DR External Axis Controller (1L4805A-E-3) PDF

GENERAL CONTENTS
IMPORTANT
TRAINING COURSES
LIMITED WARRANTY
SAFETY WARNING
1. FUNDAMENTAL SPECIFICATIONS
1.1 What is External Axes Controller?......................................................................................................... 1-1
1.2 Specifications of External Axes Controller ............................................................................................ 1-1
1.3 External Dimensions of External Axes Controller ................................................................................. 1-3
2. FOUNDATION WORK AND INSTALLATION
2.1 Foundation Work for Installation of Robot Controller with External Axes Controller ...................... 2-2
2.2 Transport Method of Robot Controller with External Axes Controller ............................................. 2-4
2.3 Installation of Robot Controller with External Axes Controller ........................................................ 2-6
2.3.1 Installation Dimensions of Robot Controller with External Axes Controller ............................. 2-6
2.3.2 Installation of Robot Controller with External Axes Controller ................................................. 2-7
2.3.3 Installation of External Axes Controller onto Robot Controller. ............................................... 2-8
3. CONNECTING ROBOT PERIPHERAL JIGS
3.1 Types of Robot Peripheral Jigs ....................................................................................................... 3-2
3.2 Connecting Peripheral Jigs to External Axes Controller ................................................................. 3-3
3.2.1 System Configuration ............................................................................................................... 3-3

3.2.2 External Axes Cables for Peripheral Jigs................................................................................. 3-4
3.3 Internal Jumper Pin Settings of External Axes Controller ............................................................... 3-5
3.4 Connecting External Axes Controller to Robot Controller............................................................... 3-7
3.4.1 Fixing Method of Servo I/F Board ............................................................................................ 3-7

3.4.2 Connecting External Axes Controller to Robot Controller........................................................ 3-8
3.5 Connecting External Axis/Axes Cable 1 & 2 ................................................................................. 3-18
3.5.1 Where to connect External Axis/Axes Cable 1 & 2 ................................................................ 3-18

3.5.2 Adding One External Axis ...................................................................................................... 3-23
3.5.3 Adding Two External Axes ..................................................................................................... 3-27
3.5.3.1 Adding One 2-axis Peripheral Jig ..............................................................................................3-27
3.5.3.2 Adding Two 1-axis Peripheral Jigs ............................................................................................3-30
3.5.4 Adding Three External Axes
(When adding a standard 1-axis slider and a standard 2-axes positioner.)..................... 3-38
3.5.5 Adding Four External Axes (When adding two standard 2-axis positioners.) ...................... 3-47
3.5.6 Adding One Manipulator......................................................................................................... 3-57
3.5.7 Adding one 4.5 kW Motor....................................................................................................... 3-61
3.5.8 Adding one 4.5 kW Motor and one 1.5 kW Motor .................................................................. 3-65
4. PARTS LIST
4.1 External Axis Controller (L5380) ..................................................................................................... 4-2
4.2 External Axes Controller (L5381) .................................................................................................... 4-4
4.5 External Axes (Axis) Controller (L5561) ........................................................................................ 4-10
4.6 External Axes Controller (L5562) .................................................................................................. 4-12
4.9 Large-capacity External Axes Controller (L5930 ~ L5932) ........................................................... 4-18
5. MAINTENANCE (EXTERNAL AXES CONTROLLER)

5.1 Servo I/F Board L4805C................................................................................................................ 5-10
5.1.1 Functions of Servo I/F Board.................................................................................................. 5-10

5.1.2 Connectors of Servo I/F Board............................................................................................... 5-10
5.1.3 Jumper Pin Settings of Servo I/F board ................................................................................. 5-10
5.2 External Axes Board L4805D ........................................................................................................ 5-11
5.2.1 Functions of External Axes Board .......................................................................................... 5-11

5.2.2 Operating State Indicators of External Axes Board ............................................................... 5-12
5.2.3 Relays on External Axes Board.............................................................................................. 5-12
5.2.4 Fuses on External Axes Board............................................................................................... 5-12
5.2.5 Connectors of External Axes Board ....................................................................................... 5-13
5.2.6 Test Pins on External Axes Board ......................................................................................... 5-13
5.2.7 Jumper Pin Settings of External Axes Board ......................................................................... 5-14
5.3 Servo Unit ...................................................................................................................................... 5-15
5.3.1 Functions of Servo Unit .......................................................................................................... 5-15

5.3.2 Control Module W-L00958 ..................................................................................................... 5-17
5.4 Power Unit L4800P........................................................................................................................ 5-19
5.4.1 Functions of the Power Unit ................................................................................................... 5-19

5.4.2 Connectors of the Power Unit ................................................................................................ 5-20
5.5 Charging Unit L4797P ................................................................................................................... 5-21
5.5.1 Functions of the Charging Unit............................................................................................... 5-21

5.5.2 Connectors of the Charging Unit ............................................................................................ 5-21
5.6 Charging Battery L6390N00 .......................................................................................................... 5-22
5.6.1 Functions of the Charging Battery.......................................................................................... 5-22

5.6.2 Specifications of the Charging Battery ................................................................................... 5-22
5.6.3 Replacing the Charging Battery ............................................................................................. 5-22
5.7 Cooling Fans.................................................................................................................................. 5-25
6. ELECTRICAL CONNECTION DIAGRAM
6.1 Electrical Connection Diagram for External Axes Controller .............................................................. 6-1
6.2 Electrical Connection Diagram for External Axes Controller for 4.5 kW Motor .................................. 6-7
6.3 Electrical Connection Diagram for External Axes Cable................................................................... 6-11

1 Fundamental Specifications
CONTENTS
1.1 What is External Axes Controller?......................................................................................................... 1-1
1.2 Specifications of External Axes Controller ............................................................................................ 1-1
1.3 External Dimensions of External Axes Controller ................................................................................. 1-3

1 FUNDAMENTAL SPECIFICATIONS
1.1 What is External Axes Controller?
When combining a manipulator with robot peripheral jigs such as a positioner and/or a slider, an
optional controller to control jigs needs to be added to the standard robot controller.
This controller is called "External Axes Controller", and it is capable of connecting up to 6 axes of
peripheral jigs. (“1.2 Specifications of External Axes Controller”: Note 3)
The standard robot controller can control a single mechanism (one manipulator: 6 axes) only.
1.2 Specifications of External Axes Controller

Item Specifications
Name External Axes Controller
Driving system AC servo
In case of connecting robot peripheral jigs
Number of axes / model (Controlling the External Axes Controller without a combination
(Note 1, 2, 3) of motors of 800 W or below and those of 1500 W)
Combination of Combination of
Model Model
corresponding motors corresponding motors
800 W or below x 1 axis L5380 1500 W x 1 axis L5561
800 W or below x 2 axes L5381 1500 W x 2 axes L5562
800 W or below x 3 axes L5382 1500 W x 3 axes L5563
800 W or below x 4 axes L5562
800 W or below x 5 axes
L5563
800 W or below x 6 axes
In the case of connecting robot peripheral jigs
(Controlling the External Axes Controller with a
combination of motors of 800 W or below and those of
1500 W)
Combination of corresponding motors Model
1500 W x 1 axis + 800 W or below x 1 axis
L5562
1500 W x 1 axis + 800 W or below x 2 axes
1500 W x 2 axes + 800 W or below x 1 axis
L5563
1500 W x 2 axes + 800 W or below x 2 axes
4500 W x 1 axis + 1500 W x 1 axis L5930
4500 W x 2 axes + 1500 W x 1 axis
L5931
4500 W x 1 axis + 1500 W x 2 axes
4500 W x 2 axes + 1500 W x 3 axes
L5932
4500 W x 3 axes + 1500 W x 1 axis
In the case of connecting a manipulator made by DAIHEN Corporation
Manipulator Model
DR-3200/4200/600/500 series L5554
DR-4200L/4300/4400 L5564
FUNDAMENTAL SPECIFICATIONS 1-1

DR-4800, DR-4900 L5009
Item Specifications
During positioningRefer to the corresponding specification for each
Automatic Operation Speed peripheral jig
During welding10 cm600 cm / min.Settable every 1 cm / min
Origin return is not required because of the absolute position
Origin Return
detecting function of battery back-up. (Note 4,5)
Cooling System Indirect cooling methoda sealed type controller
Ambient Temperature Range 045
Ambient Humidity Range 2080 %RhNo dew condensation
3-phase AC 200 V +10 % -15% 50 / 60 Hz
Model Rated value Model Rated value
L5380 1 kVA L5561 2 kVA
L5381 2 kVA L5562 4 kVA
L5382 L5563 6 kVA
Input power (note 6) 3 kVA
L5554 L5564 7 kVA
L8220 6 kVA
L8221 9 kVA
L8222
12 kVA
L5009
Peripheral jigs should be grounded independently, and the resistance
Grounding
should be less than 100 ohm.
358 (W) 515 (D) 525 (H) (mm)
External dimensions of
External Axes Controller 358 (W) 785 (D) 1188 (H) (mm)
(External Axes Controller for 4.5kW motors)
Approx. 35 kg (for L5563)
Mass
Approx. 110kg (for L8222)
Painting color Basesky gray / front panelblue
Note (1) Since the model of External Axes Controller differs according to a robot peripheral jig, select a
corresponding model when ordering one
(2) For a combination of motors other than specified above, contact your nearest distributor.
(3) By adding another External Axes Controller, a maximum of 12 external axes can be added (18 in
total). The number of axes that can be added depends on the system. Contact your nearest
distributor for more details.
(4) Position data are backed up by absolute encoders. The period of the battery backup while the
primary power is OFF is approximately 10 days. The duration of battery backup may be shorter
due to an ambient temperature, service conditions and so on. After the backup, absolute offset
adjustment work and recharging of the battery must be done due to a loss of position data
(5) If External Axes Cable is plugged off either from External Axes Controller or peripheral jigs in
times of reinstallment, absolute encoder data will be lost. Once the External Axes Cable is
disconnected, “absolute offset setting” must be performed after the reinstallement.
(6) The rated values of the primary-side power source here (in this table) are only for External Axes
Controller. Be aware that the rated values for a robot system are the sum of the rated values for
External Axes Controller and those for Robot Controller. For the rated value of a controller,
refer to “Installation: 3.3.1 Connecting the Primary Power Cable” in "INSTALLATION &
MAINTENANCE" for model DR series.
1-2 FUNDAMENTAL SPECIFICATIONS

1.3 External Dimensions of External Axes Controller
Unitmm
Eyebolt
External Axes Controller
358 515
498
External Axis Cable 1
5 Door Key
2
5

8 8
4 9
7 6
300
438
518 Robot Controller
4 16
0 6
0 6
3 4
Fig. 1.3.0.1 External Dimensions of External Axes Controller
FUNDAMENTAL SPECIFICATIONS 1-3

Left Side Front Right Side
"A"

358 515

498
525
Door key

External Axes
8 8 Controller
8 3 (for 4.5kW motors)
1 1
1 1
"A"

View A
Fig. 1.3.0.2 External Dimansions of External Axes Controller (for 4.5kW motors)
1-4 FUNDAMENTAL SPECIFICATIONS

2 FOUNDATION WORK AND INSTALLATION
Installing External Axes Controller properly is very important for maintaining the proper function of
peripheral jigs and for safely. Correct installation not only keeps safety of workers around the peripheral jigs
but also extends life of the External Axes Controller.
This chapter describes how to install the External Axes Controller. See "Installation: Chapter 2" in
"INSTALLATION and MAINTENANCE" for DR series.
WARNING
1. Disconnect the power before installing a WARNING

robot and connecting cables. Touching ELECTRIC SHOCK
live electrical parts will cause an can kill.
Do not touch live electrical
electrical shock or a burn that may parts.
Disconnect all power
results in a loss of life. before installing or servicing.
Multiple sources of voltage
may exist inside this
enclosure.
NC8051
2. Install the External Axes Controller

outside the working range of the robot. WARNING
Keep out of robot area when
If anyone approaches the moving robot, main power is on.
Do not locate this device
an accident that results in a loss of life in robot work area.
Read instruction manual.
may occur. NC8050
3. When the External Axes Controller,

welding power source, etc., are to be
installed at such an elevated position m
6.
0
(over 2 m high) as on a frame, provide a n.i
m
working floor shown in Fig. 2.0.0.1 to (Rear)
allow adjustment, maintenance and
inspection.
Robot
control unit
4. Be sure to fix Robot Controller with

(Front)
External Axis Controller to a proper place
for installment. Do not lean against the
m
controller. If the controller falls down, not 1
n.i
only the controller may break down but m
also a fatal accident may occur.
Fig. 2.0.0.1 Installing an External Axes Controller

at an Elevated Position

CAUTION
1. Provide at least 20-cm-wide space
between the External Axes Controller unit CAUTION
TO AVOID DAMAGE TO THE ROBOT CONTROL
and a wall. UNIT, KEEP THE AIR INLET AND EXHAUST
CLEAR. (AT LEAST 0.2M FROM WALL.)
NC8054
2. Upon completion of the installation, make absolute offset adjustments until the robot peripheral jig
agrees with the position coordinate data stored in the robot control unit. For the adjusting
procedure, see “Installation: Section 4.2 Absolute Offset Adjustment” in “Installation and
Maintenance” for DR series.
FOUNDATION WORK AND INSTALLATION 2-1

2 Foundation Work and Installation
CONTENTS
2.1 Foundation Work for Installation of Robot Controller with External Axes Controller .......................2-2
2.2 Transport Method of Robot Controller with External Axes Controller ..............................................2-4
2.3 Installation of Robot Controller with External Axes Controller .........................................................2-6
2.3.1 Installation Dimensions of Robot Controller with External Axes Controller ..............................2-6
2.3.2 Installation of Robot Controller with External Axes Controller ..................................................2-7
2.3.3 Installation of External Axes Controller onto Robot Controller. ................................................2-8

2.1 Foundation Work for Installation of Robot Controller
with External Axes Controller
WARNING
A robot controller does not have any mobile parts as a manipulator does, however it should be
fixed when installed so that it will not fall down from the elevated position or on the floor.
When installing a controller directly on the floor, use M12 concrete anchor to fix it as shown in Fig.
2.1.0.1.
If the strength of the floor is insufficient, embed J-shaped foundation bolt as shown in Fig. 2.1.0.3.
4 16
0 6
0 6
3 4

438
518
View A
Fig. 2.1.0.1 Installation Dimensions of Robot Controller with External Axes Controller
Fig. 2.1.0.2 Installation of Concrete Anchor
Make holes with Insert an anchor Drive the bolt

a concrete drill. bolt. fully into a hole
Hole diameter and by a hammer.
depth vary depending
on the type of an
anchor bolt.
0
J-type Bolt
0 5
5 1 (M12-250L)
50
150
0 0
0 2
3 2
"B" "B"
Fig. 2.1.0.3 Foundation Drawing
for Installation by enbedding
50 0
5
Anchor Bolt. (Unitmm) 130
438
View "B"-"B"
2-2 FOUNDATION WORK AND INSTALLATION
4 16
500
720

438
518
View A
Fig. 2.1.0.4 Installation Method of External Axes Controller for 4.5kW Motors with External Axes Controller
J type Bolt
150
50

50
150
500
220

50
50
130
438

Fig. 2.1.0.5 Foundation Drawing for Installation by enbedding Anchor Bolt

(for External Axes Controller for 4.5kW Motors with External Axes Controller)

Transport Method of Robot Controller with External Axes Controller
(1) Robot Controller with External Axes Controller should be transported to the place for installation
with a crane, a forklift, or a hand lifter .
When transporting it with a crane, use two eyebolts as shown in Fig. 2.2.0.1. When transporting
it with a forklift or hand lifter, be careful not to let the robot controller fall down.
CAUTION
External axes controller and robot controller are equipped with printed circuit boards and other
precision parts. Thus, do not give a shock to the controllers while transporting them.
(2) The mass of the robot controller with the external axes controller is approximately 80 kg . Wear
helmet, safety shoes and other protectives, and work in an appropriate working clothes.
Wooden Protector
Fixing Rope
Forklift
Wire Rope
Fix wire ropes tight

to eyebolts using
shackles.
Prepare shackles
whose maximum
load-carrying capacity
is 0.4 t or more.

Fig. 2.2.0.1 Transport Method for Robot Controller with External Axes Controller

(3) Robot Controller for 4.5kW motors with External Axes Controller should not be suspended
together when transported.
Load it on a pallet and transport it with a forklift as shown in Fig. 2.2.0.2. When suspend it while
transporting, separate Robot Controller and External Axes Controller and suspend each unit.
CAUTION
External axes controller and robot controller are equipped with printed circuit boards and other
precision parts. Thus, do not give a shock to the controllers while transporting them.
(4) The mass of the robot controller for 4.5kW motors with the external axes controller is
approximately 145 kg . Wear helmet, safety shoes and other protectives, and work in an
appropriate working clothes.
Wooden Protector
Fixing Rope
Forklift
Wire Rope Withstand Loadmin. 1400 kg

Length min. 1.5 m
Prepare shackles that meet
the following requirements.
Model SC- 10 Prepare shackles that meet the
Withstand Load0.4 t following requirements.
JIS B2801 Model SC- 14
Fix wire ropes tight Withstand Load1.2 t
Wire Rope to eyebolts using JIS B2801
Withstand Loadmin. 270 kg shackles.
Length min. 1.5m

For External Axes Controller For Large- capacity External Axes Controller
Fig. 2.2.0.2 Transport Method for Robot Controller for 4.5kW Motors with External Axes Controller

2.2 Installation of Robot Controller with External Axes Controller
2.3.1 Installation Dimensions of Robot Controller with External Axes Controller
4 16
0 6
0 6
3 4

438
518
View A
Fig. 2.3.1.1 Installation Dimensions of Robot Controller with External Axes Controller
4 16
720
500

438
518
View A
Fig. 2.3.1.2 Installation Dimensions of External Axes Controller for 4.5kW Motors

2.3.2 Installation of Robot Controller with External Axes Controller
When installing Robot Controller with External Axes Controller on the floor, fix the support channel
attached to the bottom of robot controller to the foundation bolt (M12) with 4 lock nuts (M12) as shown
in Fig. 2.3.2.1. (Clamping Torque : 42.2 Nm)
WARNING
Robot Controller does not have any mobile parts as a manipulator does, however it should be fixed
when installed so that it will not fall down from the elevated position or on the floor.
Robot Controller
Support Channel
Anchor Bolt
Lock Nut (M12)

(Clamping Torque : 42.2Nm)
Spring Washer

Flat Washer

Foundation
Fig. 2.3.2.1 Installation of Robot Controller with External Axes Controller

2.3.3 Installation of External Axes Controller onto Robot Controller.
Refer to the following method to install the External Axes Controller on Robot Controller.
1 Do the foundation work for the installation of Robot Controller with External Axes Controller

according to the section 2.3.2.

2 Remove the lock nuts that are fixing Robot Controller.

3 Hang the robot controller 60 mm upward from the earth with a crane, forklift or hand lifter.

4 Remove the support channels fixed at the lower part of each side of the Robot Controller and then
fix support channels (Parts No. : L4805B04) that are the accessories of External Axes Controller
as shown in Fig. 2.3.3.1.

5 Install the Robot Controller to the installation place and then fix the support channels as shown in
Fig. 2.3.3.1.
6 Remove two eyebolts with spring washers and flat washers fixed on the top of the Robot

Controller and then drive them into the two M10 tapped holes on the top of the External Axes
Controller.
7 Put the External Axes Controller on the top of the Robot Controller with a crane.

8 Fix the lower part of the External Axes Controller and the upper part of the Robot Controller
together at both sides with a plate (Parts No. : L4794B03A) and four M6 screws that are
accessories of the External Axes Controller (clamping torque : 11.5 Nm (117 kgfcm)). (Refer to
Fig. 2.3.3.2.)
Apply LOCKTITE after the clamping.

