Control units System overview
2 - 14
2.3.5 CR2QA components
The CR2QA control unit is comprised of the robot CPU Q172DRCPU and the DU2A drive unit.
R001762E
Fig. 2-12: Rear of DU2A drive unit
No. Name Function
Connection fro servo power supply
cable (CN1)
Robot power supply
Connection for signal cable (CN2) Robot control cable
Input for EMERGENCY-STOP push-
button (EMGIN)
Connection for EMERGENCY-STOP pushbutton
Output for EMERGENCY-STOP state
(EMGOUT)
Output of current EMERGENCY-STOP state
Slot for hand interface card (HND)
Slot for installing the interface card for the pneumatically operated
gripper hand
Additional stop input (SKIP) Additional robot stop
OPT1A
CPU connections
CON3
DCOUT
CNDISP
Tab. 2-6: Components on the rear of the DU2A drive unit
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