3.

ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

3.3.3 Connecting the Input Power

3.3.3.1 Connecting the input power cable
(1) Fig3.3.3.1 shows the method of connecting the input power supply cable.
(2) Use the input power cable according to the following Table 3.3.3.1. However, the input power cable
according to the breaker or the fuse of the input power supply (power distribution panel) connected
to the robot controller must be used.
(3) Provide a class-D or better ground.
There shall be no switches or disconnects in the grounding conductor.
The resistance to the ground must not exceed 100:.
Use a thick wire to withstand the maximum current used.

In case of NRTL controller

Grounding/Bonding to comply with NEC Article 250 or CEC Section 10 as appropriate.
Provide a grounding conductor of equivalent gauge as the supply conductors.

Table 3.3.3.1 Conductor size and terminal size of AC power supply

Input Input power source capacity Conductor size of AC Terminal Conductor Terminal
Voltage (Refer to CONNECTIONS 5.3) Power supply cable size of AC size of earth size of earth
power cable cable
supply
cable
400V All robot AWG10 or more (Note 1) M5 WARNING 2 M5
200V 15KVA or more AWG8 or more (Note 1) M8 WARNING 2 M5
200V 12KVA or less AWG10 or more (Note 1) M5 WARNING 2 M5

WARNING
1 The input power cable according to the breaker or the fuse of the input power
supply (power distribution panel) connected to the robot controller must be used.
2 Use conductor of earth cable size is as well as the AC power supply cable size.
3 Disconnection of protective earth ground may impair the protection provided by
the system.

Input power supply cable

(Note) The cover should be replaced

after completing

Earth/Grounding cable (M5)

Note㸧The cover should be replaced

after completing

(A-cabinet)
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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

WARNING
The cover for primary terminal of main breaker should be replaced after completing.

Fix the cable

Earth/Grounding cable (M5)

(Note) The cover should be

replaced after completing

(B-cabinet)
WARNING
The cover for primly terminal of main breaker should be replaced after completing.

Fig.3.3.3.1 Connecting the input power cable

3.3.3.2 Leakage breaker

(1) The motor is driven by the PWM inverter system using a power transistor bridge. A
high-frequency leakage current flows through the stray capacitance between the ground and the
motor coils, power cable, and amplifier. This might cause the leakage-current circuit breaker or
leakage-protection relay installed in the path of the power supply to cut out.
Use the following leakage current circuit breaker for inverters to prevent incorrect operation.
(2) Leakage breaker using robot controller has sensitive electric current of 30mA.

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

Table 3.3.3.2 Example of leakage current circuit breaker for inverters

Manufacture Type
Fuji Electric Co., Ltd. EG A series or later
SG A series or later
Hitachi, Ltd. ES100C type or later
ES225C type or later
Matsushita Electric Works, Ltd. Leakage current circuit breaker, C type or later
Leakage current circuit breaker, KC type or later

3.3.3.3 Check input voltage

Setting of transformer tap is necessary depending on the input voltage.
The tap is set to the specified voltage before shipment. However, check it referring to section 6.2 in
MAINTENANCE before supplying power (before the breaker switch is turned on).

3.3.3.4 ON/OFF timing by the breaker

If the power supply is turned on, turned off, and then turned on again repeatedly in a short time, the
controller may not start up. If the power is turned off before the controller is completely started up (it
takes about 30 seconds), wait for at least 10 seconds before turning on the power again.
TON-OFF ӌ 30 sec TOFF-ON t 10 sec

ON

OFF

Fig.3.3.3.4 The power is turned off within 30 seconds after it has been turned on

3.3.4 Connecting the External Power Supply ON/OFF Switch

TBOP14 Emergency stop board

TBOP13

(A-cabinet)

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

TBOP11

TBOP10

Emergency stop board

(B-cabinet)
Fig.3.3.4 (a) Connection of the external power supply ON/OFF switch

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

When using the external ON/OFF switch, remove

the short-circuit plate between EXOFF1 and
EXOFF11,and attach the cable to these terminals. TBOP11

14:EXOFF11

13:EXOFF1

TBOP14
11:EXOFF1

Contact specifications
Withstand voltage: 50VDC (across contacts)
Current: 100mA min (min.load 2mA)

12:EXOFF11

(A-cabinet) (B-cabinet)
Fig.3.3.4 (b) Emergency stop board

EXOFF1-11 Close

Open

POWER ON

OFF
TOFF-ON t 5 sec

NOTE
1 When the external power supply ON/OFF switch is set to ON (closed), the
controller can be turned on and off by using the circuit breaker.
2 When the external power supply ON/OFF switch is set to OFF (open), the
controller cannot be turned on and off by using the circuit breaker.