9 Use grounding cable to connect grounding studs of the Robot Controller and the External Axes
Controller as shown in Fig. 2.3.3.3.
Robot Controller
Remove it.
Remove it.
Screw (M6)
Support Channel
(Type : L4805B04)
Support Channel Screw (M6)

(Type : L4805B04)
Fig. 2.3.3.1 Fixing Support Channels for the External Axes Controller to the Robot Controller

Eyebolt (removed from the Robot Controller
Fixing Plate (accessory of External

Axes Controller)
(Type : L4794B03B) External Axes Controller
Screw
4 M616 Fixing Plate (accessory of External
Axes Controller)
(Type : L4794B03B)
Screw
4 M616
Toothed Lock Washer
Put a toothed lock washer between
the fixing plate and a screw so
that the notched side of the washer
may dig into the fixing plate.
Robot Controller
Fig. 2.3.3.2 Installation of External Axes Controller to Robot Controller
Fixing Plate
(accesory of External Axes Controller)
L4794B03B External Axes Controller
Screw
4 M616 Fixing Plate
(accesory of External Axes Controller)
L4794B03B
Screw
4 M616
Toothed Lock Washer
Put a toothed lock washer between
the fixing plate and a screw so that
the notched side of the washer may
dig into the fixing plate.
External Axes Controller for 4.5kW Motors
Fig. 2.3.3.3 Installation of External Axes Controller for 4.5kW motors to External Axes Controller

Front Right (inside)
"A" View "A" "A"
CN80A
CN81 CN67A
CN39 CN40 CN14A
External Axis CN149

SW301
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205 Grounding Stud
CN4

Robot Controller FC3
Grounding Cable
or PCB2
External Axes Controller Main Board
for 4.5kW Motors
"A"
Fig. 2.3.2.4 Connecting between Robot Controller

and External Axes Controller for 4.5kW Motors with Grounding Cable

3 Connecting Robot Peripheral Jigs
CONTENTS



3.5.3.1 Adding One 2-axis Peripheral Jig ................................................................................... 3-27
3.5.3.2 Adding Two 1-axis Peripheral Jigs.................................................................................. 3-30
3.5.5 Adding Four External Axes..................................................................................................... 3-47
3.5.6 Adding One Manipulator......................................................................................................... 3-57
3.5.7 Adding one 4.5 kW Motor....................................................................................................... 3-61
3.5.8 Adding one 4.5 kW Motor and one 1.5 kW Motor .................................................................. 3-65
3 CONNECTING ROBOT PERIPHERAL JIGS
This chapter provides information on the connections of Jig Control cables, and on the settings of various
switches in Robot Controller and External Axes Controller that are necessary to connect a robot peripheral
jig, such as positioners and sliders. See each instruction manual for installation of robot peripheral jigs.
WARNING

1. Disconnect the power before installing a

WARNING
robot and connecting cables. Touching ELECTRIC SHOCK
live electrical parts will cause an can kill.
Do not touch live electrical
electrical shock or a burn that may parts.
Disconnect all power
results in a loss of life. before installing or servicing.
Multiple sources of voltage
may exist inside this
enclosure.
NC8051

2. Install the External Axes Controller
outside the working range of the robot. WARNING
Keep out of robot area when
Approaching approaches the moving main power is on.
Do not locate this device
robot may lead to an accident that results in robot work area.
Read instruction manual.
in a loss of life. NC8050

CAUTION
Upon completion of the installation, make absolute offset adjustments until the robot peripheral jig
agrees with the position coordinate data stored in the robot control unit. For the adjusting procedure,
see “Installation: 4.2 Absolute Offset Adjustment” in “INSTALLATION & MAINTENANCE” for model DR
series.
CONNECTING ROBOT PERIPHERAL JIG 3-1

3.1 Types of Robot Peripheral Jigs
DAIHEN provides the products listed in Table 3.1.0.1 as peripheral jigs that can be combined with robots
Table 3.1.0.1 Robot Peripheral Jigs
Item Type Specification
RPH-200N Maximum payload 200kg

Positioner head stock RPH-500N Maximum payload 500kg
RPH-1000N Maximum payload 1000kg
RP1S-200N Maximum payload 200kg

1-axis side positioner RP1S-500N Maximum payload 500kg
RP1S-1000N Maximum payload 1000kg
RP1D-200N Maximum payload 200kg

1-axis double support positioner RP1D-500N Maximum payload 500kg
RP1D-1000N Maximum payload 1000kg
RP2E-150N Maximum payload 150kg

2-axis double support positioner
RP2E-300N Maximum payload 300kg
RP2T-500N Maximum payload 500kg

2-axis tilt positioner

Turntable
RSB-1000N Traverse stroke 1.0m

Portable slider
RSB-2000N Traverse stroke 2.0m
RSR-2900N Traverse stroke 2.9m

Standard slider RSR-4900N Traverse stroke 4.9m
RSR-1900NP Traverse stroke 1.9m

Slider with a connecting wagon RSR-3900NP Traverse stroke 3.9m
3-2 CONNECTING ROBOT PERIPHERAL JIG

3.2 Connecting Peripheral Jigs to External Axes Controller
3.2.1 System Configuration
A max. of 3 axes of peripheral jigs can be connected to a External Axes Controller. Some typical
examples of the system configuration are presented in Table 3.2.1.1.
Table 3.2.1.1 Examples of System Configuration

Peripheral Jig
No. of Examples of Configuration Type of External Axis (Axes) Cable Q'ty
axes Jig 1 Jig 2
1-axis positioner
1 axis External Axis Cable for 1 axis 1 set
1-axis slider
2-axis positioner External Axes Cable for 2 axes 1 set
2 axes
1-axis slider 1-axis positioner External Axis Cable for 1 axis 2 set
External Axis Cable for 1 axis 1 set
3 axes 1-axis slider 2-axis positioner
External Axes Cable for 2 axes each
4 axes 2-axis positioner 2-axis positioner External Axes Cable for 2 axes 2 set

3.2.2 External Axes Cables for Peripheral Jigs
A peripheral jig is connected to the External Axes Controller with External Axes Cables listed in Table
3.2.2.1. To connect a peripheral jig, a set of 2 external axes cables - one motor cable (External Axes
Cable 1) and one encoder cable (External Axes Cable 2) - is required.
Table 3.2.2.1 External Axes Cables for Peripheral Jigs

Component
Type Cable length Remarks
Item Part No. Q'ty
External Axis Cable 1 L5372B00 1
L5372 3m
External Axis Cable 2 L5372C00 1
L5373 5m
External Axis Cable 2 L5373C00 1 For 1-axis
External Axis Cable 1 L5374B00 1 peripheral jig
L5374 10m
External Axis Cable 2 5374C00 1
L5375 15m
External Axes Cable 1 L5376B00 1
L5376 3m
External Axes Cable 2 L5376C00 1
L5377 5m
External Axes Cable 2 L5377C00 1 For 2-axis
External Axes Cable 1 L5378B00 1 peripheral jig
L5378 10m
L5379 15m
L5919 3m
L5920 5m For 1-axis
peripheral jig
External Axis Cable 1 L5921B00 1 (for 4.5 kW motor)
L5921 10m
L5922 15m

3.3 Internal Jumper Pin Settings of External Axes Controller
In order to connect a robot peripheral jig such as a positioner or a slider to External Axes Controller, it is
necessary to change the settings of jumper pins on each printed circuit board in the External Axes
Controller. Jumper pins that need change in their settings are listed in Table 3.3.0.1.
Table 3.3.0.1 Jumper pin settings of each printed circuit board in External Axes Controller
Printed circuit board Jumper pin
Ref. No. Name No. Name On Off Default
JP201 CN271 overrun Open Short-circuit Short-circuited
External Axes JP206 CN276 overrun Open Short-circuit Short-circuited

PCB103
board JP207 CN39 overrun Open Short-circuit Short-circuited
JP211 CN7A shock sensor Open Short-circuit Short-circuited
JP212 CN39 shock sensor Open Short-circuit Short-circuited
JP221 1-2: short-circuited
JP222 Never change 1-2: short-circuited
JP223 these settings. 1-2: short-circuited
PCB102 Servo I/F board JP1 Open

CAUTION
1. Open jumper pins JP105 & JP106 on the mother board in the Robot Controller when connecting
the External Axes Controller. If they are short-circuited, overrun limit switches and shock
sensors do not operate. (Refer to “Maintenance: 5.2.7 Jumper Pin Settings of Mother Board” in
"INSTALLATION and MAINTENANCE" for model DR series.)
2. After setting jumper pins JP201 to 207, 211 or 212, be sure to check the operation of the
corresponding overrun limit switches or shock sensors.

CN67A
CN80A
CN81
TP13A
TP14A TP15A TP12A
JP221 JP222
CN81
F7
CR3D CR3E CR3F
F6
3 1 1 3
LED
CN39
CN40
100A CN149 CN41A JP221 JP222
TP3A
JP223
F5
JP211
1
1 7
0 2
JP212 JP207 2 N
P
J C CN41A
TP4A 2
2 7
0 2
2
P
N
C 1 3
J
3
3
0
7
2 JP223
2 N
P C
J
4
4 7
0 2
CR1A CR4A 2 N
P C
LED LED J 5
105A 107A 5 7
0 2
2 N CN1A
P C CN7A
J 6
6 7
0 2
2 N
CN29A P C
J
<PCB103 External Axes Board>
(Shaded areas show the jumper points of JP221, 222 and 223)
Fig 3.3.0.1 Jumper Pin Settings that Require Special Attention

3.4 Connecting External Axes Controller to Robot Controller
3.4.1 Fixing Method of Servo I/F Board
In order to connect the External Axes Controller to the Robot Controller, it is necessary to connect
Servo I/F board to the main board of the Robot Controller. When connecting the External Axes
Controller to the External Axes Controller for 4.5kW motors, it is necessary to connect Servo I/F board
to the main board of the External Axes Controller for 4.5kW motors.
(1) Follow the instructions in “Maintenance: 5.1.5 Precautions for Replacing Main Board” of
"INSTALLATION & MAINTENANCE" for model DR series to remove the main board from the
Robot Controller or the External Axes Controller for 4.5kW motors.
(2) Connect CN50 of the main board to the corresponding connector CN50 of the Servo I/F board as
shown in Fig. 3.4.1.1.
(3) Sandwich and fix an insulating support between the main board and Servo I/F board on both
sides with four screws (M36) as shown in Fig. 3.4.1.1.
(4) Follow the instructions in “Maintenance: 5.1.5 Precausions for Replacing Main Board” of
“INSTALLATION & MAINTENANCE” for model DR series to transfer the teaching data and
system parameters after installing the main board with the Servo I/F board into the Robot
Controller or the External Axes Controller for 4.5kW motors.
ScrewsM36
Front Front
P
Ma CB2 CN80A
in CN81 CN67A
Bo
ard CN39 CN40 CN14A
CN149
SW301
CN271 CN1A
External Axes Controller CN272
CN201
CN273
CN274
CN275 CN301 CN302
CN7A CN203
CN29A CN276
CN80A
CN205
CN81 CN67A
PCB102
Servo I/F Board CN39 CN40
CN149
CN14A
SW301
CN271 CN1A
CN272
CN273 CN201
CN274
CN275 CN301 CN302
ScrewsM36 CN29A CN276

CN7A
CN203
CN205
CN50

Inslating Support CN151
CN50
for 4.5kW Motors
JP1
FC10
CN50 CN302
PCB102
Servo I/F Board
CN1 CN7
IC138 FC10
CN151
CN50
PCB3 CN111
TB1
CN250 Mother Board
FC27
JP1
Robot Controller
FC10 CN302 CN18
CN251
CN19
CN67
CN73 CN80
FC24
PCB102 FC23
CN41
CN40 CN150
CN1 CN7
Servo I/F Board IC138 FC10 CN16 CN30
CN38 CN37
CN44
PCB3 CN111
TB1
Mother Board
FC27
CN80A
CN18 CN67A
CN81
CN19
CN67
CN39 CN40 CN14A
CN80 CN149
CN73
FC24
FC23 CN40 CN150
CN41 CN271 CN1A
CN272
CN16 CN30
CN273
CN38 CN37
CN274
CN44
CN275
CN7A
CN29A CN276
Fig. 3.4.1.1 Fixing Method of Servo I/F Board

3.4.2 Connecting External Axes Controller to Robot Controller
(1) Connecting signal cables

<When connecting the Robot Controller and External Axes Controller>
Robot Controller External Axes Controller
Connector CN40 PCB3 Mother board Connector CN40 PCB103 External Axes board
Connector CN80 PCB3 Mother board Connector CN81 PCB103 External Axes board
Connector CN302 PCB102 Servo I/F board Connector CN301 PCB152 Control Module
(a) Follow the instructions in “2.3.2 Installation of Robot Controller with External Axes Controller” to
install the External Axes Controller on the Robot Controller.
(b) Connect one end of connector CN40 of the cable attached to the External Axes Controller with
connector CN40 of the mother board, and connect the other end with connector CN40 of the
External Axes board.

CAUTION
External Axes Controller. If they are short-circuited, overrun limit switches and shock sensors
do not operate. (Refer to “Maintenance: 5.2.7 Jumper Pin Settings of Mother Board” in
"INSTALLATION & MAINTENANCE" for model DR series.)
(c) Connect CN80 and CN81 of the cable attached to the External Axes Controller with connector
CN81 of the mother board and connector CN81 of the External Axes board.
Connect CN302 and CN301 of the cable attached to the External Axes Controller with connector CN302
of the Servo I/F board in the Robot Controller and connector CN301 of the control module in the external
axes respectively.

< When connecting the External Axes Controller for 4.5kW motors and External Axes Controller >
External Axes Controller for 4.5kW motors External Axes Controller
Connector CN81A External Axes Controller for 4.5kW Connector CN81 PCB103 External Axes board
motors
Connector CN302 PCB102 Servo I/F board Connector CN301 PCB152 Control Module
< When using L5930 ~ L5932 for External Axes Controller for 4.5kW motors >
Connector CN39 PCB003 Mother Board Connector CN40 PCB103 External Axes board
< When using L5003 for External Axes Controller for 4.5kW motors>
Connector CN40 PCB3 Mother Board Connector CN40 PCB103 Control Module
(a) Follow the instructions in “2.3.2 Installation of Robot Controller with External Axes Controller” to
install the External Axes Controller on the Robot Controller.
(b) Connect one end of connector CN39 of the cable attached to the cable L8203C00 with
connector CN40 of the External Axes Board for the External Axes Controller for 4.5kW motors,
and connect the other end with connector CN40 of the External Axes board for the External
Axes Controller.

CAUTION
External Axes Controller. If they are short-circuited, overrun limit switches and shock sensors
do not operate. (Refer to “Maintenance: 5.2.7 Jumper Pin Settings of Mother Board” in
"INSTALLATION & MAINTENANCE" for model DR series.)
(c) Connect CN81A and CN81 of the cable attached to the External Axes Controller with connector
CN81A of the External Axes Controller for 4.5kW motors and connector CN81 of the External
Axes Board respectively.
(d) Connect CN302 and CN301 of the cable attached to the External Axes Controller with
connector CN302 of the Servo I/F Board and connector CN301 of the Control module in the
External Axes Board respectively.

CAUTION
1. Do not bind these cables with the primary-side power cable.
2. Arrange the cable assembly (L4805N00) as far apart as possible from the cable assemblies
(L4805T00 and L4805U00).
Front
PCB103
External Axes Board
CN81 PCB152
Control Module
CN40
Cable Assembly SW301
L4805U00
CN201
CN301 CN302
Cable Assembly CN203
L4805T00
CN205
Cable Assembly
L4805N00
PCB2
Main board
CN151
CN50 Robot Controller
CN250
JP1
CN302
CN251
PCB102
Servo I/F Board
PCB3 TB1
Mother board
CN80
CN40
Fig. 3.4.2.1 Connecting External Axes Controller to Robot Controller

Front
PCB103
External Axes Board
CN80A PCB152
CN67A
CN81 Control Module
CN39 CN40 CN41A
CN149
Cable Assy. SW301
CN271 CN1A
L4805V00 CN272
CN201
CN273
CN274 CN301 CN302
CN275
Cable Assy. CN29A CN276
CN7A
CN203
L8203C00
CN205
Cable Assy.
L4805N00
CN81A
PCB2
Main Board

CN151
CN50
for 4.5kW Motors
JP1
FC10 CN302
PCB102
Servo I/F Board
IC138 FC10 CN1 CN7
PCB3 CN111
TB1
Mother Board
FC27
CN18
CN19
CN67
CN73 CN80
FC24
FC23 CN40 CN150
CN41
CN16 CN30
CN44 CN38 CN37
CN80A
CN81 CN67A
CN39 CN40
CN149
CN271 CN1A
CN272
CN273
CN274 Auxiliary Transformer T1
CN275
CN7A
CN29A CN276
Fig. 3.4.2.2 External Axes Controller for 4.5kW Motors

Front
PCB103
External Axes Board
CN80A PCB152
CN67A
CN81 Control Module
CN39 CN40 CN41A
CN149
Cable Assy. SW301
CN271 CN1A
L4805V00 CN272
CN201
CN273
CN274 CN301 CN302
CN275
Cable Assy. CN29A CN276
CN7A
CN203
L8203C00
CN205
Cable Assy.
L4805N00
CN81A
PCB2
Main Board
CN151
CN50 Robot Controller for 4.5kW Motors
JP1
FC10 CN302
PCB102
Servo I/F Board
IC138 FC10 CN1 CN7
PCB3 CN111
TB1
Mother Board
FC27
CN18
CN19
CN67
CN73 CN80
FC24
FC23 CN40 CN150
CN41
CN16 CN30
CN44 CN38 CN37
Auxiliary Transformer T1
Fig. 3.4.2.3 Connecting Robot Controller for 4.5kW Motors (L5003) and External Axes Controller

(2) Connecting a power cable
(a) When the power source for the Robot Controller is 3-phase, AC 200V( +10%, -15%)
Robot Controller External Axes Controller
Secondary side of the breaker NFB1 Connector CN101A PCB101 Power unit
WARNING

1. Be sure to turn OFF the power source before connecting a power cable in order to avoid electric
shock.
2. Be sure that the primary-side power supply of Robot Controller is 3 AC200 V (10 %, -15 %). If
valtage other than the rated value is applied by mistake, Robot Controller and External Axes
Controlelr will be damaged.
3. Use Step-down Transformer (optional) when using voltage that is not rated. See section (c) for
its connection.

CAUTION
Do not bind this cable with signal cables.
(a)-1 Connect No.4 to 6 terminals of the power cable that is connected to the power unit inside
the External Axes Controller to the secondary-side terminals of the breaker in the Robot
Controller from the left in order.

Front Right Side (inside)
"A"
View "A"-- "A"
PCB103
External Axes Board
External Axes Controller CN80A
CN67A PCB152
CN81
Control Module
CN39 CN40 CN41A
CN149
SW301
CN271
CN272
CN201
CN273
CN1A
CN274
CN101A CN275
CN29A CN276
CN7A
CN301 CN302
CN203
Connected to the
upper- side of this CN205
connector. B Power Cable

CN110
CN106
CN306
PS1,PS2
3
3
EX.POWER RELAY
POWER RELAY
PCB12
CN104
Primary- side Power Cable

1

INPUT VOLTAGE CONNECT
1PIN 4PIN
1PIN 3PIN
1PIN 2PIN

4
CN105
B3
A3

4
TRANSFORMER

AC200V
AC220V
AC230V
CN108

SERVO POWER
CN109
A3

1
B3 TOUCH SENSOR
3 2 1 0 3 2 1 0 B I MD 3 2 1 0
B1
1 A1
3
AC200V IN
Grounding Stud [M4]

CN101 1 3

1
CN116
1
CN112
CN113
CN114
CN115
CN107
PE
2
2
PILOT
LAMP
FAN
FAN
FAN
FAN
PCB101 Power Unit 1 2 3
Primary- side Power

Cable
View B PCB2
NFB1
No Fuse
Main Board Breaker
4 5 6
CN151
CN50
CN250
JP1
FC10 CN302 PCB102

CN251
Servo I/F Board
Robot Controller
or
External Axes Controller "A"
for 4.5kW Motors
Fig. 3.4.2.2 Connecting External Axes Controller to Robot Controller

or External Axes Controller for 4.5kW Motors (2)
(When the power source for the robot controller is 3-phase, AC 200V (+10%, -15%))

(b) When the power source for the Robot Controller is other than 3, AC200V (+10%, -15%)
Secondary-side of the breaker NFB1 Terminal U, V, W

(Robot Controller) The primary-side of Aux. Transformer TF10
(Step-down Transformer)
Connector CN101 PCB1 Power unit Terminal R, S, T

(Robot Controller) The secondary-side of Aux. Transformer TF10
(Step-down Transformer)
Connector CN101 PCB1 Power unit Connector CN101A PCB101 Power unit
(Robot Controller) (External Axes Controller)
WARNING

1. Be sure to turn OFF the power source before connecting a power cable in order to avoid electric
shock.
2. For selecting the voltage of Step-down Transformer, refer to “Maintenance: 5.16.4 Voltage
Selector Mounting Position” in "INSTALLATION & MAINTENANCE" for model DR series.
3. Applying a voltage that exceeds its allowance will damage the robot controller. Prior to turning
on the robot controller, make sure that the jumper wires of Step-down Transformer are properly
connected and suitable for the power supply voltage that are actually supplied.

CAUTION
Do not bind this cable with signal cables.
(b)-1 Remove the side cover of the Robot Controller on the right.
(b)-2 Lead CN101 of cable assembly (L4794D00) attached to Step-down Transformer into the
board through the bottom of the panel of the Robot Controller, and connect it to the right
column, viewed from the back of the panel, of CN101 of the power unit.
(b)-3 Connect No.4 to 6 terminals of the cable assembly (L4794D00) with the secondary-side
terminals of the breaker in the Robot Controller from left in order.
(b)-4 Lead the remaining connector of the cable assembly (L4794D00) to the Step-down
Transformer through the inlet on the base of the Robot Controller, and then fix the cable
flange to the Robot Controller. After that, connect the terninals U, V, W, R, S and T of the
cable to the corresponding terminals U, V, W, R, S and T of Aux. Transformer TF10,
respectively.
(b)-5 Connect CN101 of the cable assembly (L4794F00) of the Step-down Transformer with the
left column of CN101, viewed from the back of the panel, of the power unit inside the Robot
Controller.
(b)-6 Connect CN101A of the cable assembly (L4794F00) to the upper row of CN101A of the
power unit in the External Axes Controller.
(b)-7 Put the side cover of the Robot Controller back in place.

