System overview Robot CPU (SQ series only)
SD-/SQ series 2 - 15
2.4 Robot CPU (SQ series only)
The control units of the SQ series have an external CPU, which can be added to an already existing
SQ system.
Always make sure to connect the EMI line, otherwise the EMERGENCY-OFF state is always enabled.
The maximum permissible cable length is 30 m.
Lay the cable in a cable channel or fix the cable near to the CPU to ensure a secure connection
with plugs CN1 and CN2.
The catch is only used to simplify the installation process. Fix the CPU using the fixing screw on the rack.
Use an external battery as otherwise the program in the SRAM, the parameters, the home position
data etc. will be lost.
R001435E
Fig. 2-13: Robot CPU Q172DRCPU
No. Name Function
7-segment LED display Status and alarm display
Code switch SW1
Setting the operating mode
Must be set to "0".
Code switch SW2
[RUN/STOP] selector switch Not used
EMI
EMERGENCY-STOP input
All servo motors can be stopped simultaneously via this input.
EMI ON (stop): EMERGENCY-STOP enabled
EMI OFF (connect 24 V DC): EMERGENCY-STOP disabled
CN1
Connection of control unit
CN2
Connection of an additional axis (up to 8 axes)
Lock The locking lever releases the plug when installed in the rack.
Catch
Used to fix the CPU to the rack
Fixing screw Screw to fix the CPU to the rack (M3 x 13)
Catch Used to fix the CPU to the rack
Battery connection
Connection for Q170DBATC battery unit
DISPLAY I/F Connection for the Teaching Box (R56TB)
TU I/F Connection for an RS422 connection to the control unit
Tab. 2-7: Overview of robot CPU components
8
4
0
C
0
8
C
4
BAT
FRONT
CN2 CN1
EMI
CAUTION
STOP RUN
12
SW
Q172DRCPU
ACFAIL
RIO
MPG
TU I/F
DISPLAY I/F
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