRVO).
Viewing Basic Cause / Remedy Information:
From the Alarm History screen, move the cursor to the alarm
message that you would like more information on and press
SHIFT
and the Help / Diagnostics
keys simultaneously.
!
?
Logging on to other CPUs:
Press SHIFT
and the Display
keys simutaneously.
Select Change Robot, select either CPU-1, CPU-2, or CPU-3.
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6. C-flex
Global C-flex System — Fault Symptoms
System faults can be generally defined and fall into one of three categories as follows:
• Power cannot be turned on.
• Non-responsive iPendant display.
• Error Codes — SRVO, FXTL, and RIPE alarms.
— SRVO Alarms — Issues related to power, communication, and system safety
— FXTL Alarms — Issues related to C-flex .PTS files
— RIPE Alarms — Issues related to multi-CPU communication
For assistance in troubleshooting issues related to power and the controller not booting up, refer to Table 6–2 and Table 6–3 respectively.
For detailed circuit diagrams, refer to Section 6.4 .
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6. C-flex
Table 6–2.
MARMCGMCT06061E REV D
Power Cannot Be Turned On
Check and Corrective Action
Figure
Check 1: Verify that the rotary breaker is ON and has not tripped.
Corrective Action: Turn rotary breaker ON.
Rotary breaker
Check 2: Verify that breaker QF13 located on the Brake Unit is ON and has not tripped.
QF13: Breaker 200VAC 1-phase to PSU
Corrective Action: If the breaker is on and not tripped, check the input power to the breaker.
If the 200VAC is supplied, determine the cause of the problem as follows:
• If the breaker trips when reset check the wiring, PSU#1, the Brake Release Unit, and the breaker.
• If the breaker trips after KM10 (Brake Release Unit) energizes, check PSU#2 and PSU#3, the Mate Amplifier Box Power Supply Module, and check
connectors XT21 and XT22 for loose connections.
KM10
Check 3: Verify that there is not a problem with the controller input voltage by checking the LEDs on the Phase Detection Indicator (PDI) located on the E-Stop
Unit.
Phase Detection Indicator (PDI)
Corrective Action: Correct the input power problem.
6–18
MARMCGMCT06061E REV D
Table 6–2.
6. C-flex
Power Cannot Be Turned On (Cont’d)
Check and Corrective Action
Figure
Check 4: Check the green LED (PIL) on the Power Supply Unit (PSU).
Corrective Action: If the PIL LED is not ON, the 200VAC is not being supplied to the PSU. Either the PSU F1 fuse has blown, or there is no power pressent at
connector CP1 of the PSU.
• If the 200VAC is not supplied: Determine cause by reviewing the circuit diagrams located in the C-flex Controller Maintenance Manual and the circuit
diagrams located in Section 6.4 of this manual.
F1(8.0A): Fuse for AC input
DB1:
Diode stack
CP1:
Connector for AC input
• If the 200VAC is supplied: Determine the cause of the blown F1 fuse located in the PSU. Before starting to troubleshoot, turn OFF the controller power.
CP1A:
Connector for AC output
CP2, CP3:
Connector for AC output
— If the fuse has blown, see Corrective Action 1.
— If the fuse has not blown, replace the PSU.
Corrective Action 1: Causes of blown F1 fuse and corrective action.
F3(7.5A): Fuse for +24E
• Verify that the components connected to the CP2 and CP3 connectors of the PSU are operating normally by referring to the circuit diagrams located in the
F4(7.5A): Fuse for +24V
PIL: LED (Green)
CP5: Connector for +24E
C-flex Controller Maintenance Manual and the circuit diagrams located in Section 6.4 of this manual.
• Short-circuit in the surge absorber VS1. VS1 absorbs the surge voltage that might appear between input lines. If the surge voltage is excessive or sustained,
excessively high voltage is applied to VS1 and a failure occurs in the short-circuit mode, causing fuse F1 to blow. If a short-circuit occurs in VS1 and there is
not a spare part available, the controller can operate without VS1. However, it is recommended that the user obtain and install a new PSU as soon as possible.
CP6: Connector for +24V
• Short-circuit of diode stack DB1.