Fig.3.3.4 (c) Connection of the external power supply switch ON and OFF

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

3.3.5 Connecting the External Emergency Stop

After connecting the safety signals like external emergency stop signal and/or safety fence signal, verify
that,
㺃All safety signals stop the robot as intended.
㺃There is no mistake in connection of safety signals.
TBOP14 Emergency stop board

TBOP13

(A-cabinet)

TBOP11

TBOP10

Emergency stop board

(B-cabinet)
Fig.3.3.5 (a) Connecting the external emergency stop

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

External emergency stop output

TBOP10

12:ESPB21
11:ESPB2

10:ESPB11
9:ESPB1

TBOP14

10:ESPB21 7:ESPB1
9:ESPB2 8:ESPB11

(A-cabinet) (B-cabinet)
Fig. 3.3.5 (b) Emergency stop board

For the circuit, see Fig. A (i) (j) (k) (l) in Appendix A, "TOTAL CONNECTION DIAGRAM".

Signal Description Current, voltage Min. load

ESPB1 ESPB11 The contact is open when one of the Rated contact: (Reference value)
ESPB2 ESPB21 TP emergency stop button or the 30 VDC, 5 A resistor load DC5V 10mA
Operator panel emergency stop button
is pressed. The contact is also open
while the controller is powered off
regardless of status of emergency
stop buttons. By connecting external
power supply to the emergency stop
circuit, the contact works even while
the robot controller is powered off.
(See “External power connection” of
this section) The contact is closed
during normal operation.

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

Internal TP emergency Operator panel

circuit stop button
emergency stop button
+24EXT
KA21

+24EXT
KA22
0EXT

0EX T
ESPB1
ESPB11
WARNING
Robot controller does not detect the ESPB2
breakdown of the contact of the ESPB21
emergency stop output signal. Take
countermeasures such as
inspecting the duplicated contacts,
or using a safety relay circuit that
can detect the breakdown.

Example of the connection with the safety relay unit

Robot controller Safety relay unit

ESPB1
ESPB11 Control

ESPB2 circuit

ESPB21

Contact output signal ensured safety

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

External power connection

TB OP10

TBOP14
16:EXT0V

16:EXT0V 13:EXT24V
13:EXT24V

External power source

z +24V(±10%)
z More than 300mA
z EMC Compliant(CE mark controller)

(A-cabinet) (B-cabinet)
Emergency stop board

The relays for the emergency stop input and output can be separated from the controller’s power. Please
connect the external +24V instead of the internal +24V,if the emergency stop output must not affect the
controller’s power.

Example of the connection

In case of not using the external In case of using the external power source
power source

External power source

EXT24V 24V EXT24V

INT24V INT24V

INT0V INT0V
EXT0V 0V EXT0V

+24V(s10%)
more than 300mA

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

External emergency stop input

TBOP13
12:EGS21

10:EGS11
11:EGS2

8:EAS21

4:EES21
6:EAS11

2:EES11
9:EGS1

7:EAS2

5:EAS1

3:EES2

1:EES1

External emergency stop switch

These terminals are
factory-jumpered. When using
Fence external emergency stop inputs,
remove the short-circuit plate.

Servo ON/OFF
input switch

Emergency stop board (A-cabinet)

TBOP11

Servo ON/OFF input switch

12:EGS21
11:EGS2
Fence 10:EGS11
9:EGS1
8:EAS21
7:EAS2
6:EAS11
5:EAS1
4:EES21
External emergency stop switch 3:EES2
2:EES11
1:EES1

These terminals are

factory-jumpered. When using
external emergency stop inputs,
remove the short-circuit plate.

Emergency stop board (B-cabinet)

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

Signal Description Current, voltage

EES1 Connect the contacts of the external emergency stop switch to these Open and close of
EES11 terminals. When the contacts are open, the robot stops according to 24VDC 0.1A
EES2 predetermined stop pattern. (Note 2) (Note 1)
EES21 When using the contacts of a relay or contactor instead of the switch,
connect a spark killer to the coil of the relay or contactor, to suppress
noise. When these terminals are not used, jumper them.
EAS1 These signals are used to stop the robot safely when the safety fence gate Open and close of
EAS11 is opened during operation in the AUTO mode. When the contacts are 24VDC 0.1A
EAS2 open in the AUTO mode, the robot stops according to predetermined stop (Note 1)
EAS21 pattern. (Note 2)
In the T1 or T2 mode and the DEADMAN switch is held correct position,
the robot can be operated even when the safety fence gate is open.
When using the contacts of a relay or contactor instead of the switch,
connect a spark killer to the coil of the relay or contactor, to suppress
noise. When these terminals are not used, jumper them.
EGS1 Connect the contacts of the servo-off input switch to these terminals. . Open and close of
EGS11 When the contacts are open, the robot stops according to predetermined 24VDC 0.1A
EGS2 stop pattern. (Note 2) (Note 1)
EGS21 When using the contacts of a relay or contactor instead of the switch,
connect a spark killer to the coil of the relay or contactor, to suppress
noise. When these terminals are not used, jumper them.