"A"
View "A" "A"
CN80A
Connector CN81 CN67A
CN101A
Connected to the upper-side CN39 CN40 CN41A
of this connector. CN149

SW301
CN271
CN272
CN201
CN273
CN1A
2SP,1SP
0
1
1
N
6
0
1
N
6
0
3
N
CN274
CN275 CN301 CN302
External Axes Board
3 C 3 C 3 C
CN7A
401 NC
2
1
B
C
P
Y
A
L
E
R
R
E
W
Y
A
L
E
R
R
E
W
CN29A CN276 CN203 PCB103
1 O 1 O 1
P P
X.
E

T N N
CNI PI PI
E P
N 2 4 3
5 4 N
ON N N
0 I P
C P I PI

3
B
1
N
C
3
A 4 E
1 1 1
CN205
Control Module
G
R A
T
E L V V V
O 0
M 8 V 0 20 30
R R 0
E 9 1 T 2 C2 2
0 O N U C C
W 1 F C P A A A
O N S N
N I
3A P C
O A
PCB152
R
B
V T 1
R
E
3B S RO S NES HC UO T
1 1 1
N I V 002C A 3
B A
1 3
101 NC 1 1 1 1 1
2 3 4 5 7 611 NC
1 1 1 1 0
1 1 1 1 1
N N N N N
C C C C C
2 2 2 TP 2
N N N N OM
A A A A L A
F F F F PI L
PCB101 Power Unit

View B
Primary-side Power Cable
Robot Controller
Grounding Stud [M4]
PE
Inlet for Primary-
PCB2 side Power Cable
Cable Assembly Main Board 1 2 3
L4794F00
NFB1
No Fuse
Breaker
CN50
CN151 CN250
JP1
4 5 6
FC10 CN302
To the upper-side of the connector CN251
CN101A on power unit in the External Servo I/F Board
Axes Controller PCB102
3 3
Power Unit
B A
NI
V
0
0
PCB1
2
1 C
0 A
1
N
C 3
PCB3

Cable Assembly
Mother

Board L4794D00

CN101

FAN
4
0
1
N
2
S
P,
1
To the secondary-
side of Aux.
1 C S
P
FAN
CN112
Panel
transformer TF10
2 1
CN113 B1 B3 PCB12
FAN 1 3
CN105
CN110
2 1 A1 A3
CN114
SERVO POWER
FAN
POWER RELAY
CN109
2 1 1 3
CN115 1 4 CN106
PILOT
LAMP 1 TRANSFORMER
2 1
CN108 EX.POWER RELAY
CN107 R
O 1 4
S 1 3
N
6 E CN306
1 S
1 H INPUT VOLTAGE CONNECT
N C
C U AC200V 1PIN 2PIN
O AC220V 1PIN 4PIN
T AC230V 1PIN 3PIN
(from the back of panel) Aux. Transformer

U V W
TF10
Step-down Transformer
L4794
R S T Sh
"A"
Fig. 3.4.2.5 Connecting External Axes Controller to Robot Controller (3)

(When the power source for the Robot Controller is other than 3, AC200V (+10%, -15%))

Front
"A"
CN80A
Connector CN81 CN67A
CN101A
Connected to the upper- side CN39 CN40 CN41A
of this connector. CN149
SW301
CN271
CN272
CN201
CN273
CN1A
CN274
PS1,PS2
CN275 CN301 CN302
External Axes Board
CN110
CN106
CN306
3
CN7A
PCB103
EX.POWER RELAY
CN203
POWER RELAY
PCB12
CN29A CN276
CN104
1

1PIN 4PIN
1PIN 3PIN
1PIN 2PIN

4
CN105
CN205
B3
A3

4
Control Module
TRANSFORMER

AC200V
AC220V
AC230V
CN108

SERVO POWER
CN109
A3
B PCB152
1
B3 TOUCH SENSOR
1
3
3 AC200V IN
B1
A1
1
CN101
1
CN116
CN112
CN113
CN114
CN115
CN107
2
2
PILOT
LAMP
FAN
FAN
FAN
FAN
PCB101 Power Unit

View B
Primary- side Power Cable

for 4.5kW Motors
Grounding Stud [M4]
PE
PCB2
Main Board 1 2 3
NFB1
No Fuse
Breaker
CN50
CN151
JP1
4 5 6
FC10 CN302
Servo I/F Board

PCB102
CN101
Power Unit
PCB1
PCB3
Mother Board
Connector
Connected to the Primary- side
CN101A right- side of this Power Cable
connector.
NFB
B3
A3
3 AC200V IN
CN101

External Axes Board

PCB003 CN80A

CN81 CN67A

U V W
PS1,PS2
CN104
FAN
CN39 CN40 CN14A 1

CN112
CN149 FAN
2 1
CN113 B1 B3 PCB12
CN271 CN1A FAN

CN105
1 3
CN110
2 1 A1 A3
CN272 CN114
SERVO POWER
CN273 FAN
POWER RELAY
CN109
2 1
CN274 CN115
1 3
1 4 CN106
CN275 PILOT
1
LAMP
TRANSFORMER
CN7A 2 1
TOUCH SENSOR
CN29A CN276 CN107

1 4
1 3
CN116
CN306
AC200V 1PIN 2PIN
AC220V 1PIN 4PIN
AC230V 1PIN 3PIN
R S T
3
PCB1 Power Unit

View C
Step- down Transformer

"A" 7kVAW- L00557 or 12kVAW- L00558
Fig. 3.4.2.6 Connecting External Axes Controller to External Axes for 4.5kW Motor

3.5 Connecting External Axis/Axes Cable 1 & 2
This section provides the method of connecting External Axis/Axes Cable 1 & 2 and some examples
of the system configuration to show the method in detail.
3.5.1 Where to connect External Axis/Axes Cable 1 & 2

Where to connect External Axis/Axes Cable 1 & 2 depends on “motor axis Nos.” and “driver Nos.”
described below.
(1) Axis Nos. of motors
Axis Nos. 6 of External Axes Motor are basically defined from

1 - 1 in order according to the
priority described in Fig. 3.5.1.1. The bigger the capacity of a motor is, the smaller the axis number
of the motor is. Moreover, the axis number of a slider is smaller than positioners’ when the
capacity of their motors are the same.
Small 1500 W Motor
Slider (800 W)
Axis No.
Tilt axis of 2-axis positioner (800 W)
Table axis of 2-axis positioner (800 W)
Large 1-axis positioner (800 W)
Fig. 3.5.1.1 Priority of Axis No.
(2) Driver Nos. of motors
Connectors for connecting External Axes of External Axes Controller and of External Axes Controller
for 4.5kW Motors are shown in Fig. 3.5.1.2 and Fig. 3.5.1.3 respectively.
Nos. 7 – 12 on CN201, 203, 205 (for External Axes Controller) are called “DRIVER Nos.”.
Front
CN67A

B1 B2 B3 B4 B5 B6
For Brake Cable(s)

of External Axis/Axes Cable 1
CN201
For Encoder Cable(s)

of External Axis/Axes Cable 2 8 7
CN271 7
CN272 8
CN203
CN273 9 CN201
E7
CN274 10 712
CN203 10 9 Driver Nos.
CN275 11
CN205
CN276 12 CN7A CN205
712
Driver Nos. 12 11
For Motor Cable(s)

Fig. 3.5.1.2 Connectors for External Axis/Axes Cables

Front
External Axes Controller for 4.5kW Motors
IC138 FC10 CN1 CN7
PCB3 CN111
TB1
Mother Board
FC27
CN18
CN19
CN67
CN73 CN80
FC24
FC23 CN40 CN150
CN41
CN16 CN30
CN44 CN38 CN37
CN80A
CN81 CN67A
CN39 CN40
Driver No. 7
CN149
CN271 CN1A
Driver No. 9 Driver No. 8
CN272
CN273
Driver No. 11
CN274
CN275
CN7A Driver No. 10
CN29A CN276
Encoder Cable for Driver No. 12

External Axes
(External Axes 2)
CN271 7
CN272 8
Follow the driver No. in the table below when connecting brake cable. (Connector for the brake cable)
CN273 9
E7
CN274 10 Inverter Driver No. Where to connect on CN67
CN275 11
Odd Axes
CN276 12 CN7A
Even Axes

712 Odd Axes
Driver Nos.
Even Axes

Odd Axes

Even Axes
Fig. 3.5.1.3 Connectors for External Axes Controller for 4.5kW Motors

1 -
See Table 3.5.1.1 for driver Nos. (7 – 12) that correspond to “axis Nos.” ( 6 ) and “the combination
of motors”.
After that, connect the motor cable(s) (External Axis/Axes Cable 1) and the encoder cable(s) (External
Axis/Axes Cable 2) as shown in Fig. 3.5.1.2.
Fig. 3.5.1.1 Driver Nos. that Correspond to “the Number of Axes” and “the Combination of Motors”
External The combination of motors Axis No. of External Axes Motor
The number
Axis/Axes (pieces) (External Axis 1-6 Motor) Remarks
of axes
Controller 1500 W 800 W or below
1 2 3
4
5 6
L4805 0 1 8
1 axis
L5521 1 0 8
L4806 0 2 8 10
2 axes 2 0 8 10
L5522
1 1 8 10
L4807 0 3 8 10 12
L5522 1 2 8 9 10
3 axes
2 1 8 10 12
L5523
3 0 8 10 12
L5522 0 4 7 8 9 10
4 axes 1 3 8 9 10 12
L5523
2 2 8 10 11 12
0 5 7 8 9 10 12
5 axes L5523
1 4 8 9 10 11 12
L5523 0 6 7 8 9 10 11 12
6 axes L4808 DR-3200/4200/600/503S 12 10 8 11 9 7
(Note 1)
L5524 DR-4200L/4300/4400 12 10 8 11 9 7
Note 1) In these cases, connect encoder cables to CN7A.

2) 1 -
6 are axis Nos. of motors. Ex.) 3 implies External Axis 3.
3) 1500 W motors are connected to inverter modules that correspond to driver Nos. in shaded
rectangles.
Ex.) External axes: 1500 W motor + RP2E-300N (2-axis double support positioner)
Combination of motors: 1500 W motor x 1 + 800 W x 2
The axis Nos. for these motors obtained from Fig 3.5.1.0. are as follows.
1500 W motor
1
RP2E-300N tilt axis

2
RP2E-300N table axis

3
Since the External Axes Controller to be used is L5522 for 3 External Axes Specifications, driver Nos.
obtained from Table 3.5.1.1 are as follows.
1500 W motor 8
RP2E-300N tilt axis 9
RP2E-300N table axis 10

CAUTION
In case of connecting a peripheral jig, the axis No. of the motion axis of the unit is defined by the
data settings of System Parameter. Therefore, connect the motion axis of the unit properly as
defined by System Parameter.
Wrong settings cause not only the malfunction of the unit but also the movement of the unit in wrong
directions or breakage of the unit itself, creating a very dagerous situation.

Fig. 3.5.1.2 Driver Nos. that Corresponds to “the Number of Axes” and “the Combination of Motors”
(for External Axes Controller for 4.5kW Motors)
The combination of motors Axis No. of External Axes Motor

The number Controller
(pieces) (External Axis 1-6 Motor)
of axes for 4.5kW, etc.
4.5kW 1.5kW or below 1 2 3 4 5 6
1 axis L5930 1 0 8
L5930 1 1 8 7
2 axes
L5931 2 0 8 10
1 2 8 7 9
L5931
3 axes 2 1 8 10 7
L5932 3 0 8 10 12
L5932 1 3 8 7 9 11
4 axes L5931 2 2 8 10 7 9
L5932 3 1 8 10 12 7
1 4 8 7 9 10 11
5 axes L5932 2 3 8 10 7 9 11
3 2 8 10 12 7 9
1 5 8 7 9 10 11 12
L5932 2 4 8 10 7 9 11 12
6 axes
3 3 8 10 12 7 9 11
L5003 3 3 12 10 8 11 9 7
Note 1) 1 -
6 are axis Nos. of motors. Ex.) 3 implies External Axis 3.
2) The crosshatched sections show that 4.5kW motor is connected.
3) The axes Nos. are smaller as the motor capacity is larger and the axes Nos. of the slider are
smaller when the motor capacity is the same.

(3) Where to connect brake cable(s) (External Axis/Axes Cable 1)
Basically, connect brake cable(s) (External Axis/Axes Cable 1) according to the number of
1 -
external axes and axis Nos. ( 6 )as shown in Table 3.5.1.3.
Table 3.5.1.3 Where to Connect Brake Cables
The number Which column(s) of CN67A

of external to connect brake cable(s)
axes
1 1
B1
2
1
2 B1, B3
3
1
2
3 B1, B3, B5
4
1
2
3
4 B1 – B4
5
1
2
3
4
5 B1 – B5
6
1
2
3
4
5
6 B1 – B6
Examples of connecting External Axes Cables are shown on the next page onwards.
Table 3.5.1.4 Examples of System Configuration
Robot peripheral jigs

Reference
Configuration page
The number of axes
Jig 1 Jig 2
1-axis positioner
1 axis pp. 3-23
1-axis slider
2-axis positioner pp. 3-27

2 axes
1-axis positioner 1-axis positioner pp. 3-32
3 axes 1-axis slider 2-axis positioner pp. 3-40
4 axes 2-axis positioner 2-axis positioner pp. 3-49
6 axes Manipulator pp. 3-60
1 axes (4.5kW motor) 4.5kW motor pp. 3-64
2 axes (4.5kW motor) 4.5kW motor + 1.5kW motor pp. 3-68

3.5.2 Adding One External Axis
The driver No. that corresonds to the External Axis Motor is “8” according to Table 3.5.1.1.
Therefore, connect the motor cable, the encoder cable and the brake cable to CN201-8, CN272 and
CN67A-B1, respectively.
CN67A
CN201
B1 B2 B3 B4 B5 B6
8 7
For Brake Cable

of External Axis Cable 1
For Encoder Cable CN203
CN271 7 Shaded rectanagles: indicate where
10 9 to connect respective cables.
CN272 8
CN273 9
E7 CN205
CN274 10
CN275 11 12 11
CN276 12 CN7A
External Axes Board
For Motor Cable
Fig. 3.5.2.1 Where to Connect External Axis Cables
(1) Connecting External Axis Cable 1
Jig 1 Cannon plug CN1 Connector CN201-8 External Axis Controller
Connector CN67A-B1 PCB103 External Axes board
Grounding cable External Axis Controller
(a) Connect CN1 of the External Axis Cable 1 to the corresponding connector CN1 of jig 1.
(b) Lead connectors CN201, CN67 and the grounding cable into the External Axis Controller
through the shaded area on the right side of the External Axis Controller as shown in Fig.
3.5.2.2, and then fix the cable flange in place without leaving any clearance with that of the
External Axis Cable 2.
(c) Connect CN201 to the corresponding connector CN201-8 of the junction cable fixed to the
right side of the External Axis Controller.
(d) Connect CN67 to the corresponding connector CN67A-B1 of the External Axes board.
(e) Fix the grounding cable to the grounding stud provided at the lower-right corner of the base of
the External Axis Controller. (Be sure to fix the grounding cable to this stud.)

Connect here
CN67A View "A" "A"
"A"
PCB103
External Axes Board CN80A Connect here
CN81 CN67A
PCB152 CN201
Control
CN39 CN40 CN41A
Module
CN149
SW301
External Axis Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302 External Axis Cable 2
CN7A
CN29A CN276 CN203

CN205
Clamp this grounding cable with

that of External Axis Cable 2.
Robot Controller PCB2

Main Board
"A"
Fig. 3.5.2.2 Connecting External Axis Cable 1 when Adding 1 External Axis

CAUTION
1. Arrange External Axis Cable 1 as far apart as possible from the primary power cable and the
welding cable.
2. Arrange External Axis Cable 1 as far apart as possible from External Axis Cable 2 inside the
External Axis Controller. (Do not bind them together.)
3. Since this cable is intended for use in non-moving sections of a jig, do not use it in the moving /
bending sections of a slider, etc. When using it in such moving sections, please contact us for
consultation.

Jig 1 Cannon plug CN2 Connector CN272 PCB103 External Axes board
Grounding cable External Axis Controller
(a) Connect CN2 of the External Axis Cable 2 to the corresponding connector CN2 of jig 1.
(b) Lead connector CN272 and the grounding cable into the External Axis Controller through the
shaded area on the right side of the External Axis Controller as shown in Fig. 3.5.2.3, and then
fix the cable flange in place without leaving any clearance with that of the External Axis Cable 1.
(c) Connect CN272 to the corresponding connector CN272 of the External Axes board.
(d) If a peripheral jig such as a positioner or a slider connected to CN272 is equipped with an
overrun limit switch, open the corresponding jumper pin JP202 by reinserting only one side of
the pin. (Refer to Table 3.3.0.1.)

CAUTION
If a peripheral jig such as a positioner or a slider connected to CN272 is equipped with an overrun
limit switch, open the corresponding jumper pin JP202 by reinserting only one side of the pin.
If it is short-circuited, the overrun limit switch connected to CN272 does not operate.
the External Axis Controller. (Be sure to fix the grounding cable to this stud.)

CAUTION
After changing the setting of the jumper pin JP202, be sure to check the operation of the
corresponding overrun limit switch in Teach mode.

"A" View "A" "A"
PCB103
External Axes Board CN80A
CN81 CN67A
PCB152
Control
CN39 CN40 CN14A Module
CN149
SW301
CN271
CN272
External Axis Controller CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.2.3 Connecting External Axis Cable 2 when Adding 1 External Axis

CAUTION
welding cable.
2. Arrange External Axis Cable 2 as far apart as possible from the External Axis Cable 1 in the
External Axis Controller. (Do not bind them together.)
3. Since this cable is intended for use in non-moving sections of a jig, do not use it in the moving
/bending sections of a slider cableveyor, etc. When using it in such moving sections, please
contact us for consultation.

3.5.3 Adding Two External Axes
3.5.3.1 .. Adding One 2-axis Peripheral Jig

Driver No. are “8” for External Axis Motor 1 and “10” for External Axis Motor 2 according to Table
3.5.1.1. Therefore, where to connect the External Axes Cable 1 & 2 are shown in Table 3.5.3.1.
Table 3.5.3.1 Where to connect External Axes Cables
Where to connect
Cable name Constituents Axis No.
External Axes Cable
External Axis 1 CN201-8
Motor cable
External Axes Cable 1 External Axis 2 CN203-10
Brake cable External Axis 1/2 CN67A-B1
External Axis 1 CN272
External Axes Cable 2 Encoder cable
External Axis 2 CN274
CN67A
CN201
B1 B2 B3 B4 B5 B6
8 7
For Brake Cables

of External Axes Cable 1
For Encoder Cables
of External Axes Cable 2 CN203
CN271 7 Shaded rectangles: indicate where

10 9 to connect respective wires.
CN272 8
CN273 9
E7 CN205
CN274 10
CN275 11 12 11
CN276 12 CN7A
External Axes Board
For Motor Cables
Fig 3.5.3.1 Where to connect External Axes Cables
Jig 1 Cannon plug CN1 Connector CN201-8 External Axis Controller

Connector CN203-10 External Axis Controller
Grounding cable External Axes Controller
(a) Connect CN1 of External Axes Cable 1 to the corresponding connector CN1 of jig 1.
(b) Lead connectors CN201, CN203, CN67 (2) and the grounding cable into the External Axes
Controller through the shaded area on the right side of the External Axes Controller as shown in
Fig. 3.5.3.2, and then fix the cable flange in place without leaving any clearance with that of
External Axes Cable 2.
(c) Connect CN201 and CN203 with the corresponding connectors CN201-8 and CN203-10 of the
junction cables fixed to the right side of the External Axes Controller, respectively, as shown in
Fig. 3.5.3.1.
(d) As well, connect CN67 to CN67A-B1 on the External Axes board as shown in Fig 3.5.3.1.
the External Axes Controller. (Be sure to fix the grounding cable to this stud.)

Connect here
View "A" "A"
CN67A "A"
Connect here
PCB103
External Axes CN80A
Board CN81 CN67A
PCB152
Control
External Axes CN149
SW301
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302 External Axes Cable 2
CN7A
CN29A CN276 CN203
External Axes Cable 1

CN205

that of External Axes Cable 2.
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.2 Connecting External Axes Cable 1 when Adding One 2-Axis Peripheral Jig

CAUTION
1. Arrange External Axes Cable 1 as far apart as possible from the primary power cable and the
welding cable.
2. Arrange External Axes Cable 1 as far apart as possible from External Axes Cable 2 in the
External Axes Controller. (Do not bind them together.)
3. Since this cable is intended for use in non-moving sections of a jig, do not use it in the moving
/bending sections of a slider cableveyor, etc. When using it in such moving sections, please

(2) Connecting External Axes Cable 2
Connector CN274 PCB103 External Axes board
(a) Connect CN2 of the External Axes Cable 2 to the corresponding connector CN2 of jig 1.
(b) Lead connectors CN272, CN274 and the grounding cable into the External Axes Controller
through the shaded area on the right side of the External Axes Controller as shown in Fig.
3.5.3.3, and then fix the cable flange in place without leaving any clearance with that of External
Axes Cable 1.
(c) Connect CN272 and CN274 to the corresponding connectors CN272 and CN274 of the
External Axes board, respectively.
(d) If a peripheral jig such as a positioner or a slider connected to CN272 and CN274 is equipped
with an overrun limit switch(es), open the corresponding jumper pin JP202 and/or JP204 by
reinserting only one side of the pin(s).