ALM: LED (Red)
• The secondary power supply module is faulty. If either (a) or (b) as identified above is detected, replace the PSU. The part number for the F1 fuse is
A60L-0001–0450#8RO.
CP4: Connector for control
(Used in multi-CPU configurations)
• Check for a shorted blower fan or a short in the blower fan wiring harness. Repair or replace as necessary.
• If the F1 fuse blows when KM1 and KM2 located on E-Stop Unit energize, check relays KM1, KM2, the E-Stop PCB, and the E-Stop Unit. Repair
or replace as necessary.
VS1:
Surge absorber
H1:
Auxiliary
power module
6–19
6. C-flex
Table 6–2.
MARMCGMCT06061E REV D
Power Cannot Be Turned On (Cont’d)
Check and Corrective Action
Figure
Check 5: Determine if the External On/Off circuitry is being used. Check whether the EXON1 and EXON2 signals, and the EXOFF1 and EXOFF2 signals are
connected on the operator panel board terminal block TBOP3.
Corrective Action: If the external ON/OFF function is not uesed, connect terminal EXON1 to EXON2 and terminal EXOFF1 to EXOFF2. IF the external ON
and OFF lines are being used, check the mating contacts and the cable.
EXON1
EXON2
EXOFF1
EXOFF2
Check 6: Verify that the cable that connects the main board (JRS15) to the panel board (JRS15) is connected properly and not damaged.
Confirm that the 200VAC is supplied to the PSU CP1 connector by reverifying Checks 1–4, and verify that the ON/OFF function is working properly. If power is
supplied to CP1, replace the PSU.
If the red ALM (Alarm) LED on the PSU is on, verify that the +24VDC external connection cable is connected to 0V or ground.
If problem still exists, check the PSU using the following procedure:
• Check fuse F4.
— If F4 is blown, see Corrective Action 2.
— If F4 is not blown, a PCB or something that uses the DC supply (+2.5V, +3.3V, +5V, +24V, or +15V) is faulty.
Corrective Action: If the PSU is not faulty, replace the operator panel board or operator panel.
Corrective Action 2: Causes of blown F4 fuse and corrective actions.
The device connected to PSU connector CP5 might be faulty. If no device is connected to CP5 or the device is normal, the +24V power used in the PCB
connected to the backplane is faulty. The part number for the F4 fuse is A60L-0001-0046#7.5.
Check the 24VDC fan on the top of the backplane. If shorted, replace the fan.
6–20
Jumper required between:
EXON1 and EXON2
EXOFF1 and EXOFF2
MARMCGMCT06061E REV D
Table 6–3.
6. C-flex
Non-responsive iPendant Display
Symptom
Corrective Action
No display on iPendant
1. Check fuse F3 on the PSU. Replace fuse if it is blown.
2. Check for a short-circuit in the PSU wiring harness.
3. Check fuse F2 on the operator panel board. Replace fuse if it is blown.
4. Replace the iPendant cable.
5.
Replace the iPendant.
6. Replace the operator panel board.
iPendant does not respond to inputs
1.
Cycle controller power.
2. Check and replace if necessary, the iPendant cable or the iPendant.
3. Check the red ALM LED located on the operator panel board. If the ALM LED
is lit, check and replace if necessary the cable that connects the main board
to the operator panel board.
4. Replace the operator panel board.
5.
Replace the main board.
A SYST-035 alarm message is displayed on the iPendant or appears
in the Alarm History
1. Replace the 3VDC lithium battery located on the main board.
2.
Reload the system software. Refer to the FlexTool software installation
instructions located within the FANUC Robotics SYSTEM R-30iA Controller
Software Installation Manual.
6–21
6. C-flex
Table 6–3.
MARMCGMCT06061E REV D
Non-responsive iPendant Display (Cont’d)
Symptom
Corrective Action
An OS-0144 or OS-0145 error message is displayed on the iPendant
1.
Cold start the controller.
2. Reload system software. Refer to the FlexTool software installation instructions
located within the FANUC Robotics SYSTEM R-30iA Controller Software
Installation Manual.
3.
Replace the main board.