NOTE
1. Use a contact which minimum load is 5 mA less.
2. See Chapter 7 in SAFETY PRECAUTIONS.

Examples of connection of duplicate safety signals

Correct connection Wrong connection

External emergency stop switch External emergency stop switch

EES1 EES1
EES11 EES11
EES2 EES2
EES21 EES21

Discrepancy in duplicate inputs results in an alarm.

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Input timing of duplicate safety signals

Duplicate inputs are used for signals such as the external emergency stop signal, safety fence signal, and
servo off signal so that a response is made even when a single failure occurs. The statuses of these
duplicate input signals must always be changed at the same timing according to the timing specifications
provided in this section. The robot controller always checks that the statuses of the duplicate inputs are
the same, and if the controller finds a discrepancy, it issues an alarm. If the timing specifications are not
satisfied, an alarm may be issued because of a signal discrepancy.

EES1 Close
EAS1
EGS1 Open

EES2 Close
EAS2
EGS2 Open
TDIF TDIF

TOPEN

TOPEN

TDIF (input time difference)< 200msec

TOPEN (input hold period) > 2sec

Fig.3.3.5(c) Input timing of duplicate safety signals

Connecting external on/off and external emergency stop signal input/output

wires
FANUC's specification Manufacturer's Remark
specification (WAGO)
16-pole terminal block A63L-0002-0154#116 734-116
(TBOP14:A-cabinet)
(TBOP10:B-cabinet)
14-pole terminal block A63L-0002-0154#114 734-114
(TBOP11:B-cabinet)
12-pole terminal block A63L-0002-0154#112 734-112
(TBOP13:A-cabinet)
Operation lever A63L-0002-0154#230-M 734-230 2 pieces of 734-230 and operation
manual are included in FANUC's
specification

1. Detach the plug connector block from the emergency stop board.
2. Use the lever or insert the tip of a flat-blade screwdriver into the manipulation slot and push down its
handle.

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

3. Insert the end of the signal wire into the wire slot.
4. Pull out the lever or screwdriver.
5. Attach the plug connector block to the emergency stop board.

CAUTION
Do not insert a wire into the wire hole of a plug connector or pull it out with the
plug connector block mounted on the emergency stop board; otherwise, the
emergency stop board may be damaged.

FANUC recommends the lever (A05B-2600-K030) for connecting the signal wire to the plug connector
block instead of Flat-blade screwdriver.

Signal wire

Flat-blade Manipulation slot

screwdriver

Details of section A

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

3.3.6 Connecting the Non-Teaching Enabling (NTED) Signal

(CRMA96)(For B-cabinet)

CRMA96

Emergency stop board (B-cabinet)

Fig.3.3.6 Connecting the NTED Signal (B-cabinet)

NTED provides a way to connect an external enabling device to the robot. In the auto mode, robot moves
without reference to the state of the switch connected with NTED signal. CRMA96 connector is provided
in B-cabinet.
Refer to “APPENDIX A, Total connection Diagram Fig.A (i) (j) (k) (l)” about NTED circuit.
Input timing of NTED signal must comply with rules in the section “Input timing of duplicate safety
signals”.

CAUTION
After connecting a NTED switch, be sure to check the operation of this switch,
the emergency stop button on the operator’s panel, and the emergency stop
button on the teach pendant.

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3. ELECTRICAL CONNECTIONS CONNECTIONS B-83195EN/09

Enabling Device

NTED1
NTED11
NTED2
NTED21

CRMA96 connector
A1 NTED1 B1 NTED11
A2 NTED2 B2 NTED21
A3 (DM1) B3 (DM2)

CRMA96 connector Specification

TE Connectivity Specification FANUC Specification
Rece-housing 1-1318119-3 A63L-0001-0812#R06DX
Rece-contact(AWG18-22) 1318107-1 A63L-0001-0812#CRM

3.3.7 Connecting the Auxiliary Axis Brake (CRR65 A/B)

CRR65A/B

Fig.3.3.7 6-axis servo amplifier

CRR65 A/B
A1 BKA1 B1 BKA2
A2 B2
A3 COMMON B3 COMMON

Specification
TE Connectivity Specification FANUC Specification
Rece-housing 1-178128-3 A63L-0001-0460#032KSX
Rece-contact 175218-2 A63L-0001-0456#ASL

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B-83195EN/09 CONNECTIONS 3. ELECTRICAL CONNECTIONS

3.3.8 Connecting the Auxiliary Axis Over Travel (CRM68)

CRM68

Fig.3.3.8 6-axis servo amplifier

CRM68
A1 AUXOT1
A2 AUXOT2
A3

Specification
TE Connectivity Specification FANUC Specification
Rece-housing 1-1318120-3 A63L-0001-0812#R03SX
Rece-contact 1318107-1 A63L-0001-0812#CRM

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