CD c5gp - Sec1 2 3

1 2 3 4 5 6 7 8
LISTA DOCUMENTI
A
DOCUMENT LIST
DESCRIZIONE FOGLI FOGLIO 2 ÷ 4

DESCRIPTION SHEET SHEET 2 ÷ 4
CONFIGURAZIONE SISTEMA FOGLIO 5

SYSTEM CONFIGURATION SHEET 5
INTERCONNESSIONE A BLOCCHI FOGLIO 6 13

BLOCK INTERCONNECTION SHEET 6 13
REVISIONI
SCHEMA ELETTRICO CIRCUITALE FOGLIO 14 61
B REVISIONS
CIRCUIT DIAGRAM SHEET 14 61
N. REVISIONE DATA VISTO

DESCRIZIONE SEGNALI CONNETTORE X30 FOGLIO 62
N. REVISION DATE CHECKED
X30 CONNECTOR DESCRIPTION SIGNALS SHEET 62
TAVOLE DI RIFERIMENTO COMPONENTI FOGLIO 63 67

REFERENCE TABLES SHEET 63 67
SCHEMA DI INTERCONNESSIONE CABINA FOGLIO 68 73

CABINET INTERCONNECTION DIAGRAM SHEET 68 73
DISPOSIZIONE COMPONENTI FOGLIO 74 88

PARTS LOCATION SHEET 74 88
C
TAVOLA CONFIGURAZIONE MULTI SERVODRIVE FOGLIO 89 91

MULTI SERVODRIVE CONFIGURATION TABLE SHEET 89 91
ENG.-PROGETT. DRAWNER-DISEGN. CHECKED-VISTO MODIF. SH.-FG. MODIF. CHECKED-VISTO TITLE - TITOLO DATE-DATA DRAWING No. - DISEGNO N° REV. SHEET-FOGLIO
C5GP-SEC1.0 - 2.0 - 3.0 SAFE EUROPEAN CONTROL
A. DIELI ACER G. ALOTTO LISTA DOCUMENTI
26/03/2018 CR17.9322.33 00 /
COMAU DOCUMENT LIST FILENAME-NOMEFILE CR1793223300
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NUMERO FG. NUMERO FG.

SH. NUMBER SH. NUMBER
1 LISTA DOCUMENTI 23 I/O DIGITALI
DOCUMENT LIST DIGITAL I/O
2 DESCRIZIONE FOGLI 24 ABILITAZIONE ASSI
A DESCRIPTION SHEET AXIS ENABLING
3 DESCRIZIONE FOGLI 25 LINEE DI COMUNICAZIONE
DESCRIPTION SHEET LINES OF COMMUNICATION
4 DESCRIZIONE FOGLI 26 LINEE DI COMUNICAZIONE
DESCRIPTION SHEET LINES OF COMMUNICATION
5 CONFIGURAZIONE SISTEMA 27 LINEE DI COMUNICAZIONE
SYSTEM CONFIGURATION LINES OF COMMUNICATION
6 INTERCONNESSIONE A BLOCCHI 28 TERMINALE DI PROGRAMMAZIONE WIRED
BLOCK INTERCONNECTION PROGRAMMING TERMINAL UNIT WIRED
7 INTERCONNESSIONE A BLOCCHI 29 INTERCONNESSIONI CONTROLLO/ROBOT
BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
B BLOCK INTERCONNECTION CONTROL/ROBOT SIGNALS INTERFACE
14 INTERRUTTORE GENERALE E FILTRO RETE 36 KIT HIGH SPEED INPUT ASSI OPZIONALE
C MAIN DISCONNECTING DEVICE AND LINE FILTER OPTIONAL HIGH SPEED INPUT AXIS KIT
15 ALIMENTAZIONE DRIVES 37 KIT OLTRECORSA ASSI OPZIONALE
SUPPLY DRIVES OPTIONAL OVERTRAVEL AXIS KIT
16 ALIMENTAZIONE SERVIZI 38 SEGNALI DI SICUREZZA
SERVICES POWER SUPPLY SAFETY SIGNAL
17 DISTRIBUZIONE 24Vdc 39 SEGNALI DI SICUREZZA
24Vdc DISTRIBUTION SAFETY SIGNAL
18 DISTRIBUZIONE 24Vdc 40 KIT ALIMENTAZIONE APPLICAZIONI INTERNE
24Vdc DISTRIBUTION INTERNAL SUPPLY APPLICATION KIT
19 DISTRIBUZIONE 24Vdc 41 KIT ALIMENTAZIONE APPLICAZIONI INTERNE
24Vdc DISTRIBUTION INTERNAL SUPPLY APPLICATION KIT
20 I/O SAFETY & DISTRIBUTION MODULE 42 ASSE AGGIUNTIVO
D
I/O SAFETY & DISTRIBUTION MODULE ADDITIONAL AXIS
21 DISTRIBUZIONE 24Vdc 43 ASSE AGGIUNTIVO
24Vdc DISTRIBUTION ADDITIONAL AXIS
22 SAFE I/O DIGITALI 44 ASSE AGGIUNTIVO
SAFE DIGITAL I/O ADDITIONAL AXIS
A. DIELI ACER G. ALOTTO DESCRIZIONE FOGLI
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COMAU DESCRIPTION SHEET FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