The Main controller does not finish booting up
1. Verify the FSSB system fiber optic connections. If nothing is connected to the
FSSB connector COP10A-1 located on the master CPU (CPU-1), the controller
will not boot up
2. Check the LED’s on the main board and take the appropriate action based on the
information found within the Troubleshooting Based on LED Indications section
found in the RIA R-30iA Controller Maintenance Manual.
3. Reload system software. Refer to the FlexTool software installation instructions
located within the FANUC Robotics SYSTEM R-30iA Controller Software
Installation Manual.
4.
Replace the main board.
5. If your system uses DeviceNet, verify that the card is functioning properly.
For more detailed information on the C-flex controllers, refer to the C-flex Controller Maintenance Manual and the RIA R-30iA Controller Maintenance Manual.
6–22
MARMCGMCT06061E REV D
6. C-flex
6.4 C-flex Drawings
• Figure 6–10 C-flex R-30iA B-cabinet Controller
• Figure 6–11 Breaker Unit
• Figure 6–12 Brake Unit
• Figure 6–13 Ground Faunt Indicator Panel
• Figure 6–14 C-flex R-30iA B-cabinet Controller Connection Interface Panel
• Figure 6–15 Interface Panel Connection Diagram — Safety PLC
• Figure 6–16 Interface Panel Connection Diagram — Legacy SC1
• Figure 6–17 C-flex R-30iA Servo Box Controller
• Figure 6–18 Servo Box Connection Interface Panel
• Figure 6–19 C-flex Main Controller Emergency Stop Diagram - Sheet 1
• Figure 6–20 C-flex Main Controller Emergency Stop Diagram - Sheet 2
• Figure 6–21 C-flex Mate Amplifier Box Emergency Stop Diagram
• Figure 6–22 C-flex Positioner Internal Cable Connection Diagram
6–23
6. C-flex
Figure 6–10.
MARMCGMCT06061E REV D
C-flex R-30iA B-cabinet Controller
C-flex R-30iA Main Controller (MC)
Fiber Optic Cable Connection Box
(18 Positioner Capacity)
Main Board (CPU-2)
Main Board (CPU-3)
Brake Control Unit
(18 Positioner Capacity)
Operator
Panel Board
Ethernet Switch
(CPU Communication)
Label A
(Optional - Multiple CPU
Connection Diagram)
Main Disconnect
Breaker
Redundant
Emergency Stop Unit
Safety PLC Interface
Breaker Unit
(18 Positioner Capacity)
Main Board (CPU-1)
Cell Interface Panel
(18 Positioner Capacity)
6–24
Transformer
(Inside Cablinet)
MARMCGMCT06061E REV D
Figure 6–11.
6. C-flex
Breaker Unit
QF1 to QF3: 240VAC 3-phase 20A Circuit Breakers
Distributes 240VAC 3-phase power from E-Stop Unit to XT5 - XT7 Connectors
Power Distribution:
QF1 and XT5 => SVOUT1 and SVOUT2 Connectors
QF2 and XT6 => SVOUT3 and SVOUT4 Connectors
QF3 and XT7 => SVOUT5 and SVOUT6 Connectors
XT5 to XT7 Connectors: Distribute 240VAC 3-phase power to SVOUT Connectors
XT5
XT5-1
XT5-2
XT5-3
XT5-4
XT5-5
XT5-6
XT5-7
XT5-8
A
U
A
U(#1)
A
U(#1)
A
U(#1)
A
U(#2)
A
U(#2)
A
U(#2)
A
B
V
B
V(#1)
B
V(#1)
B
V(#1)
B
V(#2)
B
V(#2)
B
V(#2)
B
V
C
W
C
W(#1)
C
W(#1)
C
W(#1)
C
W(#2)
C
W(#2)
C
W(#2)
C
W
U
XT6
XT6-1
XT6-2
XT6-3
XT6-4
XT6-5
XT6-6
XT6-7
XT6-8
A
U
A
U(#3)
A
U(#3)
A