CAUTION
If a peripheral jig such as a positioner or a slider, which is connected to CN272 and CN274, is
equipped with an overrun limit switch(es), be sure to open the corresponding jumper pin JP202
and/or JP204 by reinserting only one side of the pin(s).
If it(they) is(are) short-circuited, the overrun limit switch(es) connected to CN272 and CN274
does(do) not operate.

CAUTION
After setting jumper pin JP202 and/or JP204, be sure to check the operation of the corresponding
overrun limit switch(es) of the peripheral jig, which is connected to CN272 and CN274, in Teach
mode.

"A" View "A" "A"
PCB103
CN81 CN67A
PCB152
Control
External Axes CN149
SW301
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302 External Axes Cable 2
CN7A
CN29A CN276 CN203

CN205

PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.3 Connecting External Axes Cable 2 when Adding One 2-Axis Jig

CAUTION
welding cable.
2. Arrange External Axes Cable 2 as far apart as possible from External Axes Cable 1 in the External
Axes Controller. (Do not bind them together.)
consultation.

CONTENTS



3.5.3.1 Adding One 2-axis Peripheral Jig ................................................................................... 3-27
3.5.3.2 Adding Two 1-axis Peripheral Jigs
Driver Nos. are “8” for External Axis Motor 1 and “10” for External Axis Motor 2 according to Table
3.5.1.1. Therefore, where to connect External Axis Cables is shown in Table 3.5.3.2.
Table 3.5.3.2 Where to connect External Axis Cables

Where to Connect
Cable name Constituents
Cables
External Axis Cable 1 Motor cable CN201-8
for External Axis 1 Brake cable CN67A-B1
Encoder cable CN272
for External Axis 1
External Axis Cable 1 Motor cable CN203-10
for External Axis 2 Brake cable CN67A-B3
Encoder cable CN274
for External Axis 2
CN67A
CN201
B1 B2 B3 B4 B5 B6
8 7
For Brake Cables

For Encoder Cables CN203
CN271 7 Shaded rectanagles: indicate where
CN272 8
CN273 9
E7 CN205
CN274 10
CN275 11 12 11
CN276 12 CN7A
External Axes Board
For Motor Cables
Fig 3.5.3.4 Where to Connect External Axis Cables
(1) Connecting External Axes Cable 1 for External Axis 1 (Jig 1)
Jig 1 Cannon plug CN1 Connector CN201-8 External Axes Controller

(External Axis 1)
(a) Connect CN1 of External Axis Cable 1 for External Axis 1 to the corresponding connector CN1
of jig 1.
3.5.3.5, and then fix the cable flange in place without leaving any clearance with that of External
Axis Cable 2 for External Axis 1.
(c) Connect CN201 to the corresponding connector CN201-8 of the junction cable fixed to the right
side of the External Axes Controller.
(d) Connect CN67A to the corresponding connector CN67A-B1 on the External Axes board.


Connect here
View "A" "A"
CN67A "A"
Connect here
PCB103
CN201
CN81 CN67A
PCB152 External Axis Cable 2
Control for External Axis 2
External Axes CN149 External Axis Cable 1
Controller
SW301 for External Axis 2
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for External Axis 1
Clamp this grounding cable with for External Axis 1
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.5 Connecting External Axis Cable 1 for External Axis 1 when Connecting Two 1-Axis Jigs

CAUTION
welding cable.
2. Arrange External Axis Cable 1 as far apart as possible from External Axis Cable 2 in the External
Axes Controller. (Do not bind them together.)
consultation.

(2) Connecting the External Axis Cable 2 for External Axis 1 (Jig 1)
(External Axis 1)
(a) Connect CN2 of the External Axis Cable 2 for External Axis 1 to the corresponding connector
CN2 of jig 1.
(b) Lead connector CN272 and the grounding cable into the External Axes Controller through the
shaded area of the right side of the External Axes Controller as shown in Fig. 3.5.3.6, and then
fix the cable flange in position without leaving any clearance with that of External Axis Cable 1.
(d) If a peripheral jig such as a positioner or a slider connected to CN272, is equipped with an
the pin.

CAUTION
If a peripheral jig such as a positioner or a slider, which is connected to CN272, is equipped with an
overrun limit switch, be sure to open the corresponding jumper pin JP202 by reinserting only one
side of the pin.

CAUTION
corresponding overrun limit switch.

View "A" "A"
"A"
PCB103
CN81 CN67A
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for External Axis 1
Clamp this grounding cable with for External Axis 1
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.6 Connecting External Axis Cable 2 for External Axis 1 When Adding Two 1-axis Jigs

CAUTION
welding cable.
bending sections of a slider, etc. If it is to be used in such moving sections, please contact us for
consultation.

(3) Connecting External Axis Cable 1 for External Axis 2 (Jig 2)
Jig 2 Cannon plug CN1 Connector CN203-10 External Axes Controller

(External Axis 2)
CN1 of jig 2.
3.5.3.7, and then fix the cable flange in place without leaving any clearance with the cable
flange of the External Axis Cable 2 for External Axis 2.
(c) Connect CN203 to the corresponding connector CN203-10 of the junction cable fixed to the
right side of the External Axes Controller.
(d) Connect CN67 to CN67A-B3 on the External Axes board.

Connect here
View "A" "A"
CN67A "A"
Connect here
PCB103
External Axes Board CN80A CN203
CN81 CN67A
CN39 CN40 CN14A
Module
Controller SW301 for External Axis 2
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for External Axis 1
Clamp this groundning cable with for External Axis 1
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.7 Connecting External Axis Cable 1 for External Axis 2 when Adding Three 1-Axis Jigs

CAUTION
welding cable.
bending sections of a slider , etc. If it is to be used in such moving sections, please contact us for
consultation.

(4) Connecting External Axis Cable 2 for External Axis 2 (Jig 2)
(External Axis 2)
CN2 of jig 2.
shaded area on the right side of the External Axes Controller as shown in Fig. 3.5.3.8, and then
fix the cable flange in place without leaving any clearance with that of the External Axis Cable 1.
the pin .

CAUTION
side of the pin .
(e) Fix the grounding cable to the grounding stud provided at the upper left to the inlet of the
External Axis Cable 2 for External Axis 2. (Be sure to fix the grounding cable to this stud.)

CAUTION
corresponding overrun limit switch.

Front Right side (inside)
View "A" "A"
"A"
PCB103
Grounding Stud
CN81 CN67A
External Axes CN149
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for External Axis 1

for External Axis 1
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.3.8 Connecting External Axis Cable 2 for External Axis 2 when Adding Two 1-axis Jigs

CAUTION
1 Arrange External Axis Cable 2 as far apart as possible from the primary power cable and the
welding cable.
2 Arrange External Axis Cable 2 as far apart as possible from the External Axis Cable 1 in the
3 Since this cable is intended for use in non-moving sections of a jig, do not use it in the moving /
bending sections of a slider, etc. If it is to be used in such moving sections, please contact us for
consultation.

(When adding a standard 1-axis slider and a standard 2-axes positioner.)
This section illustrates the method of connecting External Axis/Axes Cables with the case that
standard 1-axis slider (slider henceforth) and a standard 2-axis positioner are added.
The rated value of the motors used for a standard slider and a standard positioner are 800 W.
Therefore, the axis Nos. of the motors in this particular case, which can be obtained from Fig. 3.5.1.1,
are listed in Table 3.5.4.1.
Table 3.5.4.1 Axis Nos of Motors.

Axis Name Axis No. Rated value of motor
Slider
1
Tilt axis of 2-axis positioner

2 800 W
Table axis of 2-axis positioner
3
According to Table 3.5.1.1, driver Nos. are “8” for a slider, “10” for the tilt axis of 2-axis positioner and
“12” for the table axis of 2-axis positioner.
Thus, where to connect External Axis/Axes Cables is shown in Table 3.5.4.2.
Table 3.5.4.2 Where to connect External Axis/Axes Cables

Where to Connect
Cable Name Constituents Cable name External Axis/Axes
Cable
External Axis Cable 1 Motor Cable CN201-8
for Slider Brake Cable CN67A-B1
Slider axis
Encoder Cable CN272
for Slider
Tilt axis
CN203-10
for 2-axis positioner
External Axes Cable Motor Cable
Table axis
1 for Positioner CN205-12
Brake Cable 2-axis positioner CN67A-B3
Tilt axis
CN274
External Axes Cable for 2-axis positioner
Encoder Cable
2 for Positioner Table axis
CN276

CN67A
CN201
B1 B2 B3 B4 B5 B6
8 7
For Brake Cables

For Encoder Cables CN203
CN272 8
CN273 9
E7 CN205
CN274 10
CN275 11 12 11
CN276 12 CN7A
External Axes Board
For Motor Cables
Fig. 3.5.4.1 Where to connect External Axis/Axes Cables
(1) Connecting External Axis Cable 1 for a slider
Slider Cannon plug CN1 Connector CN201 External Axes Controller

(External Axis 1)
(a) Connect CN2 of the External Axis Cable 1 for a slider to the corresponding connector CN1 of a
slider.
through the shaded area (inlet) on the right side of the External Axes Controller as shown in Fig.
3.5.4.2, and then fix the cable flange in place without leaving any clearance with the cable
flange of the External Axis Cable 2 for a slider.
(c) Connect CN201 to the corresponding connector CN201-8 of the junction cable fixed to the side
of the External Axes Controller.
(d) Connect CN67 to the corresponding connector CN67A-B1 on the External Axes board.

Connect here
View "A" "A"
CN67A "A"
Connect here
PCB103
CN201
CN81 CN67A
PCB152 External Axes Cable 2
Control for 2-axis Positioner
External Axes CN149 External Axes Cable 1
Controller SW301 for 2-axis Positioner
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Slider
Clamp this gounding cable with for Slider
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.4.2 Connecting External Axis Cable 1 for Slider (External Axis 1)
When Adding Both Slider and 2-axis Positioner

CAUTION
welding cable.
2. Arrange External Axis Cable 1 as far apart as possible from the External Axis Cable 2 inside the
3. Since External Axis Cable 1 is intended for use in non-moving sections of a jig, do not use it in
the moving / bending sections of a slider, etc. If it is to be used in such moving sections, please

(2) Connecting External Axis Cable 2 for a slider
Slider Cannon plug CN2 Connector CN272 PCB103 External Axes Board
(External Axis 1)
(a) Connect CN2 of the External Axis Cable 2 for a slider to the corresponding connector CN2 of a
slider.
shaded area (inlet) on the right side of the External Axes Controller as shown in Fig. 3.5.4.3, and
then fix the cable flange in place without leaving any clearance with the cable flange of the
External Axis Cable 1 for a slider.
side of the pin.

CAUTION
side of the pin.
(e) Fix the grounding cable to the grounding stud provided at the lower-right corner of the base of the
External Axes Controller. (Be sure to fix the grounding cable to this stud.)

CAUTION
After changing the setting of jumper pin JP202, be sure to check the operation of the
corresponding overrun limit switch of the the peripheral jig, which is connected to CN272, in Teach
mode.

View "A" "A"
"A"
PCB103
CN81 CN67A
Control for 2-axis Positioner
SW301 for 2-axis Positioner
Controller CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Slider
Clamp this grounding cable with for Slider
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.4.3 Connecting External Axis Cable 2 for Slider (External Axis 1)

CAUTION
welding cable.
2. Arrange External Axis Cable 2 as far apart as possible from the External Axis Cable 1 inside the
3. Since External Cable 2 is intended for use in non-moving sections of a jig, do not use it in the
moving / bending sections of a slider, etc. If it is to be used in such moving sections, please

(3) Connecting External Axes Cable 1 for 2-axis Positioner
2-axis Positioner Cannon plug CN1 Connector CN203 External Axes Controller
(External Axis 2 & 3)
Connector CN205 External Axes Controller
(a) Connect CN1 of the External Axes Cable 1 for 2-axis positioner to the corresponding connector
CN1 of 2-axis positioner.
(b) Lead connectors CN203, CN205, CN67 x 2 and the grounding cable into the External Axes
Controller through the shaded area (inlet) on the right side of the External Axes Controller as
shown in Fig. 3.5.4.4, and then fix the cable flange in place without leaving any clearance with
the cable flange of the External Axes Cable 2 for 2-axis positioner.
(c) Connect CN203 and CN205 to the corresponding connectors CN203-10 and CN205-12 of the
junction cable fixed to the side of the External Axes Controller.
(d) Connect CN67 to the corresponding connector CN67A-B3 on the External Axes board.

View "A" "A"
Connect here
Connect here
CN67A "A"
PCB103
CN81 CN67A
Control for Positioner
CN39 CN40 CN41A
Module
Controller
SW301
for Positioner
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Slider
Clamp this grounding cable with External Axis Cable 2

for Slider
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.4.4 Connecting External Axes Cable 1 for 2-axis Positioner (External Axis 2 & 3)

CAUTION
welding cable.
2. Arrange External Axes Cable 1 as far apart as possible from the External Axes Cable 2 inside the
3. Since External Axes Cable 1 is intended for use in non-moving sections of a jig, do not use it in

(4) Connecting External Axes Cable 2 for 2-axis Positioner
2-axis Positioner Cannon plug CN2 Connector CN274 PCB103 External Axes board
(a) Connect CN2 of the External Axes Cable 2 for 2-axis positioner to the corresponding connector
CN2 of a slider.
(b) Lead CN274, CN276 and the grounding cable into the External Axes Controller through the
shaded area (inlet) on the right side of the External Axis Controller as shown in Fig. 3.5.4.5, and
External Axes Cable 1 for 2-axis positioner.
(c) Connect CN274 and CN276 to the corresponding connectors CN274 and CN276 of the External
Axes board.
(d) If a peripheral jig such as a positioner or a slider, which is connected to CN274 and CN276, is
and/or JP206 by reinserting only one side of the pin(s). (Refer to Table 3.3.0.1.)

CAUTION

CAUTION
After changing the setting of jumper pin JP204 and/or JP206, be sure to check the operation of the
corresponding overrun limit switch(es) of the the peripheral jig, which is connected to CN274 and
CN276, in Teach mode.

View "A" "A"
"A"
PCB103
CN81 CN67A Grounding stud

PCB152
Control External Axes Cable 2
CN39 CN40 CN41A Module for Positioner
External Axes CN149
Controller
SW301 External Axes Cable 1
CN271
CN272 for Positioner
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Slider

for Slider
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.4.5 Connecting External Axes Cable 2 for 2-axis Positioner


CAUTION
welding cable.

CONTENTS
3.5.3.2 Adding Two 1-axis Peripheral Jigs ................................................................................. 3-31


3.5.5 Adding Four External Axes
(When adding two standard 2-axis positioners.)
This section illustrates the method of connecting External Axes Cables with the case that two
standard 2-axis positioners are added.
The rated value of the motor used for a standard 2-axis positioner is 800 W.
The axis Nos. of the motors in this particular case, which can be obtained from Fig. 3.5.1.1, are listed
in Table 3.5.5.1.
The Nos. of positioners, whether Positioner 1 or 2, have been set beforehand.
Table 3.5.5.1 Axis Nos. of Motors

Axis Name Axis No. Rated value of motor
Tilt axis of Positioner 1
1
Table axis of Positioner 1

2
800 W
Tilt axis of Positioner 2
3
Table axis of Positioner 2

4
Therefore, the corresponding driver Nos. obtained from Table 3.5.1.1 are listed in Table 3.5.5.2.
Table 3.5.5.2 Driver Nos. of Motors

Axis Name Drver No.
Tilt axis of Positioner 1 7
Table axis of Positioner 1 8
Tilt axis of Positioner 2 9
Table axis of Positioner 2 10

Where to connect External Axes Cables is shown in Table 3.5.5.3.
Table 3.5.5.3 Where to connect External Axes Cables

Where to Connect
Cable name Constituents Axis Name
Cables
Tilt axis for Positioner 1 CN201-7
External Axes Cable 1 Motor cable
Table axis for Positioner 1 CN201-8
for Positioner 1
Brake cable Positioner 1 CN67A-B1
External Axes Cable 2 Tilt axis for Positioner 1 CN271
Encoder cable
for Positioner 1 Table axis for Positioner 1 CN272
Tilt axis for Positioner 2 CN203-9
External Axes Cable 1 Motor cable
Table axis for Positioner 2 CN203-10
for Positioner 2
Brake cable Positioner 2 CN67A-B3
External Axes Cable 2 Tilt axis for Positioner 2 CN273
Encoder cable
for Positioner 2 Table axis for Positioner 2 CN274
CN67A
CN201
B1 B2 B3 B4 B5 B6
8 7
For Brake Cables

For Encoder Cables
of External Axes Cable 2 CN203

CN272 8
CN273 9
E7 CN205
CN274 10
CN275 11 12 11
CN276 12 CN7A
External Axes Board
For Motor Cables
Fig. 3.5.5.1 Where to Connect External Axes Cables

(1) Connecting External Axes Cable 1 for Positioner 1 (External Axis 1 & 2)
Positioner 1 Cannon plug CN1 Connector CN201-7 External Axes Controller

Connector CN201-8 External Axes Controller
(a) Connect CN1 of the External Axes Cable 1 for Positioner 1 to the corresponding connector CN1
of Positioner 1
(b) Lead connectors CN201-7, CN201-8, CN67 x 2 and the grounding cable into the External Axes
the cable flange of the External Axes Cable 2 for Positioner 1.
(c) Connect CN201-7 and CN201-8 to the corresponding connectors CN201-7 and CN201-8 of the
junction cable fixed to the right side of the External Axes Controller.
(d) As well, connect CN67 to the corresponding connector CN67A-B1 on the External Axes Board.

Connect here
View "A" "A"
CN67A "A"
PCB103
CN81 CN67A
Control for Positioner 2
CN149 External Axes Cable 1
SW301 for Positioner 2
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Positioner 1
Clamp this grounding cable with for Positioner 1
PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.5.2 Connecting External Axes Cable 1 for Positioner 1 (External Axis 1 & 2)
When Adding 2 Standard 2-axis Positioners

CAUTION
welding cable.

Positioner 1 Cannon plug CN2 Connector CN271 PCB103 External Axes board
of Positioner 1.
External Axes Cable 1 for Positioner 1.
(c) Connect CN271 and CN272 to the corresponding connectors CN271 and CN272 on the External
Axes board.

CAUTION

CAUTION
corresponding overrun limit switch(es) of the the peripheral jig, which is connected to CN271 and
CN272, in Teach mode.

"A" View "A" "A"
PCB103
CN81 CN67A
CN39 CN40 CN41A
Module
SW301
for Positioner 2
CN271
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205
Clamp this grounding cable with External Axes Cable 1

that of External Axes Cable 1. for Positioner 1
for Positioner 1
PCB2
Main Board
Robot Controller
"A"

CAUTION
welding cable.

Positioner 2 Cannon plug CN1 Connector CN203-9 External Axes Controller

Connector CN203-10 External Axes Controller
of Positioner 2.
(b) Lead connectors CN203-9, CN203-10, CN67 x 2 and the grounding cable into the External Axes
the cable flange of the External Axes Cable 2 for Positioner 2.
(c) Connect CN203-9 and CN203-10 to the corresponding connectors CN203-9 and CN203-10 of
the junction cable fixed to the right side of the External Axes Controller.

Connect here
Front
"A" "A"

CN67A "A"
PCB103 CN67A
CN81
SW301
for Positioner 2
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Positioner 1
Clamp this grounding cable with for Positioner 1
PCB2
Main Board
Robot Controller
"A"

CAUTION
welding cable.

Positioner 2 Cannon plug CN2 Connector CN273 PCB103 External Axes board
of Positioner 2.
shaded area (inlet) on the right side of the External Axes Controller as shown in Fig. 3.5.5.5,
and then fix the cable flange in place without leaving any clearance with the cable flange of the
External Axes Cable 1 for Positioner 2.
(c) Connect CN273 and CN274 to the corresponding connectors CN273 and CN274 of the
External Axes board.

CAUTION
If it(they) is(are) short-circuited, the overrun limit switch(es) connected to CN273 and/or CN273

CAUTION
corresponding overrun limit switch(es) of the the peripheral jig, which is connected to CN273
and/or CN274, in Teach mode.

"A" View "A" "A"
PCB103
External Axes Board CN80A Grounding Stud
CN81 CN67A
SW301
for Positioner 2
CN272
CN273 CN201
CN1A
CN274
CN275 CN301 CN302
CN7A
CN29A CN276 CN203
CN205

for Positioner 1
for Positioner 1
PCB2
Main Board
Robot Controller
"A"

CAUTION
welding cable.