45 ASSE AGGIUNTIVO 67 PAGINA INTENZIONALMENTE BIANCA
ADDITIONAL AXIS INTENTIONALLY LEFT BLANK
46 ASSE AGGIUNTIVO 68 SCHEMA DI INTERCONNESSIONE CABINA
A ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
ADDITIONAL AXIS CABINET INTERCONNECTION DIAGRAM
50 12 INPUT / 12 OUTPUT DIGITALI 72 SCHEMA DI INTERCONNESSIONE CABINA
DIGITAL 12 INPUT / 12 OUTPUT CABINET INTERCONNECTION DIAGRAM
51 24 INPUT / 24 OUTPUT DIGITALI 73 SCHEMA DI INTERCONNESSIONE CABINA
DIGITAL 24 INPUT / 24 OUTPUT CABINET INTERCONNECTION DIAGRAM
52 24 INPUT / 24 OUTPUT DIGITALI 74 DISPOSIZIONE COMPONENTI
B DIGITAL 24 INPUT / 24 OUTPUT PARTS LOCATION
53 2 INPUT ANALOGICI - 2 OUTPUT ANALOGICI 75 DISPOSIZIONE COMPONENTI
2 ANALOG INPUT - 2 ANALOG OUTPUT PARTS LOCATION
54 2 INPUT E 2 OUTPUT ANALOGICI 76 DISPOSIZIONE COMPONENTI
2 ANALOG INPUT & 2 ANALOG OUTPUT PARTS LOCATION
55 INTERFACCIA DEVICENET 77 DISPOSIZIONE COMPONENTI
DEVICENET INTERFACE PARTS LOCATION
56 INTERFACCIA PROFIBUS 78 DISPOSIZIONE COMPONENTI
PROFIBUS INTERFACE PARTS LOCATION
57 INTERFACCIA PROFINET 79 DISPOSIZIONE COMPONENTI
PROFINET INTERFACE PARTS LOCATION
58 INPUT OUTPUT MULTIBUS 80 DISPOSIZIONE COMPONENTI
C INPUT OUTPUT MULTIBUS PARTS LOCATION
59 TIP DRESSER COMMAND OPZIONALE 81 DISPOSIZIONE COMPONENTI
OPTIONAL TIP DRESSER COMMAND PARTS LOCATION
60 DOPPIO TIP DRESSER COMMAND OPZIONALE 82 DISPOSIZIONE COMPONENTI
OPTIONAL DOUBLE TIP DRESSER COMMAND PARTS LOCATION
61 PAGINA INTENZIONALMENTE BIANCA 83 DISPOSIZIONE COMPONENTI
INTENTIONALLY LEFT BLANK PARTS LOCATION
62 DEFINIZIONE SEGNALI CONNETTORE X30 84 DISPOSIZIONE COMPONENTI
X30 CONNECTOR DESCRIPTION SIGNALS PARTS LOCATION
63 TAVOLA DI RIFERIMENTO COMPONENTI 85 DISPOSIZIONE COMPONENTI
REFERENCE TABLE PARTS LOCATION
D
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89 TAVOLA CONFIGURAZIONE MULTI SERVODRIVE
MULTI SERVODRIVE CONFIGURATION TABLE
A MULTI SERVODRIVE CONFIGURATION TABLE
MULTI SERVODRIVE CONFIGURATION TABLE
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SCHEMA CIRCUITALE ROBOT

CIRCUIT DIAGRAM ROBOT
SCHEMA CIRCUITALE DEL CONTROLLO

CIRCUIT DIAGRAM CONTROL SYSTEM
A
COMAU S.p.A.
Via Rivalta 30
10095 Grugliasco (TO), Italy
CONTROL UNIT
UNITA' DI CONTROLLO
PART No.
N° DI CODICE
DATE & SERIAL No

DATA E N° DI SERIE
DEGREE OF PROTECTION WEIGHT

GRADO DI PROTEZIONE PESO
SHORT CIRCUIT CURRENT RATING
MASSIMA CORRENTE DI CORTO CIRCUITO
POWER SUPPLY
ALIMENTAZIONE
X60 X10
X1 X2
CAVI DI CONNESSIONE
CONNECTION CABLE
A. DIELI ACER G. ALOTTO CONFIGURAZIONE SISTEMA
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COMAU SYSTEM CONFIGURATION FILENAME-NOMEFILE CR1793223300
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ALIMENTAZIONE ELETTRICA DISTRIBUZIONE ALIMENTAZIONI
POWER SUPPLY POWER SUPPLY DISTRIBUTION VENTOLE DISSIPATORE AMS
T100 AMS HEATSINK FANS
X120
OPZIONALE
OPTIONAL
ETO E111 E112 E113
ELECTRICAL ACO SSK TDK
TRANSFORMER Q122 AIR CONDITIONER KIT Q120 SERVICE SOCKET KIT Q102 TIP DRESSER COMMAND
S102
Micro Porta
A Q100 Door Switch
T110
380/440/500V K105 K106
VENTOLA INT. CABINA
X13 X13
INT. CABINET FAN
230V E110
Z1
Filtro rete BALLAST
Main filter Q121
R1
CONDIZIONATORE D'ARIA M1 M2
X2/CAB
AIR CONDITIONER
X115 EXTERNAL EXTERNAL
X1/CAB TIP DRESSER 1 TIP DRESSER 2
BAT 1 BAT 1
PRESA DI SERVIZIO BATTERY 1 BATTERY 1
SERVICE SOCKET
- + - +
B
ACOPOS MULTI SERVODRIVE
X2 LIM X1
BUS DC OK LIMITER
DC BUS OK
24V X5B X1 X1 X3 X2 X310 X103B X100 X101 X119 X102

X5A
DISABLE 24V INT 24V IN 24V BKP 24V FAN 24V BAT
APC PPS ASM IAM1 IAM2 IAM3 IAM4 IAM5
ACOPOS PC PASSIVE POWER AUX. SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS
SAFE MC SAFE MC SAFE MC MODULE MODULE BCM
MODULE MODULE MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6 BATTERY CHARGER
C MODULE
600V BUS DC INTERNO
INTERNAL 600V DC BUS
24Vdc BUS DC INTERNO

INTERNAL 24Vdc DC BUS
+24V 24V ROBOT

24V INT +24V I/O DRIVE ON 0V(24Vdc) 24V DRIVE OFF
FMP X103A X106A X106B X106C X106C

FEED-THROUGH MOUNTING PLATE
24V EXT
X102 X1/CAB
SOLO CON ASSI AGGIUNTIVI SOLO CON KIT CONNETTORE DI ALIMENTAZIONE SOLO CON KIT AUTOTRASFORMATORE
ONLY WITH ADDITIONAL AXIS ONLY WITH MAIN CONNECTOR KIT ONLY WITH AUTOTRANSFORMER KIT
D SLU-1 BC-1 DO-1
SAFE LOGIC BUS 8 OUTPUT
UNIT CONTROLLER MODULE X30 SP X10 X60d
SOLO CON CONDIZIONATORE SOLO CON KIT PRESA DI SERVIZIO SOLO CON TIP DRESSER COMMAND CIP
BASE
ONLY WITH AIR CONDITIONER ONLY WITH SERVICE SOCKET KIT ONLY WITH TIP DRESSER COMMAND
X128
Applicazioni
SOLO CON CONNETTORE X30 Applications
SOLO CON ALIMENTAZIONE ESTERNA SOLO CON DOPPIO TIP DRESSER COMMAND SOLO CON C5GP-SEC2.0 E SEC3.0
ONLY WITH CONNECTOR X30 ONLY WITH EXTERNAL SUPPLY ONLY WITH DOUBLE TIP DRESSER COMMAND ONLY WITH C5GP-SEC2.0 & SEC3.0 Trasferta Robot Robot
External Equipment Robot Robot
A. DIELI ACER G. ALOTTO INTERCONNESSIONE A BLOCCHI
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COMAU BLOCK INTERCONNECTION FILENAME-NOMEFILE CR1793223300
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DISTRIBUZIONE 24V SDM