U(#3)
A
U(#4)
A
U(#4)
A
U(#4)
A
B
V
B
V(#3)
B
V(#3)
B
V(#3)
B
V(#4)
B
V(#4)
B
V(#4)
B
U
V
C
W
C
W(#3)
C
W(#3)
C
W(#3)
C
W(#4)
C
W(#4)
C
W(#4)
C
W
XT7
XT7-1
XT7-2
XT7-3
XT7-4
XT7-5
XT7-6
XT7-7
XT7-8
A
U
A
U(#5)
A
U(#5)
A
U(#5)
A
U(#6)
A
U(#6)
A
U(#6)
A
B
V
B
V(#5)
B
V(#5)
B
V(#5)
B
V(#6)
B
V(#6)
B
V(#6)
B
U
V
C
W
C
W(#5)
C
W(#5)
C
W(#5)
C
W(#6)
C
W(#6)
C
W(#6)
C
W
TERMINAL
XT8
1
MONMCONA(#1)
2
MONMCONB(#1)
3
MONMCONA(#2)
4
MONMCONB(#2)
5
MONMCONA(#3)
6
MONMCONB(#3)
7
MONMCONA(#4)
8
MONMCONB(#4)
9
MONMCONA(#5)
10
MONMCONB(#5)
11
MONMCONA(#6)
12
MONMCONB(#6)
XT8 Terminal: For monitoring the Mate Amplifier Boxes (MAB)
magnetic contactor condition (SVON)
Note: This drawing illustrates a Breaker Unit with an 18 Positioner capacity.
6–25
6. C-flex
MARMCGMCT06061E REV D
Figure 6–12.
Brake Unit
V1: 100VDC Brake Circuit Rectifier
Mounting locations for additional 2-Slot Backplanes
(Required for addition CPUs and Power Supplies)
QF13: Transformer to Power Supply Unit(s) 200VAC 1-phase 20A Circuit Breaker
XT11
XT11-1
XT11-2
XT11-3
XT11-4
XT11-5
QF14: Transformer to Rectifier (V1) 100VAC 1-phase 16A Circuit Breaker
XT11-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
100B
TERMINAL
XT2
XT12
XT12-1
XT12-2
XT12-3
XT12-4
XT12-5
XT12-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
100B
XT13
XT13-1
XT13-2
XT13-3
XT13-4
XT13-5
1
R1
2
S1
3
100A
4
100B
XT2 Terminal: Distributes 200VAC 1-phase (R1 and S1) and
100VAC 1-phase Brake Power
XT13-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
100B
XT14
XT14-1
XT14-2
XT14-3
XT14-4
XT14-5
XT14-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
100B
XT15
XT15-1
XT15-2
XT15-3
XT15-4
XT15-5
KM10: 200VAC 1-phase to Mate Amplifier Boxes (MAB) and additional
Power Supply Units (PSU-2 and PSU-3) Control Relay
XT15-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
100B
KA11 to KA16: 100VDC Brake Control Relays
XT16
XT16-1
XT16-2
XT16-3
XT16-4
XT16-5
KA17: 24VDC Emergency Stop Signal (SVEMG) Control Relay
XT16-6
A
100A
A
100A
A
100A
A
100A
A
A
B
100B
B
100B
B
100B
B
100B
B
B
XT21
XT21-1
XT21-2
XT21-3
XT21-4
XT21-5
XT21-6
XT21-7
XT21-8
A
R1B
A
R1B
A
R1B
A
R1B
A
R1B
A
R1B
A
R1B
A
B
S1B
B
S1B
B
S1B
B
S1B
B
S1B
B
S1B
B
S1B
B
S1B
C
R1B
C
R1B
C
R1B
C
R1B
C
R1B
C
R1B
C
R1B
C
R1B
R1B
XT22
XT22-1
XT22-2
R1B
A
B
S1B
C
S1B
A
XT22-3
R1B
A
B
S1B
C
S1B
XT22-4
R1B
A
B
S1B
C
S1B
XT22-5
R1B
A
B
S1B
C
S1B
XT22-6
R1B
A
B
S1B
C
S1B
XT22-7
R1B
A
B
S1B
C
S1B
XT22-8
XT30-3
XT30-4
A
+24E
A SVEMG(#1) A SVEMG(#2) A
B
0V
B
C
6–26
XT30-2
C
0V(#1)
B
C
0V(#2)
B
C
XT30-5
A
B
S1B
B
S1B
C
S1B
C
S1B
XT30-6
SVEMG(#3) A SVEMG(#4) A
0V(#3)
B
C
0V(#4)
B
C
XT30-7
XT30-8
SVEMG(#5) A SVEMG(#6) A
0V(#5)
B
C
0V(#6)
B
C
XT21 and XT22 Connectors: Transfers 200VAC 1-phase Power to SVOUT Connectors
R1B
R1B
XT30
XT30-1
XT11 to XT16 Connectors: Transfers 100VDC Brake Power to SVOUT Connectors
XT30 Connector: Transfers 24VDC SVEMG Signal to SVOUT Connectors
MARMCGMCT06061E REV D
Figure 6–13.