3.5.6 Adding One Manipulator
This section describes the method of connecting External Axes Cables when a manipulator is used as
an external axis.
(1) Connecting External Axes Cable 1 for a manipulator
Manipulator Cannon plug CN1 Connector CN250 External Axes Controller
Connector CN251 External Axes Controller
Connector CN67A PCB103 External Axes board
Grounding cable x 2 External Axes Controller
(a) Connect CN1 of the External Axes Cable 1 to the corresponding connector CN1 of the
manipulator.
(b) Lead connectors CN250, CN251, CN67 and the grounding cable into the External Axes
the cable flange of the External Axes Cable 2.
(c) Connect CN250 and CN251 to the corresponding connectors CN250 and CN251 of the junction
cable fixed to the right side of the External Axes Controller.
(d) As well, connect CN67 to the corresponding connector CN67A-B1 on the External Axes board.
(e) Fix the grounding cables (x 2) to the grounding stud provided at the lower-right corner of the
base of the External Axes Controller. (Be sure to fix the grounding cable to this stud.)

Connect here Front Right Side (inside)
View "A" "A"
CN67A "A"
PCB103
CN81 CN67A
PCB152
Control
CN39 CN40 CN41A
Module
CN149
SW301
CN250
CN273
CN1A for Manipulator
CN274
CN275 CN301 CN302
CN7A External Axes Cable 1
CN29A CN276
for Manipulator
CN251

PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.6.1 Connecting External Axes Cable 1 when Adding One Manipulator

CAUTION
welding cable.

(2) Connecting External Axes Cable 2 for a manipulator
Manipulator Cannon plug CN2 Connector CN7A PCB103 External Axes board
(a) Connect CN2 of the External Axes Cable 2 to the corresponding connector CN2 of the
manipulator.
(b) Lead CN7A and the grounding cable into the External Axes Controller through the shaded area
(inlet) on the right side of the External Axes Controller as shown in Fig. 3.5.6.2, and then fix the
cable flange in place without leaving any clearance with the cable flange of the External Axes
Cable 1.
(c) Connect CN7A to the corresponding connector CN7A on the External Axes board.
(d) Fix the grounding cable to the grounding stud provided at the lower-right corner of the base of
(e) In order to operate the overrun limit switch of Axis 1 of the manipulator, open JP201 by
reinserting only one side of the pin except when DR-500s is in use.
Since DR-500s is not equipped with an overrun limit switch, DO NOT open JP201.

CAUTION
If Axis 1 of a manipulator (except for DR-500s) is equipped with an overrun limit switch, be sure to
open the corresponding jumper pin JP201 by reinserting only one side of the pin.
If it is short-circuited, the overrun limit switch mounted on the manipulator does not operate and the
manipulator may be damaged.

CAUTION
corresponding overrun limit switch of the manipulator in Teach mode.
(f) When using a torch with a shock sensor, open JP211 by reinserting only one side of the pin in
order to operate the shock sensor. (See Table 3.3.0.1.)

CAUTION
When using a torch with a shock sensor, be sure to open JP211 by reinserting only one side of the
pin.
If it is short-circuited, the shock sensor does not operate and the torch or a peripheral jig may be
damaged.

Front Right Side (Inside)
"A" View "A"--"A"
PCB103
CN81 CN67A
PCB152
Control
CN149
SW301
CN272
CN273 CN250
CN274
CN1A for Manipulator
CN275 CN301 CN302
CN29A CN276
CN7A External Axes Cable 1
for Manipulator
CN251

PCB2
Main Board
Robot Controller
"A"
Fig. 3.5.6.2 Connecting External Axes Cable 2 when Adding One Manipulator

CAUTION
welding cable.
moving / bending sections of a slider, etc. If it is to be used in such moving sections, please

3.5.7 Adding 1-axis 4.5 kW Motor
As is shown in Table 3.5.1.2, the driver No. for 4.5kW motor is “8.”
Therefore, connect motor cable, encoder cable, and brake cable to CN257, Cn272, and to CN67-B2
respectively.
External Axes Board
Encoder Cable for External Axes

CN271 7
CN272 8
CN273 9
E7
CN274 10
CN275 11
CN276 12 CN7A
Fig. 3.5.7.1 Where to Connect External Axes Cables
4.5kW Motor Cannon plug CN1 Connector CN257 External Axes Controller
(for motor) for 4.5kW Motor
Connector CN67-B2 External Axes Controller
for 4.5kW Motor
for 4.5kW Motor
(a) Connect Connector of the External Axes Cable 1to the corresponding Cannon plug CN1
(for motor) of 4.5kW motor
(b) Lead the rest of connectors CN257, CN67, and the grounding cable into the External Axes
Controller through the shaded area (inlet) on the right side of the External Axes Controller as shown
in Fig. 3.5.7.2, and then fix the cable flange in place without leaving any clearance with the cable
flange of the External Axes Cable 2.
(c) Connect CN201 to the corresponding connector CN257 of the junction cable fixed to the right side

3.5.7.2 Connecting External Axes Cable 1 when adding 4.5kW Motor

CAUTION
welding cable.
moving / bending sections of a slider, etc. If it is to be used in such moving sections, please contact
us for consultation.

4.5kW Motor Cannon plug CN2 Connector CN272 PCB003 External Axes board
(for Encoder) Grounding cable External Axes Controller
for 4.5kW Motor
(a) Connect CN2 of the External Axes Cable 2 to the corresponding Cannon plug CN2 of 4.5kW motor.
(b) Lead the rest of CN272 and the grounding cable into the External Axes Controller through the
then fix the cable flange in place without leaving any clearance with the cable flange.
(c) Connect CN272 to the corresponding connector CN272 on the External Axes board.
(d) If a peripheral jig, such as a positioner or a slider connedcted to CN272, is equipped with an
overrun limit switch, be sure to open the corresponding jumper pin JP202 by reinserting only
one side of the pin. (See Table 3.3.0.1).

CAUTION
If a peripheral jig, such as a positioner or a slider connedcted to CN272, is equipped with an

side of the pin. If it is short-circuited, the overrun limit switch connected to CN202 does not
operate.

CAUTION

Front Right Sideinside
"A" View "A" "A"
PCB003
CN81 CN67A
CN39 CN40 CN14A

CN149
for 4.5kW Motors CN272

CN273
CN274
CN275
CN7A
CN29A CN276
"A"
Fig. 3.5.7.3 Connecting External Axes Cable 2 when adding 4.5kW Motor

CAUTION
welding cable.

3.5.8 Adding 1-axis 4.5 kW Motor and 1-axis1.5 kW Motor
Driver Nos. are “8” for External Axes Motor 1 (4.5kW motor) and “7” for External Axes Motor 2
(1.5kW motor) according to Table 3.5.1.2,.
Therefore, where to connect External Axes Cable 1 & 2 is shown in Table 3.5.8.1
Table 3.5.8.1 Where to Connect External Axes Cables

Where to
Cable name Constituents
Connect Cables
External Axes Cable 1 Motor cable CN257
for External Axis 1 Brake cable CN67-B2
Encoder cable CN272
for External Axis 2
External Axes Cable 2 Motor cable CN256
for External Axis 1 Brake cable CN67-B1
Encoder cable CN271
for External Axis 2
External Axes Board
Encoder Cable for External Axes

(External Axes Cable 2)
CN271 7
CN272 8
CN273 9
E7
CN274 10
CN275 11
CN276 12 CN7A
Fig. 3.5.8.1 Where to Connector for External Axes Cable
(1) Connecting External Axes Cable 1 for External Axiz 1 (4.5 kW motor)
External Axis 1 Cannon plug CN1 Connector CN257 External Axes Controller
(4.5kW Motor) (for motor) for 4.5kW Motor
Connector CN67-B2 External Axes Controller
for 4.5kW Motor
(a) Connect Connector of the External Axes Cable 1 to the corresponding Cannon plug CN1
(for motor) of 4.5kW motor
in Fig. 3.5.8.1, and then fix the cable flange in place without leaving any clearance with the cable
flange of the External Axes Cable 1.

3.5.8.2 Connecting External Axes Cable 1 when adding 4.5kW Motor

CAUTION
welding cable.

(2) Connecting External Axes Cable 2 for External Axis 1 (4.5kW motor)
External Axes 1 Cannon plug CN2 Connector CN272 PCB003 External Axes board
(4.5kW Motor ) (for Encoder) Grounding cable External Axes Controller
for 4.5kW Motor
(a) Connect CN2 of the External Axes Cable 2 to the corresponding connector of a peripheral jig of
External Axes 1.
(d) If a peripheral jig, such as a positioner or a slider connedcted to CN272, is equipped with an
overrun limit switch, be sure to open the corresponding jumper pin JP202 by reinserting only
one side of the pin. (See Table 3.3.0.1).

CAUTION

operate.

CAUTION
corresponding overrun limit switch of the peripheral jig, which is connected to CN271, in Teach
mode.

Front Right Sideinside
"A" View "A" "A"
PCB003
CN81 CN67A
CN39 CN40 CN14A

CN149
for 4.5kW Motors CN272

CN273
CN274
CN275
CN7A
CN29A CN276
"A"
Fig. 3.5.8.3 Connecting External Axes Cable 2 for External Axes 1 when adding 4.5kW motor

CAUTION
welding cable.

(3) Connecting External Axes Cable 1 for External Axes 2 (1.5kW motor)
External Axis 2 Cannon plug CN1 Connector CN256 External Axes Controller
(for 1.5kW Motor) (for motor) for 4.5kW Motor
Connector CN67-B1 PCB 003 External Axes Board

for 4.5kW Motor
(a) Connect Connector of the External Axes Cable 2 to the corresponding connector of a peripheral jig
of External Axes 2.
in Fig. 3.5.8.4, and then fix the cable flange in place.

3.5.8.4 Connecting External Axes Cable 1 for External Axes 2 when adding 1.5kW motor

CAUTION
welding cable.

(4) Connecting External Axes Cable 2 for External Axes 2 (for 1.5kW motor)
External Axes 2 Cannon plug CN2 Connector CN271 PCB003 External Axes board
(for 1.5kW motor) (for Encoder) Grounding cable External Axes Controller
for 4.5kW Motor
(a) Connect CN2 of the External Axes Cable 2 to the corresponding connector of a peripheral jig of
External Axes 2.

CAUTION

operate.
(d) Fix the grounding cable to the grounding stud provided at the lower-right corner of the base of the

CAUTION

"A" View "A" "A"
PCB003
CN81 CN67A
CN39 CN40 CN14A

CN149
for 4.5kW Motor CN272

CN273
CN274
CN275
CN7A
CN29A CN276
"A"
3.5.8.5 Connecting External Axes Cable 2 for External Axes 2 when adding 1.5kW motor

CAUTION
welding cable.


4 PARTS LIST
This chapter provides instructions on major parts and components of the External Axes Controller.
For a robot controller, a wire feed unit, welding expendables and robot peripheral jigs, see the respective
instruction manuals. A robot system based on special specifications may have different parts numbers from
those of a standard robot system. Therefore, when you place an order for replacement parts, be sure to
check the actual parts No. of each specific item and advise us of the model No. stamped each on the
manipulator and the robot control unit, together with the parts No. information.
For the delivery time and prices of maintenance parts, please contact our local distributor or sales
representatives in your country.
PARTS LIST 4-1

4 Parts List
CONTENTS
4.1 External Axis Controller (L5380) ..................................................................................................... 4-2
4.5 External Axes (Axis) Controller (L5561) ........................................................................................ 4-10
4.9 Large-capacity External Axes Controller (L5930 ~ L5932) ........................................................... 4-18
4-20 PARTS LIST

4.1 External Axis Controller (L5380)
Ref. No. Item DWG. No. & Model Q'ty Parts No.
(1) Power Relay G7J-4A-B(DC24V) 1 4341-134
(2) Cooling Fan 4715PS-22T-B30-B18 4 4805-033
(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-2 Control Module W-L00958 (1) 5096-240
(3)-3 Inverter Module W-L00956 (1) 5096-224
(3)-4 SWR Module W-L01170 (1) 5096-338
(3)-5 Capacitor Module W-L00954 (1) 5096-208
(3)-6 Power Supply Module W-L00955 (1) 5096-209
(4) Resistor Assy. L4798U00 1 L4798U00
(5) P.C.B. (Power Unit) L4800P00 1 L4800P00
(6) P.C.B. (Servo I/F Board) L4805C00 1 L4805C00
(7) P.C.B. (External Axes Board) L4805D00 1 L4805D00
(7)-1 Glass Tube Fuse 2A, AC250V (3) 4610-009
(8) Charging Unit L4797P00 1 L4797P00
(9) Charging Battery L6390N00 1 L6390N00
(10) Protective Cover L4805F01 1 L4805F01
(11) Door Key Handle A-120-1 2 4739-273
Note 1. Increasing the number of protective axes by one requires an increase of both an inverter
module and software, both optional, by one.
2. Servo I/F board (Ref. No. (6)) is not installed in the External Axes Controller but is installed on
the main board in the Robot Controller.
4-2 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3
5- 2-
3 3
6-
3-
3
3
Fig. 4.1.0.1 External Axes Controller (L5380)
PARTS LIST 4-3

4.2 External Axes Controller (L5381)
(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(11) Door Key Handle A-120-1 2 4739-273
2. Servo I/F board (Ref. No. (6)) is not installed on the External Axes Controller but is installed on
4-4 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3 2-
5- 3
3
6- 3-
3 3
PARTS LIST 4-5

(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(11) Door Key Handle A-120-1 2 4739-273
Note: Servo I/F board (Ref. No. (6)) is not installed in the External Axes Controller but is installed on
4-6 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3
5- 2-
3 3
6- 3-
3 3
PARTS LIST 4-7

(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(9) Door Key Handle A-120-1 2 4739-273
4-8 PARTS LIST

2
1
1-
3
9 5
4
8 2
4-
3
5- 2-
3 3
6- 3-
3 3
PARTS LIST 4-9

4.5 External Axes (Axis) Controller (L5561)
(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(11) Door Key Handle A-120-1 2 4739-273
4-10 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3
5- 2-
3 3
6-
3-
3
3
PARTS LIST 4-11

(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(11) Door Key Handle A-120-1 2 4739-273
4-12 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3 2-
5- 3
3
6- 3-
3 3
PARTS LIST 4-13

(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(11) Door Key Handle A-120-1 2 4739-273
4-14 PARTS LIST

2
1
1-
1 3
1 5
4 9
0
1 2
8
4-
3
5- 2-
3 3
6- 3-
3 3
PARTS LIST 4-15

(3) Servo Unit 1
(3)-1 P.C.B. (Backplane) W-L00950 (1) 5096-204
(3)-4 SWR Module W-L01170 (1) 5096-338
(9) Door Key Handle A-120-1 2 4739-273
4-16 PARTS LIST

2
1
1-
3
9 5
4
8 2
4-
3
5- 2-
3 3
6- 3-
3 3
PARTS LIST 4-17

4.9 Large-capacity External Axes Controller (L5930 ~ L5932)
(1) Auxiliary Transformer W-L00699 1 4810-278
(2) Power Unit L4800P00 1 L4800P00
(3) Electromagnetic Contactor SC-3N (AC100V) 1 4340-083
(4) Surge Killer CR-20151 1 4516-011
(5) Constant Voltage Power Supply (5V) ZWS50-5/J 1 4814-033
(6) Constant Voltage Power Supply (10V) ZWS50-24/J 1 4814-034
(7) Relay (Servo ON) G4W-11123A-US-TB8 1 4340-616
(9) Pilot Lamp NPA10-2H-WS 1 4600-341
(10) AC Outlet Assy. L4798R00 1 L4798R00
(11) Servo Unit L5003J 1 L5003J00
(11)-2 Small Signal Backplane Board W-L01179 (1) 5096-352
see 5096-353
(11)-3 Inverter Module W-L01177
below
Large-capacity External Axes Controller (L5930) (1)
(11)-4 SW Regulator Module W-L01237 (or W-L01170) (1) 5096-354
(11)-6 Large Current Backplane Board W-L01180 (1) 5096-356
(13) P.C.B (Main Board) L5000C00 1 L5000C00
(13)-1 CPU Cooler W-L01066 (3) 4805-047
(14) P.C.B (Mother Board) L5000C00 1 L5000F00
(15) P.C.B (External Axes Board) L4805D00 1 L4805D00
(16) Memory Battery L3391V00 1 5096-095
(17) Auto-breaker SA103B-40A (3) 1 4614-071
(18) Operation Handle BZ-N35B 1 4739-329
(19) Door Key Handle A-120-1 2 4739-273
(20) Eyebolt M12-ZMC 2 3364-005
(21) Relay (Brake) G7L-2A-TUB 1 4340-617
(22) Charging Unit L4797P00 1 L4797-P00
4-18 PARTS LIST

Left side Front Right side

- 5
- 2,6

- 4
FC3

- 1
FC10

- 3

15
21 CN80A 22
CN81 CN67A
CN39 CN40 CN14A
CN271
CN149
23
CN272

CN273
CN274
CN275
CN7A
CN29A CN276
Fig. 4.9.0.1 Large-capacity External Axes Controller (L5930 ~ L5932)
PARTS LIST 4-19

5 Maintenance (External Axes Controller)
CONTENTS
5.1 Servo I/F Board L4805C................................................................................................................ 5-10
5.1.1 Functions of Servo I/F Board ................................................................................................. 5-10

5.2.1 Functions of External Axes Board.......................................................................................... 5-11

5.2.3 Relays on External Axes Board ............................................................................................. 5-12
5.3 Servo Unit ...................................................................................................................................... 5-15
5.3.1 Functions of Servo Unit .......................................................................................................... 5-15

5.3.2 Control Module W-L00958 ..................................................................................................... 5-17
5.4 Power Unit L4800P........................................................................................................................ 5-19
5.4.1 Functions of the Power Unit ................................................................................................... 5-19

5.4.2 Connectors of the Power Unit ................................................................................................ 5-20
5.5 Charging Unit L4797P ................................................................................................................... 5-21
5.5.1 Functions of the Charging Unit............................................................................................... 5-21

5.5.2 Connectors of the Charging Unit............................................................................................ 5-21
5.6 Charging Battery L6390N00 .......................................................................................................... 5-22
5.6.1 Functions of the Charging Battery ......................................................................................... 5-22

5.6.2 Specifications of the Charging Battery ................................................................................... 5-22
5.6.3 Replacing the Charging Battery ............................................................................................. 5-22
5.7 Cooling Fans.................................................................................................................................. 5-25

5 Maintenance (External Axes Controller)
CONTENTS
5.1 Servo I/F Board L4805C................................................................................................................ 5-10
5.1.1 Functions of Servo I/F Board.................................................................................................. 5-10

5.2.1 Functions of External Axes Board .......................................................................................... 5-11

5.2.3 Relays on External Axes Board.............................................................................................. 5-12
5 MAINTENANCE (EXTERNAL AXES CONTROLLER)
This chapter provides information on the following components of the External Axes Controller with respect
to their functions, displays of operating states, switch settings and so on.
Components of External Axes Controller

(1) Servo I/F Board L4805C
(2) External Axes Board L4805D
(3) Servo Unit
(4) Power Unit L4800P
(5) Charging Unit L4797P
(6) Charging Battery L6390N
(7) Cooling Fan
Figs. 5.0.0.1 and 5.0.0.2 show the parts arrangement plan and the block diagram of the External Axes
Controller, respectively.
Components of External Axes Controller for 4.5 kW Motor

(1) Main Board L5000C
(2) Mother Board L5000F
(3) Servo Driver
(4) Brake Unit L5573G
(5) Power Unit L4800P
(6) Memory Battery L3391V
(7) Auxiliary Transformer W-L00699
(8) Cooling Fans
(9) Constant Voltage Power Supply
(10) External Axes Board L4805D
(11) Charging Unit L4797P
(12) Charging Battery L6390N
(13) Relay Unit (optional)
For these components’ functions, displays of operating states, and switch settings, see the corresponding
section of MAINTENANCE in the Instruction Manual.
Table 5.0.0.1 Where to refer in “INSTALLATION & MAINTENANCE” for model DR series
Item Where to refer in “INSTALLATION & MAINTENANCE”

for model DR series
Main Board “5.1 Main Board L5000C”
Mother Board “5.2 Mother Board L5000F”
Power Unit “5.3 Power Unit L4800P”
Servo Unit
Control Module “5.4 Servo Unit”
SWR Module
Servo Unit
Small Signal Backplane Board Additional Edition of BV80/120
Inverter Module “7.1 Servo Unit”
Power Supply Module
Large Current Backplane Board
Memory Battery “5.6 Memory Battery L3391V”
Relay Unit (optional) “5.8 Relay Unit L5550”
Figs. 5.0.0.3 and 5.0.0.4 show the parts arrangement plan and the block diagram of the External Axes
Controller for 4.5 kW Motor, respectively.
MAINTENANCE (EXTERNAL AXES CONTROLLER) 5-1

Left side Front
(Remove side cover)
Power Supply Module #1 Capacitor Module #1 External Axes Controller

PCB159 PCB158
SWR Module #1
PCB156
External Axes oard #1

PCB103
CN80A
CN81 CN67A
CN39 CN40 CN14A
CN149
Charging Unit #1 CN271

SW301
CN272
PCB114 CN273
CN274
CN201
CN275 CN301 CN302

CN7A
CN29A CN276 CN203
CN1A
Charging Battery
CN205
BT2
CN4
Inverter Module 1 #1 Control Module #1 FC3
PCB153 PCB152
Inverter Module 2 #1 PCB2