SDM 24V DISTRIBUTION
24V (ASM) BATTERY
X100 X102
V24 INT
GND-V0
BCM DL1
BATTERY CHARGER MODULE
BMS BLOCK BATTERY CHANGER CURRENT SENSING CURRENT SENSING

(C_INT) (C_EXT)
B
V24BKP VINT VEXT
V24BKP VINT VEXT
SS1
CMD01 CMD02 CMD03 CMD04 CMD05 CMD06 CMD07 SS2
V24DRIVEON
8A 2A 1A 5A 0.5A 2A 4A 4A
V24ROBOT
V24DROFF
DL2 DL9 DL10 DL6 DL8 DL7 DL4 DL5
C
V24FAN
V24BKP
V24INT
V24TP
V24IO
V24ROBOT
V24DROFF
V24DROFF
GND-V0
GND-V0
GND-V0
GND-V0
GND-V0
GND-V0
GND-V0
V24FAN
V24 INT
V24 INT
V24 INT
V24TP
V24IO
X103A X103B X103C X106A X106B X106C X110 X119

D
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CIRCUITO CONTROLLO ASSI

AXIS CONTROL CIRCUIT
SOLO CON ASSI AGGIUNTIVI
ALIMENTAZIONE SERVODRIVE ONLY WITH ADDITIONAL AXIS
SUPPLY SERVODRIVE
A X5A
IAM1 IAM2 IAM3 IAM4 or IAM5 IAM4 or IAM5 IAM4 IAM4 IAM4
INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER
PPS AXIS AXIS AXIS SINGLE AXIS SINGLE AXIS DOUBLE AXIS DOUBLE AXIS DOUBLE AXIS
PASSIVE POWER SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE MODULE MODULE MODULE MODULE MODULE
SUPPLY AXIS 1-2 AXIS 3-4 AXIS 5-6 AXIS 8/9 AXIS 7/9 AXIS 7-8 AXIS 7-8 AXIS 7-8
ETI1-2 ETI3-4 ETI5-6 RTI ETI RTI-RTI ETI-RTI ETI-ETI
X2 Robot Alarm/Air Input

X4B Brake Command 2
X4B Brake Command 4
X4B Brake Command 6
X4B Brake Command 8
X4B Brake Command 8
X4B Brake Command 8

X4A Brake Command 1
X4A Brake Command 3
X4A Brake Command 5
X4A Brake Command 7
X4A Brake Command 7
X4A Brake Command 7

X4A Brake Command
X4A Brake Command

X2 Hight Speed Input
X2 Overtravel Axis
X5B Power Axis 2
X5B Power Axis 4
X5B Power Axis 6
X5B Power Axis 8
X5B Power Axis 8
X5B Power Axis 8

X5A Power Axis 1
X5A Power Axis 3
X5A Power Axis 5
X5A Power Axis 7
X5A Power Axis 7
X5A Power Axis 7

X11 Resolver 8/9
X11 Encoder 7/9

X5A Power Axis
X5A Power Axis
X11 Resolver 7
X11 Resolver 8
X11 Resolver 8
X11 Encoder 1
X11 Encoder 2
X11 Encoder 3
X11 Encoder 4
X11 Encoder 5
X11 Encoder 6
X11 Encoder 7
X11 Encoder 7
X11 Encoder 8
B
X2
X2
X2
X2
X2
FMP
CIP
CONNECTORS INTERFACE PANEL
X10 X60 X62 or X63 X62 or X63 X61 X62 X61 X62 X61 X62
Robot Robot Asse Aggiuntivo Asse Aggiuntivo Assi Aggiuntivi Assi Aggiuntivi Assi Aggiuntivi
Robot Robot Additional Axis Additional Axis Additional Axis Additional Axis Additional Axis
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OPZIONI COLLEGABILI
OPTIONS CONNECTABLES
BCM DI-1 DO-1 FMP

BATTERY CHARGER MODULE 12 INPUT MODULE 8 OUTPUT MODULE FEED-THROUGH MOUNTING PLATE
A IAM1 IAM2 IAM3

INVERTER INVERTER INVERTER
AXIS AXIS AXIS
SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6
ETI1-2 ETI3-4 ETI5-6

V24DROFF
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
GND-V0
INPUT 1
INPUT 2
INPUT 3
INPUT 4

X4B Brake Command 2
X4B Brake Command 4
X4B Brake Command 6

X4A Brake Command 1
X4A Brake Command 3
X4A Brake Command 5

V24IO
X2 Overtravel Axis
X5B Power Axis 2
X5B Power Axis 4
X5B Power Axis 6

X5A Power Axis 1
X5A Power Axis 3
X5A Power Axis 5

X11 Encoder 1
X11 Encoder 2
X11 Encoder 3
X11 Encoder 4
X11 Encoder 5
X11 Encoder 6
X106
X128
B
P1
CONTAORE OPZIONALE
OPTIONAL HOUR METER
X128A X138
ISAM5 HSM5
INTERNAL SUPPLY APPLICATION MODULE HIGH SPEED INPUT MODULE
$HDIN[1..4]
$HDIN[5..8]
$HDIN[5..8]
24Vdc EXT FIELD_BUS
24Vdc EXT FIELD_BUS
24Vdc EXT FIELD_BUS
24Vdc EXT FIELD_BUS
HSI 1
HSI 3
HSI 3
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc SAFE
24Vdc I/O
24Vdc I/O
24Vdc I/O
24Vdc I/O
24Vdc I/O
24Vdc I/O
24Vdc I/O
24Vdc I/O
X136 X137 X138
X124-1 X126-1 X128-1 X130-1 X106-1 X106-2 X106-3 X106-4
APPLICAZIONI 3÷6 (ESPANSIONE) ALIMENTAZIONE UTENTE (ESPANSIONE)

APPLICATIONS 3÷6 (EXPANSION) USER'S SUPPLY (EXPANSION)
CIP
SOLO CON KIT ALIMENTAZIONE APPLICAZIONI INTERNE

ONLY WITH INTERNAL SUPPLY APPLICATION KIT
X3A X3B X3C X3D1 X3D2 X3D3 X3D4
SOLO CON KIT SEGNALI ROBOT

ONLY WITH SIGNAL MACHINE KIT
D
SOLO CON KIT HIGH SPEED INPUT ASSI X10 X61 or X62 or X63
ONLY WITH HIGH SPEED INPUT AXIS KIT
SOLO CON KIT OLTRECORSA ASSI SOLO CON CONTAORE Robot Assi Aggiuntivi
ONLY WITH OVERTRAVEL AXIS KIT ONLY WITH HOUR METER
Robot Additional Axis
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COLLEGAMENTI LINEE SERIALI