6. C-flex
Ground Fault Indicator Panel
C-flex Main Controller
To Mate Amplifier Boxes (MAB)
Positioners 1-6
To Mate Amplifier Boxes (MAB)
Positioners 7-12
Ground Fault
Monitoring Panel
To Mate Amplifier Boxes (MAB)
Positioners 13-18
C-flex Main Controller
Breaker Unit
(18 positioner capacity shown)
Breaker Unit
Ground Fault
QF1
Monitoring Panel
E-Stop Unit
SHORT CIRCUIT
CURRENT RATING
65 KA
F-XXXXX
The controller should not be picked up
from underneath between the casters.
P3
ENET
SVOUT1
SVOUT2
SVOUT3
SVOUT4
SD1
DC
SVOUT5
SVOUT6
DN
6–27
6. C-flex
MARMCGMCT06061E REV D
Figure 6–14. C-flex R-30iA B-cabinet Controller Connection Interface Panel
SC1
PIN
NUMBER
1
10
17
11
18
24
25
2
26
3
12
19
13
20
14
21
15
22
16
23
27
4
5
30
7
31
8
9
DC
Hardware DC Voltage
P3
1 1001(24VDC) E102 Circuit Breaker (S.I. Terminal)
2
2501
Safety Interface Terminal
3
2502
Safety Interface Terminal
4
0VDC
Safety Interface Terminal
3
1
4
2
(Female)
(Male)
EN
DN
Signal
(Male)
1 DR
2 +24V
3 0V
4 S+
5 S-
P3
3
1
4
2
(Female)
Ethernet
4
Power
3
1
2
1
2 +24V
3 0V
4 0V
(Female)
1
2
3
4
TX+
RX+
TXRX-
SVOUT
1
2
3
4
5
6
7
6–28
U 15 U 22
29
8
V 16 V 23
30
9
31
10 W 17 W 24
32
25
18
11
R1B 12 S1B 19 BKP 26 BKN 33
R1B 13 S1B 20 BKP 27 BKN 34
R1B 14 S1B 21 BKP 28 BKN 35
U
V
W
SVEMG
36
0V
37
38 MONMCONA
39 MONMCONB
40
41
42
Power
SD1
Signal
(Male)
1 DR
2 +24V
3 0V
4 S+
5 S-
1
2 +24V
3 0V
4 0V
28
29
6
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
SIGNAL
WIRE
COLOR
NAME
GROUND
GREEN
EXT_24VDC
EXT_0VDC
INT_24VDC
INT_0VDC
ESPB1
ESPB11
ESPB2
ESPB21
EES1
EES11
EES2
EES21
EGS1
EGS11
EGS2
EGS21
EAS1
EAS11
EAS2
EAS21
EOPS1
EOPS11
EOPS2
EOPS21
ESPR1
ESPR11
RC01
RC011
RC02
RC021
MARMCGMCT06061E REV D
Figure 6–15.
6. C-flex
Interface Panel Connection Diagram - Safety PLC
SH
RD
BK
WH
BL
+TX
-TX
WH/OR
+RX
WH/GN
-RX
GN
OR
+TX
-TX
+RX
-RX
+24 VDC
0 VDC
+24VDC (BYP)
0 VDC (BYP)
6–29
6. C-flex
Figure 6–16.