Main board
PCB154
Inverter Module 3 #1 Servo I/F Board #1

PCB155
CN151
CN50
PCB102 CN250
JP1
FC10
CN302
CN251
CN1 CN7
IC138 FC10
PCB3 CN111
Robot Controller Mother Board

TB1
FC27
CN18
CN19
CN67
CN73 CN80
FC24
FC23 CN40 CN150
CN41
CN16 CN30
CN38 CN37
CN44
Fig. 5.0.0.1 Parts Arrangement Plan of the External Axes Controller
5-2 MAINTENANCE (EXTERNAL AXES CONTROLLER)

Manipulator External Axes Encoder External Axes Brakes External Axes Motor (Power Line)
(Signal Line)
CN2 CN1
(Signal Line) (Power Line) Ex. Ex. Ex.
Ex.Ax- 3 Ex.Ax- 2 Ex.Ax- 1 BK- 3 BK- 2 BK- 1 Ex.Ax- 3 Ex.Ax- 2 Ex.Ax- 1
Regenerative Resistor Regenerative

R51 Resistor #1
CN251 CN250 CN205/ CN203/ CN201/
CN206 CN204 CN202
Main Board Backplane #0 CN205 CN203 CN201 CN227 Backplane #1 CN205 CN203 CN201 CN227
Servo Unit #0
A PCB2 PCB51 PCB56 SWR Module PCB151 Servo Unit #1
FC2 PCB53 Inverter Module 1 PCB153 Inverter Module 1 PCB156 SWR Module
J2 PCB54 Inverter Module 2 PCB58 Capacitor Module PCB154 Inverter Module 2 PCB158 Capacitor Module
BT1 PCB55 Inverter Module 3 PCB59 Power Supply Module PCB155 Inverter Module 3 PCB159 Power Supply Module
CN209 GR CN210 CN215 CN209 GR CN210 CN215
Servo CN4
I/F Board
PCB102
MACB_#0 MACB_#1
Charging Battery #1
BT102 Power
Control Module Control Module
Power Relay Relay #1
MS1 PCB52 MS101 PCB152
CN50
FC10 CN32
CN1 CN5 CN1 CN5
PS1 CN1 Charging Unit #1
CN2
CN302 CN30 CN31 PCB104
DC5V
PS2 CN106 CN105 CN306 CN106 CN105 CN306 ARCNET Card #1
FC10 CN104 CN104 PCB160
CN41 CN2
DC24V CN1 Power Unit Power Unit #1 CN301 CN302
Mother Board PCB101
CN110 PCB1 CN29A CN110
PCB3 CN41A
CN67 CN67A
Auxiliary CN109 CN107 CN81 CN109 CN107
CN38 Transformer
CN7A
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
Board #1
Cooling Fan Cooling Fan
Cooling Unit PCB103 Cooling Unit
A Breaker
NFB1 NL1
W
TBP1
<Robot Controller> AC100V CN94 <External Axes Controller>
(MAX0.5A)
AC200V 3 PE
External Floppy
Ref 1) : Installed on the robot controller Disk Drive
Fig. 5.0.0.2 Block Diagram of External Axes Controller (L4807/L5523: 3 External Axes)

5-4
External Axes Brakes
Manipulator
External Axes Encoder (Signal Line) Ex Ex Ex External Axes Motor (Power Line)
CN2 CN1 BK- 6 BK- 4 BK- 2
(Signal Line) (Power Line) Ex.Ax- 4 Ex.Ax- 2 Ex Ex Ex
Ex.Ax- 6 Ex.Ax- 5 Ex.Ax- 3 Ex.Ax- 1 BK- 5 BK- 3 BK- 1 Ex.Ax- 6 Ex.Ax- 4 Ex.Ax- 2
Ex.Ax- 5 Ex.Ax- 3 Ex.Ax- 1
Regenerative Resistor
R51 Regenerative Resistor #1
CN251 CN250 CN205/ CN203/ CN201/
CN206 CN204 CN202
Backplane #0 CN227 Backplane #1 CN205 CN203 CN201 CN227

CN205 CN203 CN201 Servo Unit #0
A PCB51 PCB53 Inverter Module 1
PCB151 Servo Unit #1
FC2 Main Board PCB56 SWR Module PCB156 SWR Module
PCB153 Inverter Module 1
BT1 PCB2 PCB55 Inverter Module 3 PCB59 Power Supply Module PCB155 Inverter Module 3 PCB159 Power Supply Module
Servo CN4
I/F Board
PCB102
MACB_#0 MACB_#1
Charging Battery #1
BT102 Power Control Module
Control Module
CN50
FC10 CN32
CN1 CN5 CN1 CN5
CN2
DC5V
FC10 CN104 CN104 PCB160
CN41 CN2
Mother Board
CN110 PCB1 CN29A CN110 PCB101
PCB3 CN41A
CN67
MAINTENANCE (EXTERNAL AXES CONTROLLER)

CN67A
CN38
Transformer
CN7A E
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
Cooling Fan Board #1 Cooling Fan
A Breaker
NFB1 NL1
W
TBP1
AC100V
Fig. 5.0.0.3 Block Diagram of External Axes Controller (L5523: 6 External Axes)
<Robot Controller> CN94 <External Axes Controller>
(MAX0.5A)
AC200V 3 PE
Ref.1) : Installed in the robot controller
External Floppy
Disk Drive
Extended Manipulator
Manipulator
External Axes Motor (Power Line)
CN2 CN1 External Axes Encoder (Signal Line)
(Signal Line) (Power Line) Ex.Ax:1- 6
Ex.Ax- 1 to 6 External Axes Brakes
CN251 CN250 CN251 CN250
Backplane #0 CN205 CN203 CN201 CN227 Backplane #1 CN205 CN203 CN201 CN227
Servo Unit #0 Servo unit #1
A FC2 PCB51 PCB53 Inverter Module 1 PCB56 SWR Module PCB151 PCB156 SWR Module
Main Board PCB153 Inverter Module 1
Servo CN4
I/F Board
PCB102
MACB_#0 MACB_#1
Control Module Power Control Module

CN50
FC10 CN1 CN5 CN1 CN5

PS1 CN1
CN2
CN302
DC5V
FC10 CN104 CN104 PCB160
CN41 CN2
DC24V Power Unit Power Unit #1 CN301 CN302
Mother Board CN1
PCB3 CN41A
CN67 CN67A
CN38 Transformer
CN7A E
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
A Breaker
NFB1 NL1
W
TBP1
(MAX0.5A)
: Installed in the robot controller
AC200V 3 PE
Ref.1)
External Floppy
Disk Drive
Fig. 5.0.0.4 Block Diagram of External Axes Controller (L4808/L5524: Manipulator Extended)

Left- side Front Right- side
Power Supply Module
PCB59 SW Regulator Module
PCB56
FC3
PCB2
Control Module Main Board
PCB52
(Cooling Unit)
FC10
Inverter Module 1
(for 6,3 Drive Axes ) PCB53
Constant Voltage
PCB3 Power Supply
Inverter Module 2 Power Unit
Mother Board PCB1 PS1
(for 5,2 Drive Axes) PCB54
Constant Voltage
Power Supply
Inverter Module 3 PS2
(for 4,1 Drive Axes) PCB55
External Board #1
PCB103
Charging Unit #1
RelayBrake CN80A
PCB114
CN81 CN67A
CN39 CN40
CN149
CN14A
Charging Battery
CN271
CN272
BT2
Magnet Switch CN273
CN274
CN275
CN7A
MS1 CN29A CN276
Auxiliary Transformer
TF1
DoorInside Left- sideInside
Floppy Disk Memory Unit

Connecting Cable Mounting hole
PCB5
Additional
Relay Unit
(optional)
PCB4
Relay Unit PCB8 Additional I/F Board
(Optional)
(Optional
Touch Sensor
PCB10
(Optional)
Fig. 5.0.0.5 Parts Arrangement Diagram of External Axes Controller for 4.5kW Motors (L5930 ~ L5932)

Fig. 5.0.0.6 Block Diagram of External Axes Controller for 4.5kW Motor (L5930 ~ L5932)

For inspection, maintenance, adjustments, repairs or other similar work on the robot system, entering
into the robot working range or working with the primary-side power or servo power turned on may be
necessary. In any case, be sure to take the following precautions for inspection, maintenance,
adjustments and repairs.
WARNING • NEVER enter the robot working range when the power is ON.
• Approaching an operating robot may result in a fatal injury.
WARNING • NEVER touch any charged parts.

• Touching any charged part may result in a fatal electric shock hazard or burn.

• NEVER put your hand, finger, hair, clothes or the like close to any rotating
WARNING section.
• Putting your hand, finger, hair or clothes close to the wire feed roll of the wire
feed unit may cause you to get caught, resulting in a serious injury.
• Similarly, putting your hand, finger, hair or clothes close to the rotating section
of a cooling fan may cause you to get caught and hurt.

(1) Prior to carrying out robot inspection, maintenance, adjustments, repairs, etc., be sure to wear a
helmet, safety shoes, gloves and other protective means that may be deemed necessary, as
specified by law. To be more specific, wear clothes that are suited to each specific work.
(2) Prior to initiating work, press the EMERGENCY Stop button or the Stop button to check if the
robot system stops instantly. Furthermore, if a safety plug, a dead man switch and/or other
protective devices are added to the robot system, they must be checked for their proper operation.
Should any fault be detected, stop the inspection work, turn off the main power immediately, check
for causes and take necessary countermeasures accordingly.
(3) Ensure that no one, except those who are involved in robot-related work, approach the safety
fence of the robot system.
(4) Prior to starting work, put up a sign “Under
Inspection” at a visible place to inform those
around the robot system that inspection is Under Inspection
now being carried out.
(5) Do not use any devices that may generate electromagnetic noise, in and around the area where
inspection is being performed.
(6) At least two workers should involve in the inspection or maintenance work, one to perform actual
work and the other to serve as a watcher.
(7) Personnel to be involved for robot inspection, maintenance, adjustment and/or repairs should
receive instructions and training on robot functions, operation and maintenance. In addition, if
special devices or facilities are provided in the robot system, their entire mechanism must also be
fully understood.
(8) Robot inspection, maintenance, adjustment and repairs must be performed by only those who are
qualified by receiving special training. Moreover, even if they have received such special training,
they are not allowed to perform inspection, maintenance, adjustment or repairs of machinery other
than those they are fully familiar with.
(9) Any sign that may be given to workers, watchers and/or operators of related machines must be in
conformity with the Customer’s safety management standards.
(10) The watcher must observe the following. He shall:
(a) stand at a place that commands a view of the entire robot working range, and devote himself
to the duty of watching the work.

(b) always hold the EMERGENCY Stop button to be able to press it immediately whenever any
abnormality occurs.
(c) make sure that no one except those who are involved in inspection, and so on come close to
the robot working range.
(11) Workers to be involved in inspection or other work must observe the following.
(a) If work can be carried out OUTSIDE the robot working range, specify the work details before
starting the work and make sure to carry out the work OUTSIDE the robot working range in any
case.
(b) In principle, perform inspection and the like while a robot is stopped. In case inspection or
other work needs to be performed while the robot is operating, be sure to report that to a safety
manager who is responsible. With permission obtained, the operator may perform the work
during the operation OUTSIDE the robot working range.
(c) If a robot is required to be in an operable condition during inspection or the like, specify the
work procedure in detail beforehand to be able to perform work safely and efficiently. If not,
carry out the work while the robot control unit, the welding power supply and other input-side
power supplies are all turned off. Except in special occasions, be sure to turn off the
input-side power supplies for jigs and peripheral devices or make them inactive.
(d) When working in the robot working range, make sure to be ready to press the EMERGENCY
Stop button immediately whenever a robot malfunctions.
(e) Check your footing carefully before starting the work. Make sure to avoid an unstable scaffold
or a scaffold provided at an elevated position (more than 2 meters high).
(f) When working in the robot working range, do not work with your back facing the manipulator.
(g) When replacing PCBs provided in Robot Controller or Teach Pendant, take countermeasures
against static electricity such as applying protective sheets.
(12) If any abnormality occurs during work, follow the following procedure carefully.
(a) If any malfunction is observed in the robot system, press the EMERGENCY Stop button
immediately.
(b) Report that to the watcher immediately, turn
off the control power of the Robot Controller, Do Not Switch ON
and then put up a sign “Do Not Switch ON”.
(c) Make sure that all the related machines are stopped.
(d) When one has to go inside the safety fence, be sure that the one who is going to enter pulls
out the safety plug oneself, carries it along and proceeds with the work concerned.
(e) Even when the robot has automatically stopped due to a fault in supply voltage to the robot
system, hydraulic pressure or air pressure of related devices, make sure to stop the robot
completely before investigating causes and taking necessary countermeasures.
(f) If the EMERGENCY Stop button or other safety devices have failed to operate, turn off the
main power immediately, investigate causes and take necessary countermeasures.
(g) When restarting the robot after stopping it by pressing the EMERGENCY Stop button,
investigate causes, take necessary countermeasures, replace the safety plug, and then restart
it from outside the safety fence.
(13) Make sure that all the necessary connectors, covers, panels, etc. have been mounted and wired
correctly when finishing the work.

5.1 Servo I/F Board L4805C
5.1.1 Functions of Servo I/F Board
This PCB, which is equipped on the main board of the Robot Controller, communicates with the
control module of the External Axes Controller.
CN151
5
9
JP1
CN50
CN302
95
Fig. 5.1.1.1 External View of Servo I/F Board
5.1.2 Connectors of Servo I/F Board
The Servo I/F board is provided with connectors listed in Table 5.1.2.1.
Table 5.1.2.1 Connectors on Servo I/F Board

Connector Devices to be connected to
CN50 Main board (inside the robot control unit)
CN151 (Optional)
CN302 Control module of the first External Axes Controller (inside the External Axes Controller)
5.1.3 Jumper Pin Settings of Servo I/F board
Jumper pins listed in Table 5.1.3.1 are provided on the Servo I/F board
Table 5.1.3.1 Servo I/F Board Jumper Pin Setting

Jumper Pin Standard Setting Remarks
JP1 1-2 Open Never change the
standard setting.

5.2 External Axes Board L4805D
5.2.1 Functions of External Axes Board
This PCB controls various I/O signals, both internal and external, of the External Axes Controller and
has the following functions.
This PCB has the following functions with respect to its control over various I/O signals both inside
and outside (, both internal and external,) the External Axes Contorller.
(1) Function to control the sequence circuits for high voltage and 24 V systems of the External Axes
Controller
(2) Function to relay signals from peripheral devices, which are connected to the External Axes
Controller, to the SERVO unit.
(3) Function to send and receive I/O signals to and from the External Axes Controller and peripheral
jigs.
(4) Function to control the brakes of peripheral jigs.
(5) Function to supply power to the charging unit for absolute encoder data backup while the
primary-side power is ON.
CN67A
CN80A
CN81
3 1 3 1 TP13A
TP14A TP15A TP12A
JP221 JP222
F7
F6
CN40 LED
100A CN149 CN14A
CN39
TP3A 1 3
JP223
5
8
1 F5
JP211
1
1 7
0 2
JP212 JP207 2 N
P C
J
TP4A 2
2 7
0 2
2 N
P C
J
3
3 7
0 2
2 N
P C
J
4
4 7
0 2
CR1A CR4A 2 N
P C
LED LED J 5
105A 107A 5 7
0 2
2 N CN1A
P C CN7A
J 6
6 7
0 2
2 N
CN29A P C
J
125
Fig. 5.2.1.1 External View of External Axes Board

5.2.2 Operating State Indicators of External Axes Board
LEDs listed in Table 5.2.2.1 are provided on the External Axes Board to indicate the operating state of
the sequence circuit, etc. inside the External Axes Controller. For each LED location, see Fig.
5.2.1.1.
Table 5.2.2.1 Operating State Indicators of External Axes Board

LED No. Function Status
LED100A (green) Break Release ON when brake relay is turned.
LED105A (green) OVERRUN Detection Input OFF when peripheral jigs overrun.
LED107A (green) Shock Sensor OFF when shock sensor operates.
5.2.3 Relays on External Axes Board

Relays listed in Table 5.2.3.1 are provided on the external axes board to indicate the operating state
of the sequence circuit, etc. inside the robot controller. For each relay location, see Fig. 5.2.1.1.
Table 5.2.3.1 Relays on External Axes Board

Relay No. Function Status Related LED
CR 1A OVERRUN Contact opens when peripheral jigs overrun. LED105A OFF
CR 3D BRAKE D Contact closes when brake D is released.
CR 3E BRAKE A Contact closes when brake A is released. LED100A ON
CR 3F BRAKE F Contact closes when brake F is released.
CR 4A Shock Sensor Contact opens when shock sensor operates. LED107A OFF
5.2.4 Fuses on External Axes Board

Fuses listed in Table 5.2.4.1 below are provided on the External Axes board to protect the robot
system. When replacing blown fuses, be sure to eliminate all the causes of the fusing and replace
with those of the same rating.
Table 5.2.4.1 Fuses on External Axes Board

Fuse No. Rating Application Parts No.
24 V power supply inside External
F5 250 V, 2A, glass tube type 4610-009
Axes Controller
AC 12 V power supply for External
Axes Controller charging unit
Power to release the unit brake of
peripheral jigs

5.2.5 Connectors of External Axes Board
Connectors listed in Table 5.2.5.1 below are provided on the External Axes board to connect
peripheral devices.
Table 5.2.5.1 Connectors of External Axes Board

Connector No. Peripheral devices to be connected to
CN1A Servo unit (inside External Axes Controller)
CN7A Manipulator-type peripheral jigs (External Axes Cable 2)
CN29A Charging unit (inside External Axes Controller)
CN39 (Optional)
CN40 Mother board (inside Robot Controller)
CN41A Power unit (inside External Axes Controller)
CN67A Peripheral jigs (power supply for brake)
CN80A Brake unit (optional) (inside Robot Controller)
CN81 Mother board (inside Robot Controller)
CN149 (Optional)
CN271 Peripheral jigs (External Axes Cable 2)
5.2.6 Test Pins on External Axes Board

Test pins listed in Table 5.2.6.1 below are provided on the External Axes board.
Table 5.2.6.1 Test Pins on External Axes Board

Test pin No. Signal Name Function
TP3A 24 V DC24 V
TP4A 0V GND for DC24 V Power Supply
TP12A BK_COM Brake Release Output Common (DC90 V)
TP13A BK_D Brake Release Output D
TP14A BK_E Brake Release Output E
TP15A BK_F Brake Release Output F

5.2.7 Jumper Pin Settings of External Axes Board
Jumper pins listed in Table 5.2.7.1 below are provided on the external axes board. Perform
necessary jumper pin setting in accordance with the specific robot system.
Table 5.2.7.1 Jumper Pin Setting of External Axes Board

Jumper Pin Function Standard Setting
JP201 ON-OFF selection of OVERRUN signal of a peripheral device which is 1-2 Short : OFF
connected to CN7A or CN271.
When overrun sensor is provided in a peripheral device (such as a
slider or a positioner) that is connected to CN7A or CN271, set this
jumper pin at "ON" (OPEN).
connected to CN272.
slider or a positioner) which is connected to CN272, set this jumper pin
at "ON" (OPEN).
connected to CN273.
at "ON" (OPEN).
connected to CN274.
at "ON" (OPEN).
connected to CN275.
at "ON" (OPEN).
connected to CN276.
at "ON" (OPEN).
connected to CN39.
When an optional device is connected to CN39, set this jumper pin at
"ON" (OPEN).
JP211 ON-OFF selection of shock sensor which is connected to CN7A. 1-2 Short : OFF
When shock sensor is provided in a peripheral device (such as a slider
or a positioner) which is connected to CN7A, set this jumper pin "ON"
(OPEN).
JP212 ON-OFF selection of shock sensor which is connected to CN39. 1-2 Short : OFF
When an optional device is connected to CN39, set this jumper pin at
"ON" (OPEN).
JP221 (For optional devices) 1-2 Short : OFF
JP222 Do not change the standard setting. 1-2 Short : OFF
JP222 1-2 Short : OFF
WARNING

When replacing the External Axes board with a new one, make sure that the jumper pin settings are
proper. Wrong settings may result in the failure of peripheral jigs to perform OVERRUN or in
malfunction of the detecting circuit, creating a dangerous situation.

5.3 Servo Unit
5.3.1 Functions of Servo Unit
The servo unit controls servo system of up to six axes and supplies power to servo motors in
accordance with a specific control signal, and it consists of the following modules.
The only difference between this unit and the servo unit L4800J of Robot Controller is in control
module.
Table 5.3.1.1 Configuration of Servo Unit for External Axes Controller L5380L5382, L5554
Module name DWG No. Q’ty Parts No. Remarks
Backplane W-L00950 1 5096-204 1
Control module W-L00958 1 5096-225
Inverter module W-L00956 4 5096-224 1
SW Regulator module W-L00953 1 5096-207 1
Capacitor module W-L00954 1 5096-208 1
Power supply module W-L01146 1 5096-321 1
Table 5.3.1.2 Configuration of Servo Unit for External Axes Controller L5561L5564
Module name DWG No. Q’ty Parts No. Remarks
Backplane W-L00950 1 5096-204 1
Control module W-L00958 1 5096-225
Inverter module W-L00960 4 5096-305 3
SW Regulator module W-L01170 1 5096-338 3
Capacitor module W-L00954 1 5096-208 1
Power supply module W-L01146 1 5096-321 1
1 Used commonly for Robot Controller IRBC-602/621/631.
2 Used commonly for Robot Controller IRBC-602/621.
3 Used commonly for Robot Controller IRBC-631.
4 The quantity differs according to the number of extended axes.