SERIAL LINE CONNECTIONS
ETH POWER LINK ETH POWER LINK ETH POWER LINK ETH POWER LINK ETH POWER LINK
A
X3A X5A X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3 X4
APC PPS ASM IAM1 IAM2 IAM3 IAM4 IAM5 BCM
ACOPOS PC PASSIVE POWER AUXILIARY SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER BATTERY
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS CHARGER
SAFE MC SAFE MC SAFE MC MODULE MODULE MODULE
USB PORTS
USB1 USB2 USB3 USB4 ETH1 ETH2
B
FMP
Usb2 ETH1 ETH2 FEED-THROUGH MOUNTING PLATE
ETH POWER LINK
USB ETH
X3B X3A X3B X3A
SLU-1
C SAFE LOGIC UNIT
(SL8110)
X124
PFG-PBC (BC1083)
POWER LINK BUS CONTROLLER
SUB SLOT 3 SUB SLOT 2 SUB SLOT 1
TP5
BC-1 (BB82)
SOLO CON ASSI AGGIUNTIVI BUS CONTROLLER BASE
ONLY WITH ADDITIONAL AXIS
D
SOLO CON KIT USB

ONLY WITH USB KIT
SOLO CON KIT ETHERNET

ONLY WITH ETHERNET KIT
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COLLEGAMENTI CIRCUITI DI SICUREZZA

SOLO CON CONNETTORE X30
SAFETY CIRCUITS CONNECTION ONLY WITH CONNECTOR X30
EMG.STOP REMOTO AUTO STOP (CANCELLI) STOP GENERALE
REMOTE EMG.STOP AUTO STOP (FENCE) GENERAL STOP
E-STOP PTU CH1B
E-STOP PTU CH2B

E-STOP PTU CH1A
E-STOP PTU CH2A

A
X30 4 6 5 7 18 20 19 21 25 27 26 28 11 13 12 14
X122 19 13 20 14 15 16 17 18 7 8 21 9 22 10
X128 5 X128 6
X128 11 X128 12
B
X124 2 3 4 5
ENABLING
E.STOP DEVICE
E.STOP ENABLING
DEVICE
C TP5
WIRED TEACH PENDANT
X124 11 7 9 12 10 8 1 18 17
16 15 26 25 16 26 11 21 12 22 15 25 22 23 13 11 21 12
Pulse 3
Pulse 4
Pulse 1
Pulse 2
SI SI SI SI SI SI SI SI SI SI SI SI SI SI
9 10 11 12 13 21 12 22 4 6 5 1 2 3
EXT. E-STOP EXT. E-STOP AUTO STOP AUTO STOP GEN STOP GEN STOP E-STOP E-STOP MONITOR ENABLING ENABLING PROG. AUTO AUTO
CH1 CH2 CH1 CH2 CH1 CH2 CH1 CH2 E-STOP DEVICE DEVICE MODE T1 MODE MODE
D CH2 CH1 LOCAL REMOTE
TEST SIGNALS TEST SIGNALS
PULSED PULSED
SI-1
20 SAFE INPUT MODULE
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COLLEGAMENTI CIRCUITI DI SICUREZZA

SAFETY CIRCUITS CONNECTION
SO-1
4 SAFE OUTPUT MODULE
DRIVE DRIVE
A ON ON ENABLE 1 ENABLE 2
SO SO SO SO
3 4 1 2
+ - + - + - + -
13 14 23 24 11 12 21 22
X130 X108 X109

2 4 3 5 1 3 2 4
B
1 3 2 6
X5A X5B X5C X5D X5E
BCM
BATTERY CHARGER MODULE 4 5
Abilitazione Assi Aggiuntivi
Abilitazione Assi Aggiuntivi

X130
Enable Additional Axis
Enable Additional Axis

C
X1 X1
14 24
IAM1 IAM2 IAM3 IAM4 IAM5

INVERTER INVERTER INVERTER INVERTER INVERTER
SI SI AXIS AXIS AXIS AXIS AXIS
7 8 SAFE MC SAFE MC SAFE MC MODULE MODULE
FEEDBACK FEEDBACK AXIS 1-2 AXIS 3-4 AXIS 5-6
DRIVE DRIVE
ON ON
SI-1A

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OPZIONI COLLEGABILI
DI-1 DCM PBM PNM DI-2 DO-2
6 OUTPUT MODULE (DO6322)
2 ANALOG OUTPUT (AO2622)
2 ANALOG OUTPUT (AO2622)

12 INPUT MODULE DEVICE NET MASTER PROFIBUS DP PROFINET IO 12 INPUT MODULE 8 OUTPUT MODULE
12 INPUT MODULE (DI9371)
2 ANALOG INPUT (AI2622)
2 ANALOG INPUT (AI2622)

POWER SUPPLY (PS2100)

INTERFACE MASTER CONTROLLER
A
24Vdc EXT FIELD_BUS
INPUT 3 (THERMAL)
INPUT 4 (THERMAL)
24Vdc SAFE
PROFINET
PROFINET
24Vdc I/O
INPUT 1
INPUT 2
PORT 1
PORT 2
CAN_H
CAN_L
PFB B
PFB A
BC-1 (BB82)
V+
V-
BUS CONTROLLER BASE
X128 DNP PFP
SOLO CON INTERFACCIA DEVICENET

ONLY WITH DEVICENET INTERFACE
SOLO CON INTERFACCIA PROFIBUS

ONLY WITH PROFIBUS INTERFACE
C
SOLO CON INTERFACCIA PROFINET
ONLY WITH PROFINET INTERFACE
SOLO CON 12 INPUT / 12 OUTPUT DIGITALI

ONLY WITH DIGITAL 12 INPUT / 12 OUTPUT
CIP
CONNECTORS INTERFACE PANEL SOLO CON 24 INPUT / 24 OUTPUT DIGITALI
ONLY WITH DIGITAL 24 INPUT / 24 OUTPUT
SOLO CON 2 INPUT ANALOGICI

ONLY WITH 2 ANALOG INPUT
SOLO CON 2 OUTPUT ANALOGICI

D ONLY WITH 2 ANALOG OUTPUT
X93 or X94 X93 or X94 X93 or X94 X93 or X41 SOLO CON 2 INPUT E 2 OUTPUT ANALOGICI
ONLY WITH 2 ANALOG INPUT & 2 ANALOG OUTPUT
SOLO CON INPUT OUTPUT MULTIBUS

APPLICAZIONI APPLICAZIONI APPLICAZIONI APPLICAZIONI ONLY WITH INPUT OUTPUT MULTIBUS
APPLICATIONS APPLICATIONS APPLICATIONS APPLICATIONS
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ALIMENTAZIONE TRIFASE
THREE PHASE POWER SUPPLY
ATTENZIONE CONDUTTORI SOTTO CABLATO PER 400V-500V 50/60Hz