MARMCGMCT06061E REV D
Interface Panel Connection Diagram
SH
RD
BK
WH
BL
6–30
+TX
WH/OR
-TX
OR
+RX
WH/GN
-RX
GN
+TX
-TX
+RX
-RX
MARMCGMCT06061E REV D
Figure 6–17.
6. C-flex
C-flex R-30iA Servo Box Controller
FSSB Fiber Optic Cable (IN)
C-flex R-30iA Mate Amplifier Box (MAB)
Connection Interface Panel
FSSB Fiber Optic Cable (OUT)
Power Supply Module (PSMR)
Servo Amplifier Modules (SVM)
AMP1
AMP2
CRR97 Connector
Robot Motor
and Pulse Cable
KA1 Brake Control Relay
KM1 Contactor
IN
SVIN
OUT
RMP
SVOUT
XT1 Brake Circuit Terminal Block
Cable Hanger
Label B
(Fiber Optic Connection Diagram)
6–31
6. C-flex
Figure 6–18.
MARMCGMCT06061E REV D
Servo Box Connection Interface Panel
SVOUT
NOTE: GROUND CONNECTIONS
- GND CABLE TO MAB RISER
- GND CABLE TO POSITIONER
- GND TO MC (IF 1ST MAB IN BRANCH)
- GND TO NEXT MAB (IN BRANCH)
6–32
1
2
3
4
5
6
7
U
V
W
U 15 U 22
29
8
V 16 V 23
9
30
10 W 17 W 24
31
11
18
25
32
R1B 12 S1B 19 BKP 26 BKN 33
R1B 13 S1B 20 BKP 27 BKN 34
R1B 14 S1B 21 BKP 28 BKN 35
SVEMG
36
0V
37
38 MONMCONA
39 MONMCONB
40
41
42
MARMCGMCT06061E REV D
6. C-flex
Figure 6–19. C-flex Main Controller Emergency Stop Diagram - Sheet 1
BRAKE CONTROLL UNIT
NOTE: SVOUT CONNECTORS ARE
MOUNTED ON THE CONTROLLER
CONNECTION INTERFACE PANEL
SVOUT1
SVOUT2
SVOUT3
SVOUT4
SVOUT5
SVOUT6
BREAKER UNIT
SVOUT1
SVOUT2
SVOUT3
PSU#1
SVOUT4
BRAKE
CONTROL UNIT
To
QF14
To V1
SVOUT5
To KM10
SVOUT6
CRM72
E-Stop Unit
6–33
6. C-flex
MARMCGMCT06061E REV D
Figure 6–20. C-flex Main Controller Emergency Stop Diagram - Sheet 2
BRAKE CONTROLL UNIT
FROM BRAKE CONTROL UNIT (XT2)
TO BRAKE CONTROL UNIT (XT30)
FROM BRAKE CONTROL UNIT (QF13)
200VAC 1-PHASE
NOTE: FSSB (#1) IDENTIFIES
COMMUNICATION BRANCH #1.
THIS FIBER OPTIC CABLE
CONNECTS TO THE FIRST
MATE AMPLIFIER BOX IN
BRANCH #1.
NOTE: SVOUT CONNECTORS ARE
MOUNTED ON THE CONTROLLER
CONNECTION INTERFACE PANEL
FIBER OPTIC CABLE
CONNECTION BOX
BRAKE CONTROLL UNIT
6–34
MARMCGMCT06061E REV D
Figure 6–21.
6. C-flex
C-flex Mate Amplifier Box Emergency Stop Diagram
MATE AMPLIFIER BOX (MAB)
MATE AMPLIFIER BOX (MAB)
240VAC
3-PHASE
FAN
200VAC
1-PHASE
E-STOP SIGNAL (XT30)
IN
FIBER OPTIC
(FROM MAIN CONTROLLER COMMUNICATION
BRANCH #1)
FIBER OPTIC TO NEXT
MAB ON BRANCH #1
OUT
6–35
6. C-flex
Figure 6–22.
6–36
MARMCGMCT06061E REV D
C-flex Positioner Internal Cable Connection Diagram