This section explains only about control module.
For other modules, see “Maintenance 5.4: Servo Unit” in “INSTALLATION & MAINTENANCE” for
model DR series.
Capacitor Module SWR Module

30
Power Supply Module
Backplane
CN227
Enlarged view
PWR
AC SERVO SYSTEM
W L00955 PWR
AC SERVO SYSTEM
W L00954
AC SERVO SYSTEM
W L00953
of servo unit
CN210 0 8
9 9
CAUTION CAUTION CAUTION
CN211

8
7
3
AC SERVO SYSTEM
PWR W L00951
6
5
CN216
4
3
2
1
CAUTION
CN209
CN201 CN203
CN205 CN207
CN208
310
Inverter Module 1 Control Module Left-side View

Remove Side Cover
Inverter Module 2 Inverter Module 3
Fig. 5.3.1.1 External View of Servo Unit L4805G

5.3.2 Control Module W-L00958
(1) Functions of Control Module
This module controls the servo system of up to six axes, and has the following functions.
Function to receive commands from the main board and generate signals for driving an inverter
module
Function to perform high-speed arithmetic operations required for servo control.
Function to detect a servo-related alarm signal sent from an absolute encoder and to send this
alarm to the control module.
Function to receive absolute offset data from an absolute encoder.
Function to detect various alarms related to the servo system.
135 Backplane
20 122
0 0
2 2
2 2
N N
C C
AC SERVO SYSTEM
PWR W L00958
6
5
4
3
2
1
4
8
1
CAUTION
May cause electric shock. 5 5
Don't touch this system
during power ON or 5 min. 1 1

2 2
!

N N
C C
CN301 CN302
Left-side View Rear View

56
Front View
CN301 CN302
CN1 CN2
Bottom View
Fig. 5.3.2.1 External View of the Control Module
(2) Operating State Indicators of Control Module
Seven LEDs, one small-signal power supply LED (LED PWR: green) and six alarm LEDs (LEDs 1-6:
red), are provided on the control module panel.
If any faulty occurs in the servo unit, the corresponding LED will be lit up.
The operating state information given by these LEDs can be checked on Teach Pendant, thus it is
not necessary to monitor those LEDs on the control module panel.
(3) Precautions to be taken for replacing control module with a new one.
When replacing the control module, proceed as follows.
(a) Disconnect the cable from connector CN301 provided at the bottom of the control module.
CAUTION
Prior to removing the control module to be replaced, be sure to disconnect this cable.
(b) Remove the side cover on the left from the External Axes Controller.
(c) Remove the upper and lower screws (2 pcs. each) that are fixing the control module to the
servo frame.
(d) Remove the control module to be replaced.
(e) Insert a replacement control module in place (at the rightmost on the lower level of a servo
frame), and connect it to connectors CN215 & CN220 on the backplane.
(f) Check, by viewing from the front, that the above two connectors are fully inserted to their
respective ends.
CAUTION
If those connectors of the control module are not fully inserted to their respective ends, they may
suffer a contact failure, resulting in malfunction of the robot system. Therefore, make sure that they
are fully inserted and firmly connected.
(g) Fix the control module to the servo frame , using the above upper and lower screws (2 pcs.
each).
CAUTION
Vibrations or shocks may cause a contact failure of connectors and that could lead to a malfunction of
the robot system. Therefore, be sure to fix the control module to the servo frame with screws.
Servo Frame
Backplane
SWR Module
Capacitor Module
Power Supply Module
Screw
(16-M4x8)
Inverter Module
External Axes Board
Control Module
Fig. 5.3.2.2 Fixing the Control Module to the Servo Frame

5.4 Power Unit L4800P
5.4.1 Functions of the Power Unit
This PCB has the function to supply AC200 V power to each unit (such as cooling fans, power relay
units and a servo unit) inside the robot control unit after eliminating noise that comes into the robot
control unit from the primary-side power.
96
PART NO. L4800P

L4800P02
3 3
B A
NI
V
0
0
1 2
0 C
1 A
N
C 3

0
9
1
4 2
FAN 0 S
1 P,
N 1
1 C S
P
CN112
FAN
2 1
CN113 B1 B3 PCB12
FAN 1 3
CN105
CN110
2 1
A1 A3
CN114
SERVO POWER
FAN
POWER RELAY
CN109
2 1 1 3
CN115 1 4 CN106
PILOT
LAMP 1 TRANSFORMER
2 1
CN107 R
O 1 4
S 1 3
N
6 E CN306
1 S
1 H INPUT VOLTAGE CONNECT
N C
C U
AC200V 1PIN 2PIN
AC220V 1PIN 3PIN
O
T AC230V 1PIN 4PIN
Fig. 5.4.1.1 External View of the Power Unit

5.4.2 Connectors of the Power Unit
The power unit is provided with connectors as listed in Table 5.4.2.1 below, to supply power to each
inner unit.
Table 5.4.2.1 Connectors of Power Unit

CN101 3 AC200 V power supply input (inside the robot control unit)
CN104 (Reserved) (inside the robot control unit)
CN105 Power relay MS1servo unit (inside the External Axes Controller)
CN106 Power relay MS1 (inside the External Axes Controller)
CN107 Pilot lamp (PL1) (inside the Robot Controller)
CN108 (Reserved) (inside the External Axes Controller)
CN109 (Reserved) ( inside the External Axes Controller)
CN110 External Axes board (inside the External Axes Controller)
CN112 Cooling fan FM14 (inside the External Axes Controller)
CN113 Cooling fan FM 11 (inside the External Axes Controller)
WARNING
Since some connector pins of the power unit are applied with a high voltage, touching them
accidentally during maintenance or other work may result in an electric shock hazard. Therefore,
DO NOT touch live electrical parts.
CAUTION
Never use the reserved connectors in Table 5.4.2.1 for purposes other than specified.

5.5 Charging Unit L4797P
5.5.1 Functions of the Charging Unit
This charging unit is used to supply power to absolute encoders and has the following functions
(1) Charges the charging battery while the control power is ON.
(2) Detects overdischarge of the charging battery to thereby disconnect the load.
(3) Backs up the data of each absolute encoder using the charging battery when the control power
is OFF.
L4797P
1
CR1
0
3
N
C
3
1 TP1
2
3 VR1
N
2 C
TP2
1
TP3
1
3
N
C
8
Fig. 5.5.1.1 External View of the Charging Unit
5.5.2 Connectors of the Charging Unit
This charging unit is equipped with connectors in Table 5.5.2.1 to back up data of the absolute
encoders.
Table 5.5.2.1 Connectors of the Charging Unit

CN30 AC200 V power supply input (inside the robot controller)
CN31 Backup power supply output to each encoder (inside peripheral devices)
CN32 Charging battery
WARNING
1. When the power is ON, never touch any parts of the robot control unit except the charging battery
because that may result in an electric shock hazard.
2. Disconnecting CN32 while the control power is turned off results in a loss of absolute-encoder
data.
3. Power of the charging battery is supplied to an absolute encoder of each axis via the charging unit
connector CN31 and External Axes Cable. Therefore, disconnecting the connector or the
External Axes Cable irrespective of whether the control power is ON or OFF results in a loss of
absolute-encoder data. When either of them is disconnected for maintenance or inspection, be
sure to make absolute offset adjustments for each peripheral jig.
For the absolute offset adjustments, see “Installation: 4.2 Absolute Offset Adjustments” in
“INSTALLATION & MAINTENANCE” for DR series.

5.6 Charging Battery L6390N00
5.6.1 Functions of the Charging Battery
A charging battery is provided in the External Axes Controller to back up data of each absolute
encoder with which peripheral jigs are equipped. It is charged while the control power is ON, and
supplies power to the absolute encoder for data backup purposes when the control power is OFF.
Therefore, when the robot system is not used for an extended period of time, the residual battery
capacity will decrease, eventually failing to supply power to the absolute encoder. In that case, prior
to initiating automatic operation, be sure to make absolute offset adjustments for each manipulator.
WARNING
Removing External Axes Cable while the control power is off results in a loss of absolute encoder
data. In such a case, be sure to make absolute offset adjustments for each peripheral jig.
For the absolute offset adjustments, see “Installation: 4.2 Absolute Offset Adjustments” in
“INSTALLATION & MAINTENANCE” for model DR series.
CAUTION
1. The data backup period of the absolute encoder while the control power is OFF is approximately
10 days. After the period, absolute offset adjustments need to be carried out
2. The data backup period of the absolute encoder may be shorter depending on environmental
conditions, operating conditions and other factors.
5.6.2 Specifications of the Charging Battery
Nominal Voltage : 4.0 V (5.0 Ah)

Discharge Voltage : 3.8 V 4.2 V
The Lowest Possible Voltage for Recharging : 3.7 V
The above specifications are applicable when absolute encoder, charging unit and other loads are
connected.
5.6.3 Replacing the Charging Battery
The charging battery characteristics gradually deteriorate with repeated charge-discharge cycles.
Therefore, it is necessary to replace the charging battery with a new one at the 3-year periodic
inspection in accordance with the procedure described below.
WARNING
Because of a possible fire or electric shock hazard, NEVER attempt to short terminals (+) and (-)
with a wire or other similar conductive materials when replacing the charging battery with a new one
or conveying it.
(1) Perform block operation in accordance with the origin position check program <such as P999>
and make sure that the origin position is in alignment with a matchmark <>. If not, mark that
position.
(2) With the control power of the robot controller ON, remove the two bolts (M58) that are fixing
the charging battery to the External Axes Controller in order to remove the battery.
(3) Remove the tab-on terminals of the connecting cable from the charging battery.

WARNING
(1) Disconnecting the charging battery with the control power OFF results in a loss of absolute-
encoder data. Be sure to turn on the control power when replacing the charging battery.
(2) When the power is ON, NEVER touch any parts of the robot control unit except the charging
battery because that may result in an electric shock hazard.
(4) Connect a connecting cable to the new charging battery <namely, the wire identification mark
[+] (white wire) to the plus terminal of the charging battery, and the mark [-] (blue wire)
to the minus terminal, respectively>.
(5) Fix the charging battery in position using the two bolts (M58) that were removed in procedure
(3).

Front
Charging Battery
CN201
BT2
CN203
CN205
"C"
"C"
Breaker Handle
Replace the
charging battery
while the control

power is ON.

Robot Controller
Power Unit Cooling Unit
Power Relay
Screw
M48
Charging Battery
View "C" "C"
Fig. 5.6.3.1 Replacing the Charging Battery

5.7 Cooling Fans
The External Axes Controller is of an enclosed type and is internally air-cooled by four cooling fans as
shown in Fig. 5.7.0.1.
Cooling fans FM111 and FM112 are mounted on the air cooling unit.
Cooling fan FM113 is mounted on the left-side cover of the robot control unit.
Cooling fan FM114 is mounted on the bottom of the servo frame.

FM111 Side Cover
Air flow
direction
FM113
(Cooling Unit) (Cooling Unit)

Air flow
direction
FM112
FM114
Air flow
direction
Air flow
direction
Panel Internal View Rear View Left-side View

"C" "C"
Rear
FM114
Fig. 5.7.0.1 Cooling Fans
Front
View "C" "C"

WARNING
NEVER put your hand, finger, hair or clothes close to a rotating fan because
you may be caught and injured.
WARNING
When you are performing maintenance or checking on the servo unit or other
devices, NEVER attempt to remove the side cover while the power is ON
because you may get your hand, finger, hair or clothes caught by a rotating fan
and be injured.
CAUTION
Dust accumulation on the radiation fins of the cooling unit causes a decline in cooling capability, thus
clean the fins periodically.

6 ELECTRICAL CONNECTION DIAGRAM
6.1 Electrical Connection Diagram of External Axes Controller

6 Electrical Connection Diagram
CONTENTS
6.1 Electrical Connection Diagram of External Axes Controller............................................................ 6-1
6.2 Electrical Connection Diagram for External Axes Controller for 4.5 kW Motor............................... 6-7
6.3 Electrical Connection Diagram for External Axes Cable............................................................... 6-11

General Electrical Connection Diagram of External Axes Controller (L4807 / L5523: 3 External Axes) (1/1)
Manipulator External Axes Encoder External Axes Brakes External Axes Motor (Power Line)
(Signal Line)
CN2 CN1
(Signal Line) (Power Line) Ex. Ex. Ex.
Ex.Ax- 3 Ex.Ax- 2 Ex.Ax- 1 BK- 3 BK- 2 BK- 1 Ex.Ax- 3 Ex.Ax- 2 Ex.Ax- 1
Regenerative Resistor Regenerative

R51 Resistor #1
CN251 CN250 CN205/ CN203/ CN201/
CN206 CN204 CN202
Main Board Backplane #0 CN205 CN203 CN201 CN227 Backplane #1 CN205 CN203 CN201 CN227
Servo Unit #0
A FC2 PCB2 PCB51 PCB53 Inverter Module 1 PCB56 SWR Module PCB151 Servo Unit #1
PCB153 Inverter Module 1 PCB156 SWR Module
BT1 PCB55 Inverter Module 3 PCB59 Power Supply Module PCB155 Inverter Module 3 PCB159 Power Supply Module
Servo CN4
I/F Board
PCB102
MACB_#0 MACB_#1
Charging Battery #1
BT102 Power
Control Module Control Module
CN50
FC10 CN32
CN1 CN5 CN1 CN5
CN2
DC5V
FC10 CN104 CN104 PCB160
CN41 CN2
Mother Board PCB101
CN110 PCB1 CN29A CN110
PCB3 CN41A
CN67 CN67A
CN38 Transformer
CN7A
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
Board #1
Cooling Fan Cooling Fan
A Breaker
NFB1 NL1
W
TBP1
<Robot Controller> AC100V
(MAX0.5A)
CN94 <External Axes Controller>
AC200V 3 PE
External Floppy
Ref 1) : Installed on the robot controller Disk Drive
General Electrical Connection Diagram of External Axes Controller (L5523: 6 External Axes) (1/1)
External Axes Brakes

Manipulator
External Axes Encoder (Signal Line) Ex Ex Ex External Axes Motor (Power Line)
CN2 CN1 BK- 6 BK- 4 BK- 2
(Signal Line) (Power Line) Ex.Ax- 4 Ex.Ax- 2 Ex Ex Ex
Ex.Ax- 6 Ex.Ax- 5 Ex.Ax- 3 Ex.Ax- 1 BK- 5 BK- 3 BK- 1 Ex.Ax- 6 Ex.Ax- 4 Ex.Ax- 2
Ex.Ax- 5 Ex.Ax- 3 Ex.Ax- 1
CN251 CN250 CN205/ CN203/ CN201/
CN206 CN204 CN202
Backplane #0 CN227 Backplane #1 CN205 CN203 CN201 CN227

CN205 CN203 CN201 Servo Unit #0
A PCB51 PCB53 Inverter Module 1
PCB151 Servo Unit #1
FC2 Main Board PCB56 SWR Module
PCB153 Inverter Module 1 PCB156 SWR Module
Servo CN4
I/F Board
PCB102
MACB_#0 MACB_#1
Charging Battery #1
BT102 Power Control Module
Control Module
CN50
FC10 CN32
CN1 CN5 CN1 CN5
CN2

DC5V
FC10 CN104 CN104 PCB160
CN41 CN2
Mother Board
PCB3 CN41A
CN67 CN67A
CN38
Transformer
CN7A E
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
A Breaker
NFB1 NL1
W
TBP1
<Robot Controller> AC100V
(MAX0.5A)
CN94 <External Axes Controller>
AC200V 3 PE
External Floppy
Disk Drive
Extended Manipulator
Manipulator
External Axes Motor (Power Line)
CN2 CN1 External Axes Encoder (Signal Line)
(Signal Line) (Power Line) Ex.Ax:1- 6
Ex.Ax- 1 to 6 External Axes Brakes
CN251 CN250 CN251 CN250
General Electrical Connection Diagram of External Axes Controller
Backplane #0 CN205 CN203 CN201 CN227 Backplane #1 CN205 CN203 CN201 CN227
Servo Unit #0 Servo unit #1
A FC2 PCB51 PCB53 Inverter Module 1 PCB56 SWR Module PCB151 PCB156 SWR Module
Main Board PCB153 Inverter Module 1
Servo CN4
I/F Board
(L4808 / L5524: Manipulator Extended) (1/1)
PCB102
MACB_#0 MACB_#1
Control Module Power Control Module

CN50
FC10 CN1 CN5 CN1 CN5

PS1 CN1
CN2
CN302
DC5V
FC10 CN104 CN104 PCB160
CN41 CN2
DC24V Power Unit Power Unit #1 CN301 CN302
Mother Board CN1
PCB3 CN41A
CN67 CN67A
CN38 Transformer
CN7A E
TF1 CN80A
CN101 CN101
CN271
CN272
CN273
CN274
CN7 CN1 CN275 CN1A
CN276
CN80 CN40 CN40 CN39