TENSIONE CON INTERRUTTORE APERTO WIRED FOR 400V-500V 50/60Hz
WARNING: WIRES ENERGIZED WHIT
MAIN SWITCH OPEN
R S T
A X120 1 2 3
BLK 1
BLK 2
BLK 3
CR17133461 PE X119 /CIP
10AWG
GND1 GND2 GND3 GND4 GND5
Q100 1 3 5
10AWG
Magn. 350A YEL/GRN
Ther. 25A 10AWG
10AWG YEL/GRN
YEL/GRN
B INTERRUTTORE
MAGNETOTERMICO 2 4 6
THERM/MAGN.
MAIN SWITCH SOLO CON KIT CONNETTORE DI ALIMENTAZIONE
ONLY WITH MAIN CONNECTOR KIT
CR17230061
10AWG BLK
SOLO CON CONDIZIONATORE
ONLY WITH AIR CONDITIONER
R S T
SOLO CON KIT PRESA DI SERVIZIO

ONLY WITH SERVICE SOCKET KIT
Z1 L1 L2 L3 Z1 L1 L2 L3
LINE LINE
FILTRO RETE FILTRO RETE SOLO CON KIT AUTOTRASFORMATORE

ONLY WITH AUTOTRANSFORMER KIT
LINE FILTER LINE FILTER
C
LOAD LOAD
SOLO CON TIP DRESSER COMMAND
L1' L2' L3' L1' L2' L3'
ONLY WITH TIP DRESSER COMMAND
YEL/GRN
BLK 1
BLK 2
BLK 3
SOLO CON DOPPIO TIP DRESSER COMMAND
CR17230162
ONLY WITH DOUBLE TIP DRESSER COMMAND
T+ 10AWG
T-
CR17131264
X1/CAB R 507 507 S 508 508 T 509 509 GND
18AWG BLU X1 /CAB 507 507 508 508 509 509 GND
YEL/GRN
BLK1
BLK2
BLK1
BLK2
BLK
BLK
BLK
575R 575S 575T S1

D
CR17230262 CR17432461 CR17134462 CR17131565 CR17131565
105° 10AWG 14AWG 16AWG 14AWG 14AWG
GND5
T+
L1
L2
L3
L1
L3
L1
L3
L3
L2
L1
L3
L2
L1
T-
T100 10 kVA
480R 480S 480T AUTOTRASFORMATORE
15.1A
15.1A
15.2A
15.2A
15.2A
15.2A
16.4A
16.4A
16.6A
16.6A
59.1A
59.1A
59.1A
60.1A
60.1A
60.1A
AUTOTRANSFORMER
A. DIELI ACER G. ALOTTO INTERRUTTORE GENERALE E FILTRO RETE
26/03/2018 CR17.9322.33 00 /
COMAU MAIN DISCONNECTING DEVICE AND LINE FILTER FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
14.3D
14.3D
14.3D
14.4D
14.4D
14.4D
T+
GND5
T-
L1
L2
L3
BALLAST
R1
YEL/GRN
A
BLK
BLK
BLK
CR17230262
10AWG
FMP
X5A X5B FEED-THROUGH MOUNTING PLATE
L1 L2 L3 RB+ RB- ASM

ALIMENTAZIONE DRIVES AUXILIARY SUPPLY MODULE
SUPPLY DRIVES BUS 600V DC INTERNO
B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
DC -
AC
+
DC
DC BUS DC OK 5A
DC BUS OK
PPS
PASSIVE POWER SUPPLY
4 6 6 4 1 2 3 4 2 3 4 1
X1 X1 X2 X3
CR17230461 CR17230563 CR17230563 CR17230563

18AWG BLU 18AWG 10AWG 14AWG
BLK 2
BLK 1
BLK 2
BLK 1
BLK 1
BLK 2
DISABLE +24V
+24V OUT 1
+24V OUT 1
D
COM (4)
COM (2)
COM (2)
20.8A
20.8A
17.2A
17.2A
18.1A
18.1A
SOLO CON KIT AUTOTRASFORMATORE
A. DIELI ACER G. ALOTTO ALIMENTAZIONE DRIVES
26/03/2018 CR17.9322.33 00 /
COMAU SUPPLY DRIVES FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
18.8D
19.2D
14.5D
14.5D
14.6D
14.6D
+24V DRIVE ON
0V(24Vdc)
L1
L3
L1
L3
BLK1
BLK2
BLK1
BLK2
CR17432461 CR17134462
A 14AWG 16AWG
508 509
ACO Q120 SSK

1 3
AIR CONDITIONER KIT SERVICE SOCKET KIT
2A
CR17132461
18AWG 508 509 510
Q122 1 3 5 2 4
2A CR17134462
16AWG BLK
BLK1
BLK2
24 510 511
S102 301
B MICRO PORTA 2 4 6
X13 /SSK 0 380 440 500 302
DOOR SWITCH 23
YEL/GRN
510 511 512 16AWG BLK
BLK1
BLK2
T110 0 390V 427V 490V

CR17432461 460VA
14AWG BLK 0 115V 0 115V
CR17432461
18AWG
300 301 302 303
16AWG RED
CR17134462
16AWG YEL/GRN
95 96
X13 /ACO 200 201 201 202 GND 0V 400 460 500 1 3
C Q121
3A
P1 + - 2 4
AIR CONDITIONER CABLE AIR CONDITIONER CABLE
18AWG 18AWG
BLK1 or BRN
BLK2 or BRN
BLK1 or RED
BLK4 or BLU
BLK2 or BLK
BLK3 or BLK
h
YEL/GRN
CR17134462
YEL/GRN
16AWG
BLK1
BLK2
CONTAORE OPZIONALE
OPTIONAL HOUR METER 372 373
DOOR SWITCH
DOOR SWITCH
0V
400V
460V
500V
GROUND
SOLO CON CONTAORE

X115 L L PE
ONLY WITH HOUR METER

D
PRESA DI SERVIZIO
SOLO CON CONDIZIONATORE SERVICE SOCKET
ONLY WITH AIR CONDITIONER CONDIZIONATORE D'ARIA
AIR CONDITIONER
SOLO CON KIT PRESA DI SERVIZIO

ONLY WITH SERVICE SOCKET KIT
A. DIELI ACER G. ALOTTO ALIMENTAZIONE SERVIZI
26/03/2018 CR17.9322.33 00 /
COMAU SERVICES POWER SUPPLY FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
15.6D
15.6D
BATT1 BATT2
BATTERY 1 BATTERY 2
COM (2)
+24V OUT 1
- + - +
A BATTERY BATTERY
- + - +
BLK 1
BLK 2
BLK1
BLK2
BLU
CR17230563 CR17230663
10AWG 16AWG
CR17230663
16AWG BLU
X100 /BCM 1 2 X102 /BCM 1 2 3 4
DL1 BCM
0VIN 24VIN BATTERY CHARGER MODULE
B
CURRENT SENSING CURRENT SENSING