CN150 External Axes
A Breaker
NFB1 NL1
W
TBP1
(MAX0.5A)
AC200V 3 PE
External Floppy
Disk Drive
ort
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0 0 0 1 C 0 0
1 1 1 1 N 1 7 8 9 1
N N N N N N
C 1 2 3 4
C 4 3 2 1
C 3 1 5 4 2 6 7
C 1 2 3
C 1 2 3 1 2 3 C 2 1
A A A B B B
6
1
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C
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1 2 C1 9 4
M0
F1
k
a F 1 2 3 1 7
Br N 0 R R 5 6
1 Z Z C C
N
1
R 7 8 9 5
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C 5 Z 4 C1 9 3
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R C 2
Z F1
3
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T 6 B 2 5 6 8 1
C C 7
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S 5 A B 3 4 4
1 1 N1
t
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R
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4 6
1 1 2 2
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4 1 3 L 7 9 1 F1
R R C C C C
Z Z U 0
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1 2 B 7
V
0
R
D
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P 3
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0 w C1 9 1
T 2 o 2 M0
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P A 0
1
0
3
1 7
NI N N
C C
3 1 2 3 1 2 3
C
N
6 0
2 7
1
S0
M1
Electrical Connection Diagram of External Axes Controller (1/2)
d
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B 3
B
d 2 C
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M B h
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C
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0 0 M M
4 K N 4
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0 + 0 1 S 0 0 M V 1 S 0 C B
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C X X O V V
1
N C N
C
B B N
C
A E E L A E E L S 0
C 3 4 1 2 3 4 5 6 1 2 3 4 5 6
A A A A A A B B B B B B
T)I
N
U
E
A K
9 9 0 A 1 0
4 3 8 R
8 4
1 N B N
N N ( N C
C 1 2 3 4 C 1 2 3 4 5 1 2 3 4 5 C C 1 2 3 1 2 3 1 2 3 4 5 6 1 2 3 4 5 6
A A A A A B B B B B 1 2 3 4 A A A B B B A A A A A A B B B B B B
1
N 2 7 N P V 2 7 .
C V V A B A B 1 A B 1 0 K N N P V 0 M M 1
K
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C K 0- M 4 _ _ . K 0 4 K V V V V 8 8 4 C U 0 M 4 4 O O K 0
C N V A 2 M M N B 2 B 0 0 0 0 B V V A A O R V A 2 B
C
C B
O U L O O V 9 9 9 9 0 0 _ S L _ C O V
K R S V C C C C V 0 0 V V H V V _ _ L
B H C C S S D D D D 2 1 1 2 2 S 0 2 K V S
V S V 2 V 1 C C 1 1 X X 1 S 0
S O K O C A A C C E E C X X
H A A A A E E
S
N 1
1 1
1 _I M 1() 2()
T N M K O V V
S V U O C C P 2 2 6 V 6 4 V 4 2 V 2 5 V 5 3 V 3 1 V 1
A R R C O K M 1 1 T T V D 6 V D 4 V 2 V 5 V 3 V 1
B V V H H A V C C A A 5 D 5 D 5 D D 5 D D 5 D D 5 D D
7 A E O O S S L 0 A A B B E E S
+ S E E S
+ S E E S
+ S E E S
+ S E E S
+ S E E S
+ S
N - - - - - -
C 2 2 5 3 6 8 7 8 3 4 1 2 4 3 8 9 0 9 6 7 1 0 4 5 2 1 8 2 1 6 0 4
1 3 2 1 2 2 2 2 2 2 3 3 1 3 2 1 2 1 1 3 3 7 1 2 1 5 1 2 9 3 1
1 3 5
7 7 7
2 2 2
N N N
C 1 2 3 4 5 6 7 8 9 0 C 1 2 3 4 5 6 7 8 9 0 C 1 2 3 4 5 6 7 8 9 0
1 1 1
1 1 V 1 1 T 1 1 A B 3 3 V 3 3 T 3 3 A B 5 5 V 5 5 T 5 5 A B
D D V T A D D V T A D D V T A
S S 5 S B N M V V S S E 5 S B N M V V S S 5 S B N M V V
+ - E E R U O 2 2 + - E R U O 2 2 + - E E R U O 2 2
S 1 1 S 1 1 S 1 1
d B
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C C C B
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6
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6 3 3 4 4 2 S
+ S E
5
E A B O O A A 2 S
+ S E
5
E A B O O A A 2 S
+ S E
5
E A B O O A A
N A B A B N - N - N -
C 1 1 2 2 C 0 C 0
C 0
A B A B 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 1
8 ). 1
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e )
ul nti u t d )t pl ) ul )t
3 d ni 6 o ni 8 p ti d ni 2 C C C
d
oU 5 oU 5 M U 5 u n 9 o U 5 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2
Mo
1 M 1 1 S U 5 1 M 1
B 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
B B B 6 6 6 3 3 3 5 5 5 2 2 2 4 4 4 1 1 1
v C o C ort o
v C e
er ul o
B
orl
o
v C 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
ert er R vr ci
vr C
er P
P
WS e P
a er P wd
o oe
P nt S
er S p S P MS (
v ( S ( a ( ( o
C
nI C 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5
1 A A A A A B B B B B A A A A A B B B B B A A A A A B B B B B
2 3 4 4 2 1 0 5 0 1 1 1 1 1 1 3 2 2 2 2 2 2 5 3 3 3 3 3 3
1 1 1 2 2 2 2 1 2 0 0 0 C R E E E C R 0 0 0 0 C R E E E C R 0 0 0 0 C R E E E C R
2 2 2 2 2 2 2 2 N A B C N G A B C N G 2 A B C N G A B C N G 2 A B C N G A B C N G
N N N N N N N N C N N
C C C C C C C C C C
e )t
n ni 1
a U 5
pl o
1
B
ck v C
a er P
B S(
Electrical Connection Diagram of External Axes Controller
(When Adding One Standard 1-axis Positioner) (2/2A)
d
e ar
ul o
B 3
B
d 2 C
o 5
1 er P
M B h
ot
C
orl
0 0 M M
4 K N 4
P A
_ C U B
_
O
C
O
C M
nt
V O R V _ _ 1
0 2 H V N P 2 K V K K
+ 0 1 S 0 0 M 1 S 0 C B
o 8
N
K -
K 4 C X X V
S A
V
4 C X X O V V
1
N C C
B B N
C
A E E L 2 A E E L S 0
C 3 4 1 2 3 4 5 6 1 2 3 4 5 6
A A A A A A B B B B B B
T)I
N
U
E
A K
9 9 0 A
1 0
4 3 8 R
8 4
1 N B N
N N ( N C
C 1 2 3 4 C 1 2 3 4 5 1 2 3 4 5 C C 1 2 3 1 2 3 1 2 3 4 5 6 1 2 3 4 5 6
A A A A A B B B B B 1 2 3 4 A A A B B B A A A A A A B B B B B B
1
N 2 7 N P V 2 7 .
C V V A B A B 1 A B 1 0 K N N P V 0 M M 1
K
V
C K 0- M 4 _ _ . K 0 4 K V V V V 8 8 4 C U 0 M 4 4 O O K 0
C N A 2 M M N B 2 B 0 0 0 0 B V V A A O R V A 2 B C B
O U V L O O V 9 9 9 9 0 0 _ S _ C C O
K R S V C C C C V 0 0 V V H V L V _ _ L V
B H C C S S D D D D 2 1 1 2 2 S 0 2 K V S
V S V 2 V 1 C C 1 1 X X 1 S 0
S O K O C A A C C E E C X X
H A A A A E E
S
N 1
1 1
1 _I M 1() 2()
T N M K O V V
S V U O C C P 2 2 6 V 6 4 V 4 2 V 2 5 V 5 3 V 3 1 V 1
A R R C O K M 1 1 T T V D 6 V D 4 V D 2 V D 5 V D 3 V 1
B V V H H A V C C A A 5 D 5 D 5 D 5 D 5 D 5 D D
7 A E O O S S L 0 A A B B E E S
+ S E E S
+ S E E S
+ S E E S
+ S E E S
+ S E E S
+ S
N - - - - - -
C 2 2 5 3 6 8 7 8 3 4 4 3 9 0 9 7 1 0 5 2 1 8 2 1 6 0 4
1 3 2 1 2 2 2 2 2 2 1 2 3 3 8 1 3 2 6 1 2 1 4 1 3 3 7 1 2 1 5 1 2 9 3 1
1 3 5
7 7 7
2 2 2
N N N
C 1 2 3 4 5 6 7 8 9 0 C 1 2 3 4 5 6 7 8 9 0 C 1 2 3 4 5 6 7 8 9 0
1 1 1
1 1 V 1 1 T 1 1 A B 3 3 V 3 3 T 3 3 A B 5 5 V 5 5 T 5 5 A B
D D V T A D D V T A D D V T A
S S 5 S B N M V V S S 5 S B N M V V S S 5 S B N M V V
+ - E E R U O 2 2 + - E E R U O 2 2 + - E E R U O 2 2
S 1 1 S 1 1 S 1 1
d B
R
V
C C C B
R
V
C C C B
R
V
C C C
ar A V A A A V A A A V A A
O O O O O O
o 1
B #
s 3
e 0
x 1
B
A C
al P
n + - + -
ert
K K K K
B B B B 2 2 2 4 4 4 6 6 6
T A B T A B T A B
x 5 5 6 6 S
R
N
U
M
O V V S
R
N
U
M
O V V
6
S
R
N
U
M
O V V
E A
7
A B A B 2
7
2
D 2
D
V

2
V S
B
T
A
R
V
C
V
2
1
C
2
1
C
4
7
4
D 4
D
V

4
V S
B
T
A
R
V
C
V
2
1
C
2
1
C 7
6
D 6
D
V

6
V S
B
T
A
R
V
C
V
2
1
C
2
1
C
6 3 3 4 4 2 S
+ S E
5
E A B O O A A 2 S
+ S E
5
E A B O O A A 2 S
+ S E
5
E A B O O A A
N A B A B N - N - N -
C 1 1 2 2 C 0 C 0
C 0
A B A B 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 1 1 2 3 4 5 6 7 8 9 1
8 ). 1
1 C 1 F)/
N . 1 I
C P
( N
C W
S
d D
(
ar
o 3
2
N
B B C N R H
A B D C L M J G F T
er
C
P
h D D D C T T N M D D D C +)
ot
S S E A S S
+ - N
G
C
V S B
U
R
O
C + - N
G
C
V T(
E V - E
S
M BK-
R O S
L E
0
F N
R
er
1 1 BK+ U n
N C E R
V
oi
1 t
C F
N O si
C o
P
s
xi
A
d
ar 2-
o
0 B 20 1
1 1
F/ B 2 N U V W E U V W E
C 0 0
F 5 I C 3 C A B C D G H I J
C o P
v N
F er C
1 5 d S
N 1 )t 6 ar 2
e 2 i o B
C ul )
d nti 2
N ne n 51 1 B C
C apl U CB 2 n
P
o
MU B
N ai
5
0 k ov P C
o
orl vr C 2 ac r M 3
P 2 B Se( C
nt e N 4 F
o S ( C N
C
C
1 2
2 7
2 2 1 2
0 0
3 3
N N
C C
d
1 ar )t
T
B C ni 0
U 6
T 1
E o B
N v C
C er P 2 4 6
R S 0 0 0
A ( 2 2 2
N N N
C C C
& & &
5 1 3 5
N 0 1 2 3 1 2 3 0 1 2 3 1 2 3 0 1 2 3 1 2 3
1 2 e 2 A A A B B B 2 A A A B B B 2 A A A B B B
e ul y C el N N N
e )
ul nti
e
ul
)t
ul )ti d )t pl ) u )t
3 ni 4 d n 6 o ni 8 p ti 9 d ni 2
5
C C C
d
oU 5 d
o U 5 oU 5 M U 5 u n 5 o U 1 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2 0 1 2
Mo
1
M
1 M 1 1 S U 1 M B 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
B B B B 6 6 6 3 3 3 5 5 5 2 2 2 4 4 4 1 1 1
v C o
v C o C ort o
v C e
er ul o
B
orl
o
v C 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
ert er ert R vr C
d vr P er P
P er P P ci er P wo
er S er S WS e a S o e nt S
v ( v ( S ( p
a ( P MS ( o
C
(
nI nI C 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5 1 2 3 4 5
1 A A A A A B B B B B A A A A A B B B B B A A A A A B B B B B
0 1 1 1 3 2 2 2 2 2 2 5 3 3 3 3 3 3
2
1
3
1
4
1
4
2
2
2
1
2
0
2
5
1 2 01 01 01 C R E E E C R 0 0 0 0 C R E E E C R 0 0 0 0 C R E E E C R
2 2 2 2 2 2 2 2 N A B C N G A B C N G 2 A B C N G A B C N G 2 A B C N G A B C N G
N N N N N N N N C N N
C C C C C C C C C C
e )t
n ni 1
a U 5
pl o
1
B
k
c v C
a er P
B S(
Electrical Connection Diagram of External Axes Controller
(When Adding One Standard 2-axis Positioner) (2/2B)
6.2 Electrical Connection Diagram
for External Axes Controller for 4.5 kW Motor

General Electrical Connection Diagram of External Axes Controller for 4.5 kW Motor (L5930-L5932)

INPUT No Fuse Breaker
3 AC200V NFB1
R S T
CN251
Electrical Connection Diagram of External Axes Controller for 4.5 kW Motor (1/3)
1
4 5 6 MS1
P 2
1 2 CN211 CN253 3
3 4
+17V 1 1
5 6 CN252
+17VGND 2 2
A1 A2 A3 1
B1 B2 B3
Small- Signal Large- Current N 2
CN101 CN109
7 Backplane Backplane 3
ZR4 ZR5 1
2 9 PCB62
ZR6 ZR1 13 PCB61
3
14
Auxiliary
ZR2 4 Transformer
C2 ZR3
CN108 220V 200V 0V TF1
C1 CN11
4 8.5V CN38
C3
W2 AC220V 0V 100V 0V 12V
1 3 5 3 5 NC AC Outlet
L1 2
W1 AC200V
4 Main 20
3 TBP1
Board 21 AC12V
2 4 6 C4 1 W Constant 3 4 CN150
Voltage 3 32 10 20
2 1 1
C5 Power
1
27
1
PCB2 11 AC100V 21
1 Supply 2 2
C6
C8 3 2
CN104 PS1
C7 NC 5
(DC5V)
4
CN41
Mother Board
C9 3 NC
7 7 32
CN106
1
8
1 +5V PCB3
8
5 Constant 27 2 GND
26 9 Voltage 1 26
MS1 1 4 NC 3 +24V
Power NC
NC 2 DR1 7 25
2 1 Supply 3 NC 4 0V
70 8
3 6 3 2
26
7 NC NC 5 PS2 4 5 MS1_A Regenerative
(DC24V) 70
6 MS1_B Resistor
CN306 CN110
MS2 1 1
RG1
NC 2 DR2 2 NC
3 3
4 5 6
CN105
RGOH1
RGOH2
7 Ro
GND
A1 1
A2 3 NC
9
A3 2 To
Power Unit TB283
TB282 RG2
RG1 5
PCB1 FM11
Power Supply
B1 RG2 6
B2 Module P 7
N 8
B3 (Servo Unit)
FM12 GR 1
CN107 R 2
8 PCB59 S 3
2
Small Signal T 4
7 FM7 FM5 CN203
1 Backplane FM13
A4 Ro
B4 To
PCB61
FM6
FM14
1 2 1 2 1 2 1 2 1 2
CN CN CN CN CN
113 114 115 112 116 Cooling Fan3
Cooling Fan4
Touch Sensor
7 9 7 9 7 9 7 9
W
Power Indicator
FM1 FM2 FM3 FM4
NL1
Cooling Fan4

Operation Box CN1 Emergency Stop
11
NC 1 3
Robot Dedicated Welding NC 2 4 CN2
Power Supply
Electrical Connection Diagram of External Axes Controller for 4.5 kW Motor (2-3)
CN31 NC 3 CN30 12 2 1
53 14 407 7
1 4 CR2 CN32
Emergency Stop 52 408 Starting Box 2
3 5 (EMG) 15 15 51 902
1
23 307 8 JP1 52 903 Emergency Stop
2 NC 2
308 16 304 914
24 6 Start 2
50 924
6 1 301 Stop
8
Optical Fiber 55 25 909
IC138 5 6 COM
3
20 304 24 910
2 7 24E
11 404 9 404 913
4 G Start 2 Indicator
CN16 305
Teach Pendant 21 5
5
401 923
R Stop Indicator
203 4 405
12 10
202 (T/B)
3 22 306 13 CN33
201 52 903 Starting Box 3
2 13 406 14 1
200 JP2 53 904 Emergency Stop
1 2
64 62 305 916
9 3 6 Start 3
Servo ON 63 61 301 924
10 4 8 Stop
56 68 25 909
7 2 3 COM
Emergency Stop 55 302 24 910
8 16 7 24E
26 303 405 915 Start 3 Indicator
24V 15 17 4 G
24V 26 301 401 923 Stop Indicator
NC 5 Mother Board 18 5 R
0V 25 19 300
13
CN34
0V 25
NC 6
PCB3 25
25
53 Starting Box 4
904
80 24 1
TBRST 16 1 JP3 54 905 Emergency Stop
81 403 2
TBENB 11 7 306 918
82 402 6 Start 4
TBCON 12 8 301 924
401 8 Stop
NC 14 9 25 909
400 3 COM
10 24 910
CN1 CN1 7 24E
Control
Module (PCB) 406 917 Start 4 Indicator
G Y R 4 G
(Servo Unit) CN18 401 923
5 R Stop Indicator
PCB52 (P.C.)
R Y
CN220 CN215 CN19

FC27
Teach Mode Selection

Backplane
Start Indicator 1
Stop Indicator
Teach Mode Indicator
Auto Mode Indicator
24E
COM
Start 1
Stop
Auto Mode Selection

Servo ON Indicator
Servo ON
(SENSOR)
(Servo Unit) (M- NET I/F)
PCB51 CN40
CN216
(EX.AXES)
CN4 FC10 CN73

FC10
Memory 22
1 Main Board
Battery (EX.PW.UNIT)
BT1 2 PCB2
27 CN80
FC2
(BRAKE UNIT)
CN94 CN111
(DSW I/F)
External
Floppy
Disk
Drive

Electrical Connection Diagram of External Axes Controller for 4.5 kW Motor (3/3)
6.3 Electrical Connection Diagram for External Axes Cable

(1) External axes cable 1 for 1-axis peripheral jig
External Axes Controller Positioner

CN201 CN1
B1 A U
B2 B V
B3 C W
D GND
CN67
A E Brake (+)
B F Brake (-)
GND E
Note: Connectors on the left-hand side in this figure are the destinations when one 1-axis peripheral
jig is used. When using the peripheral jig for other combinations, see “3.5 Connecting External
Axis Cable 1 & 2” and check where to connect the above-mentioned connectors.

CN272 CN2
+SD 1 D +SD
-SD 2 E -SD
E0V 3 I GND
E5V 4 A VCC
ABSRST 5 C RESET(+)
BAT 6 B BAT
OVRUN 7 G OVRN LS-1
OVCOM 8 F OVRN LS-COM
AC12V A 9 J RESET(-)
AC12V B 10 H SHIELD
GND E

CN201 CN1
B1 A U
B2 B V
B3 C W
D GND
CN203
B1 G U
B2 H V
B3 I W
J GND
CN67
1 E Brake (+)
2 F Brake (-)
GND

CN272 CN2
+SD1 1 A +SD
-SD1 2 B -SD
E0V 3 D GND
ABSRST1 5 N RESET(+)
E5V1 4 C VCC
BAT 6 R BAT
OVRUN1 7 L OVRN LS-1

OVCOM1 8 M OVRN LS-COM
AC12VA 9
AC12VB 10 K N.C.
CN274
+SD2 1 H +SD
-SD2 2 J -SD
E0V 3 G GND
ABSRST2 5 T RESET(+)
E5V2 4 F VCC
BAT 6
OVRUN2 7
OVCOM2 8 P RESET(-)
AC12VA 9 S RESET(-)
AC12VB 10
E SHIELD
GND E


(5) External axes cable 1 for 1-axis 4.5 kW motor
Note: Connections on the left-hand side in this figure are the destinations when one 4.5 kW motor axis
is used. When using the peripheral jig for other combinations, see “3.5 Connecting External Axis
Cable 1&2” and check where to connect the above-mentioned connectors. For External axes cable
2 for
1-axis 4.5 kW motor, use external axes cable 2 for 1-axis peripheral jig.

6 Electrical Connection Diagram
CONTENTS
6.1 Electrical Connection Diagram of External Axes Controller............................................................ 6-1
6.2 Electrical Connection Diagram for External Axes Controller for 4.5 kW Motor............................... 6-8
6.3 Electrical Connection Diagram for External Axes Cable............................................................... 6-12

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GENERAL CONTENTS

1.1 What is External Axes Controller?......................................................................................................... 1-1

1.2 Specifications of External Axes Controller ............................................................................................ 1-1

1.3 External Dimensions of External Axes Controller ................................................................................. 1-3

2. FOUNDATION WORK AND INSTALLATION

3.1 Types of Robot Peripheral Jigs ....................................................................................................... 3-2

3.2 Connecting Peripheral Jigs to External Axes Controller ................................................................. 3-3

3.2.1 System Configuration ............................................................................................................... 3-3

3.4 Connecting External Axes Controller to Robot Controller............................................................... 3-7

3.4.1 Fixing Method of Servo I/F Board ............................................................................................ 3-7

3.5 Connecting External Axis/Axes Cable 1 & 2 ................................................................................. 3-18

3.5.1 Where to connect External Axis/Axes Cable 1 & 2 ................................................................ 3-18

4.1 External Axis Controller (L5380) ..................................................................................................... 4-2

4.2 External Axes Controller (L5381) .................................................................................................... 4-4

4.3 External Axes Controller (L5382) .................................................................................................... 4-6

4.4 External Axes Controller (L5554) .................................................................................................... 4-8

4.5 External Axes (Axis) Controller (L5561) ........................................................................................ 4-10

4.6 External Axes Controller (L5562) .................................................................................................. 4-12

4.7 External Axes Controller (L5563) .................................................................................................. 4-14

4.8 External Axes Controller (L5564) .................................................................................................. 4-16

4.9 Large-capacity External Axes Controller (L5930 ~ L5932) ........................................................... 4-18

5. MAINTENANCE (EXTERNAL AXES CONTROLLER)

5.1.1 Functions of Servo I/F Board.................................................................................................. 5-10

5.2 External Axes Board L4805D ........................................................................................................ 5-11

5.2.1 Functions of External Axes Board .......................................................................................... 5-11

5.3 Servo Unit ...................................................................................................................................... 5-15

5.3.1 Functions of Servo Unit .......................................................................................................... 5-15

5.4 Power Unit L4800P........................................................................................................................ 5-19

5.4.1 Functions of the Power Unit ................................................................................................... 5-19

5.5 Charging Unit L4797P ................................................................................................................... 5-21

5.5.1 Functions of the Charging Unit............................................................................................... 5-21

5.6 Charging Battery L6390N00 .......................................................................................................... 5-22

5.6.1 Functions of the Charging Battery.......................................................................................... 5-22

5.7 Cooling Fans.................................................................................................................................. 5-25

6. ELECTRICAL CONNECTION DIAGRAM

6.3 Electrical Connection Diagram for External Axes Cable................................................................... 6-11

1.1 What is External Axes Controller?......................................................................................................... 1-1

1.2 Specifications of External Axes Controller ............................................................................................ 1-1

1.3 External Dimensions of External Axes Controller ................................................................................. 1-3

1.2 Specifications of External Axes Controller

FUNDAMENTAL SPECIFICATIONS 1-1

1-2 FUNDAMENTAL SPECIFICATIONS

External Axis Cable 1

External Axis Cable 2

External Axis Cable 2

External Axis Cable 1

Fig. 1.3.0.1 External Dimensions of External Axes Controller

FUNDAMENTAL SPECIFICATIONS 1-3

"A"  

1-4 FUNDAMENTAL SPECIFICATIONS

1. Disconnect the power before installing a WARNING

2. Install the External Axes Controller

may occur. NC8050

3. When the External Axes Controller,

4. Be sure to fix Robot Controller with

also a fatal accident may occur.

Fig. 2.0.0.1 Installing an External Axes Controller

FOUNDATION WORK AND INSTALLATION 2-1

2.3 Installation of Robot Controller with External Axes Controller .........................................................2-6

Fig. 2.1.0.2 Installation of Concrete Anchor

Make holes with Insert an anchor Drive the bolt

Fig. 2.1.0.5 Foundation Drawing for Installation by enbedding Anchor Bolt

FOUNDATION WORK AND INSTALLATION 2-3

"A"