BATTERY CHANGER (C_INT) (C_EXT)
BMS BLOCK
V24BKP VINT VEXT
SS1
C
V24BKP VINT HS_DRV VEXT
SS2
CMD01 CMD02 CMD03 CMD04 CMD05 CMD06 CMD07
DIAG2
DIAG1
CMD1
CMD2
20.1B
20.1B
20.2B
20.2B
DL2 8A DL9 2A DL10 1A DL6 5A DL8 0.5A DL7 2A DL4 4A DL5 4A
V24DRIVEON
V24ROBOT
V24DROFF
D
V24FAN
V24BKP
V24INT
V24TP
V24IO
0VIN
0VIN
0VIN
18.3A
19.1A
20.2A
18.2A
18.4A
19.3A
19.5A
19.5A
19.4A
18.6A
18.7A
A. DIELI ACER G. ALOTTO DISTRIBUZIONE 24Vdc
26/03/2018 CR17.9322.33 00 /
COMAU 24Vdc DISTRIBUTION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
15.6D
15.6D
17.2D
17.1D
17.3D
17.7D
17.8D
BCM
V24IO
COM (2)
V24BKP
V24DRIVEON
+24V OUT 1
0VIN
V24INT
A
CR17230563
14AWG
BLK 1
BLK 2
X2 /LIM 1 3
LIM
LIMITER
1 3
X1 /LIM
B
3 4 1 2 1 2 1 2 1 2 1 2 3 4 1 2 3 4
CR17230563
14AWG X101 /BCM X103A /BCM X103B /BCM X103C /BCM X106A /BCM X106B /BCM
0V(24Vdc)
+24dc INT
BLK 1
BLK 2
CR17230563 CR17230662 CR17230563 CR17231266 CR17230662 CR17231266 CR17132461

18AWG 18AWG 18AWG 18AWG 18AWG 18AWG 18AWG
BLK 2
BLK 1
BLK 2
BLK 1
BLK 1
BLK 2
BLK 2
BLK 2
BLK 4
BLK 1
+24V DRIVE ON
+24V DRIVE ON
+24dc BKP
0V(24Vdc)
+24V INT
+24V INT
+24V I/O
+24V I/O
D
COM (2)
COM (4)
25.1A
25.1A
21.1A
21.2A
20.8A
20.8A
38.4A
23.8A
38.5A
16.1A
SOLO CON CONTAORE
ONLY WITH HOUR METER
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
17.1D
17.3D
17.6D
17.5D
17.4D
BCM
V24TP
V24DROFF
V24ROBOT
0VIN
V24FAN
FAN CTRL
A
OUTPUT
BCM
1 2 3 4 1 2 3 1 2 3 4 5 6 8 7
X106C /BCM X110 /BCM X119 /BCM

B CR17230967
18AWG
BLK 2
BLK 1
BLK 3
X2 /CAB
24VF
X2/CAB
88 88 88 88
NTC
X2/CAB
79 79 79 79
X2/CAB
78 78 78 78
C CR17231266 CR17132461 CR17230662 CR17130263 CR17231266 CR17230967 CR17231762 CR17231662

18AWG 18AWG 18AWG 20AWG 24AWG 18AWG 22AWG 22AWG
11-GRA/PNK
12-RED-BLU
8-RED
6-PNK
7-BLU
9-BLK
BLK 3
BLK 1
BLK 2
BLK 1
BLK 2
BLK 1
BLK 2
BLK 1
BLU
10-VIO
5-GRA
8-RED
8-RED
6-PNK
7-BLU
7-BLU
9-BLK
4-YEL
1 3 2 1 2 3 1 2 3 1 2 3
CR17430961 CR17431061 CR17431061 CR17431061
RED
RED
RED
RED
BLU
BLK
BLK
BLK
BLK
YEL
YEL
YEL
E110 E111 E112 E113
+24V DRIVE OFF
VENTOLA INTERNA VENTOLA 1 VENTOLA 2 VENTOLA 3

+24V ROBOT
+24Vdc TP
+24Vdc TP
INTERNAL FAN FAN 1 FAN 2 FAN 3

0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
0V(24Vdc)
D OPZIONALE
OPTIONAL
VENTOLE DISSIPATORE AMS

AMS HEATSINK FANS
38.6A
38.6A
16.1A
23.8A
33.6A
28.8A
28.8A
28.8A
28.8A
35.1A
35.2A
35.3A
35.3A
SOLO CON CONTAORE SOLO CON KIT SEGNALI ROBOT SOLO CON C5GP-REC2.0 E REC3.0
ONLY WITH HOUR METER ONLY WITH SIGNAL MACHINE KIT ONLY WITH C5GP-REC2.0 & REC3.0
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
17.1D
18.5D
15.5D
15.5D
18.4D
BCM
COM (4)
COM (4)
DISABLE +24V
0VIN
+24V INT
A
17.7C
17.8C
17.8C
17.8C
CMD1
CMD2
DIAG1
DIAG2
DO_01
DO_02
DI_01
DI_02
DI_03
DI_04
B
1 2 3 6 4 5 1 2 3 4 5 1 2 3 4
X130 /BCM X311 /BCM X310 /BCM
IN 1
IN 2
IN 3
IN 4
0V(+24Vdc)
C
A TRASFERTA
CR17230762 TO EXTERNAL EQUIPMENT CR17230563
22AWG 18AWG
3-GRN
5-GRA
2-BRN
8-RED
7-BLU
4-YEL
BLK 1
BLK 1
BLK 2
BLK 2
0V(24Vdc)
0V(24Vdc)
D
DIAG1
DIAG2
CMD1
CMD2
22.8A
22.8A
22.8A
22.8A
22.1A
22.1A
A. DIELI ACER G. ALOTTO I/O SAFETY & DISTRIBUTION MODULE
26/03/2018 CR17.9322.33 00 /
COMAU I/O SAFETY & DISTRIBUTION MODULE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
18.4D
18.4D
OPZIONI COLLEGABILI
COM (2)
+24V INT
12 INPUT / 12 OUTPUT DIGITALI
(SH. 50)
DIGITAL 12 INPUT / 12 OUTPUT
A 24 INPUT / 24 OUTPUT DIGITALI

(SH. 51)
CR17230662
18AWG
2 INPUT ANALOGICI
BLK 2
(SH. 53)
BLK 1
2 ANALOG INPUT
2 OUTPUT ANALOGICI
(SH. 53)
2 ANALOG OUTPUT
2 INPUT E 2 OUTPUT ANALOGICI

(SH. 54)
2 ANALOG INPUT & 2 ANALOG OUTPUT
INPUT OUTPUT MULTIBUS

(SH. 58)
CR17230662
18AWG
BLU
B
15 16 14 15 16
25 26 24 25 26
GND
GND
GND
GND
24V BC
24V
24V
24V I/O
24V BC
24V I/O
24Vdc
GND
PFG-PBC
(BC1083)
POWER LINK BUS PFG-PCS (PS9400)
CONTROLLER BUS CONTROLLER SUPPLY MODULE

SI-1A SI-1B SO-1 DI-1 DO-1
SLU-1 (SL8110) BC-1 (BB82) 20 SAFE INPUT MODULE 4 SAFE OUTPUT MODULE 12 INPUT MODULE 8 OUTPUT MODULE
SAFE LOGIC UNIT BUS CONTROLLER BASE (SI9100) (SO4110) (DI9371) (DO8332)
26/03/2018 CR17.9322.33 00 /
A
D
C
COMAU
22AWG
CR17230762
8-RED DIAG2
20.2D
1
7-BLU DIAG1
20.2D
A. DIELI
ENG.-PROGETT.
CR17231266
24AWG
PROG 1-WHT
28.2A SI 1
11
(SI9100)
SI-1A
AUTO LOCAL 2-BRN

28.3A SI 2
21
AUTO REMOTE 3-GRN
28.3A SI 3
12
ACER
MONITOR E-STOP 4-YEL
28.4A SI 4
2
22
DRAWNER-DISEGN.
ENDV-CH1B 5-GRA
28.7A SI 5
13
ENDV-CH2B 6-PNK
28.7A SI 6
23
SI 7
14
SI 8
24
24AWG
CR17231266
GND
24Vdc
EXT STOP CH1 7-BLU

39.4A SI 9
15
CHECKED-VISTO
G. ALOTTO
EXT STOP CH2 8-RED
39.5A SI 10
25
AUTO STOP CH1 9-BLK

39.5A SI 11
16
3
AUTO STOP CH2 10-VIO

39.5A SI 12
26
CR17231266
24AWG
MODIF. SH.-FG. MODIF.

GEN STOP CH1 1-WHT
39.6A SI 13
11
SI-1B
GEN STOP CH2 2-BRN

39.6A SI 14
21
E-STOP CH1 3-GRN

39.6A SI 15
12
E-STOP CH2 4-YEL

39.6A SI 16
22
4
SI 17
13
CHECKED-VISTO
SI 18
23
SI 19
14
SI 20
24
24AWG
CR17231266
PULSE 1 7-BLU
28.3A Pulse 1
15
PULSE 2
SAFE DIGITAL I/O

8-RED
SAFE I/O DIGITALI

28.6A Pulse 2
25
5
24AWG
CR17231266
PULSE 3 5-GRA
39.7A Pulse 3
16
PULSE 4 6-PNK
TITLE - TITOLO
39.7A Pulse 4
26

BLU
CR17231167
20AWG
ENABLE 1+
24.1A SO 1+
11
SO-1
ENABLE 2+
(SO4110)
24.2A SO 2+
21
6
ENABLE 1-
24.3A SO 1-
12
ENABLE 2-
24.3A SO 2-
22
DATE-DATA
4 SAFE OUTPUT MODULE
SO 3+
13
26/03/2018
FILENAME-NOMEFILE
SO 4+
23
SO 3-
14
SO 4-
24
GND
24Vdc
15
7
25
16
26
CR17.9322.33
DRAWING No. - DISEGNO N°
CR1793223300
REV.
00
CR17230762
22AWG
5-GRA
0V(24Vdc)
20.2D
8
4-YEL
0V(24Vdc)
20.2D
3-GRN
CMD2
/
20.1D
2-BRN
CMD1
20.1D
SHEET-FOGLIO
1 2 3 4 5 6 7 8
19.2D
18.7D
12 INPUT MODULE 8 OUTPUT MODULE
(DI9371) (DO8332)
+24V I/O
0V(24Vdc)
24Vdc 24Vdc
GND GND
A
CR17230662
18AWG
BLK 1
BLK 2
DI-1 DO-1
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
+24 VDC
+24 VDC
INPUT 10
INPUT 11
INPUT 12
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
GND
GND
21 22 23 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16
CR17130263 CR17130263
22AWG 22AWG
GRN
GRA
RED
PNK
BLU
BLK
YEL
VIO
C
OPZIONI COLLEGABILI
INTERFACCIA DEVICENET
(SH. 55)
DEVICENET INTERFACE
INTERFACCIA PROFIBUS
(SH. 56)
PROFIBUS INTERFACE
INTERFACCIA PROFINET
(SH. 57)
PROFINET INTERFACE
TIP DRESSER COMMAND

(SH. 59)
TIP DRESSER COMMAND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
D
INPUT 1
INPUT 2
INPUT 3
INPUT 4
DOPPIO TIP DRESSER COMMAND

(SH. 60)
DOUBLE TIP DRESSER COMMAND
35.6A
35.6A
35.6A
35.6A
35.7A
35.7A
35.7A
35.7A

A. DIELI ACER G. ALOTTO I/O DIGITALI
26/03/2018 CR17.9322.33 00 /
COMAU DIGITAL I/O FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
22.6D
22.6D
22.6D
22.6D
ENABLE 1+
ENABLE 2+
ENABLE 1-
ENABLE 2-
A
CR17231167
20AWG
BLU
CR17231167
20AWG
BLU
2 4 3 5 1 3 2 4
X108 X109
ENABLE 1+
ENABLE 2+
ENABLE 1-
ENABLE 2-
B
CR17240960
22AWG
GRN
WHT
BRN
YEL
WHT WHT WHT WHT
BRN BRN BRN BRN
GRN GRN GRN GRN
YEL YEL YEL YEL
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
X5A /CAB X5B /CAB X5C /CAB X5D /CAB X5E /CAB
ENABLE 1+
ENABLE 2+
ENABLE 1+
ENABLE 2+
ENABLE 1+
ENABLE 2+
ENABLE 1+
ENABLE 2+
ENABLE 1+
ENABLE 2+
ENABLE 1-
ENABLE 2-
ENABLE 1-
ENABLE 2-
ENABLE 1-
ENABLE 2-
ENABLE 1-
ENABLE 2-
ENABLE 1-
ENABLE 2-
C
ABILITAZIONE ASSI AGGIUNTIVI

ADDITIONAL AXIS ENABLING
OPZIONI COLLEGABILI
(SH. 42)
(SH. 43)
D
(SH. 44)
ASSI AGGIUNTIVI (SH. 45)
ADDITIONAL AXIS (SH. 46)
(SH. 47)
(SH. 48)
(SH. 49)
A. DIELI ACER G. ALOTTO ABILITAZIONE ASSI
26/03/2018 CR17.9322.33 00 /
COMAU AXIS ENABLING FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
18.3D
18.3D
+24dc BKP
0V(24Vdc) APC
ACOPOS PC
A
CR17230563 USB 3.0 PORTS USB 2.0 PORTS ETHERNET 1 PORTS ETHERNET 2 PORTS
18AWG
BLK 1
BLK 2
NOT USED
NOT USED
NOT USED
NOT USED
NOT USED
NOT USED
NOT USED
NOT USED
VBUS
VBUS
GND
GND
RX+
RX+
TX+
TX+
RX-
RX-
D+
D+
TX-
TX-
0V
24V
D-
D-
+ - 1 2 3 4 1 2 3 4 1 2 3 6 4 5 7 8 1 2 3 6 4 5 7 8
24V /APC USB1 USB2 ETH1 ETH2
CR17130782 CR17231266 CR17130882

24AWG 24AWG 24AWG
WHT/GRN
WHT/GRN
WHT/BRN
WHT/ORG
WHT/ORG
WHT/BLU
GRN
GRN
BRN
ORG
ORG
BLU
C
1 2 3 4 3 6 1 2 4 5 7 8
USB ETH
VBUS
TX-
D+
RX+
NOT USED
NOT USED
NOT USED
NOT USED
GND
D-
TX+
RX-
CONNESSIONE USB OPZIONALE CONNESSIONE ETHERNET
OPTIONAL USB CONNECTION ETHERNET CONNECTION
D RX+
TX+
RX-
TX-
SOLO CON KIT USB

ONLY WITH USB KIT
28.1A
28.1A
28.1A
28.1A

A. DIELI ACER G. ALOTTO LINEE DI COMUNICAZIONE
26/03/2018 CR17.9322.33 00 /
COMAU LINES OF COMMUNICATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
FMP
APC PPS IAM1 IAM2 IAM3

ACOPOS PC PASSIVE POWER SUPPLY INVERTER AXIS SAFE MC MODULE AXIS 1-2 INVERTER AXIS SAFE MC MODULE AXIS 3-4 INVERTER AXIS SAFE MC MODULE AXIS 5-6
A
EPL EPL EPL EPL EPL EPL EPL EPL EPL
EPL
LINK L/D1 L/D2 L/D1 L/D2 L/D1 L/D2 L/D1 L/D2
RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45 RJ45
X3A X3A X3B X3A X3B X3A X3B X3A X3B
ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE
CR17231861 CR17231861 CR17231861 CR17231861
ETH POWER LINK CABLE

D
27.3A
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
26.8D
FMP BCM
FEED-THROUGH MOUNTING PLATE BATTERY CHARGER MODULE

IAM4 IAM5
INVERTER AXIS MODULE 4 INVERTER AXIS MODULE 5
A
EPL EPL EPL EPL
EPL EPL
L/D1 L/D2 L/D1 L/D2
L/D1 L/D2
RJ45 RJ45 RJ45 RJ45 RJ45 RJ45
X3A X3B X3A X3B X3 X4

ETH POWER LINK CABLE ETH POWER LINK CABLE ETH POWER LINK CABLE
CR17231861
CR17231861 CR17231861 CR17231862

CR17231861
PFG-BUS COUPLER 81 HEX (129 DECIMAL)
C
OPZIONI COLLEGABILI X3B X3A 8 0 X16 X3B X3A
OPTIONS CONNECTABLES RJ45 RJ45 RJ45 RJ45
C
4
SUB SLOT 2 = DCS DEVICENET MASTER INTERFACE C

SUB SLOT 2 = PBS PROFIBUS MASTER INTERFACE L/A IF2 L/A IF1 8 0 X1 L/A IF2 L/A IF1
SUB SLOT 2 = PNS PROFINET MASTER INTERFACE 4
SUB SLOT 3 = DCM DEVICENET MASTER INTERFACE (SH. 55)

SUB SLOT 3 = PBM PROFIBUS MASTER INTERFACE (SH. 56) EPL EPL EPL EPL
SUB SLOT 3 = PNM PROFINET MASTER INTERFACE (SH. 57 )
C C
8 0 X16 8 0 X16
SLU-BUS COUPLER 90 HEX (144 DECIMAL)
4 4
C C
8 0 X1 8 0 X1
C
4 4
8 0 X16
D PFG-PBC (BC1083) 4 SLU-1 (SL8110)
POWER LINK BUS CONTROLLER C SAFE LOGIC UNIT
SUB SLOT 3 SUB SLOT 2 SUB SLOT 1 8 0 X1
BC-1 (BB82) 4
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
25.5D
25.5D
25.5D
25.5D
22.2D
22.2D
22.2D
22.5D
22.2D
22.5D
22.2D
22.2D
19.3D
19.3D
19.3D
19.3D
38.7A
38.7A
39.1A
39.1A
TX+
RX-
PROG
MONITOR E-STOP
ES PTU 1B
ES PTU 2B
TX-
PULSE 1
PULSE 2
RX+
+24Vdc TP
+24Vdc TP
AUTO LOCAL
0V(24Vdc)
0V(24Vdc)
AUTO REMOTE
ENDV-CH2B
ENDV-CH1B
ES PTU 2A
ES PTU 1A
A
CR17231266 CR17231266 CR17231266

24AWG 24AWG 24AWG
WHT/ORG
WHT/GRN
3-GRN
1-WHT
5-GRA
5-GRA
2-BRN
2-BRN
8-RED
8-RED
8-RED
6-PNK
6-PNK
6-PNK
7-BLU
7-BLU
9-BLK
4-YEL
ORG
GRN
X124 13 14 15 16 1 18 17 11 7 12 3 5 4 2 9 10 8 6 19
TP5 CABLE
24AWG 24AWG 22AWG 24AWG 20AWG

C
WHT/GRN
GRN/BRN
WHT/PNK
GRA/PNK
WHT/BLU
RED/BLU
ORG
GRN
WHT
WHT
GRA
BRN
RED
PNK
BLU
BLU
BLK
YEL
VIO
REMOTE
AUTO ENABLING
T1 DEVICE
RX-
TX+
TX-
RX+
ENABLING
GND
+24Vdc
E. STOP DEVICE
E. STOP
D
TP5
WIRED TEACH PENDANT
A. DIELI ACER G. ALOTTO TERMINALE DI PROGRAMMAZIONE WIRED
26/03/2018 CR17.9322.33 00 /
COMAU PROGRAMMING TERMINAL UNIT WIRED FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
ASSE 1
AXIS 1
A
FMP
IAM1
INVERTER AXIS MODULE AXIS 1-2 BUS 600V DC INTERNO
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI1
ENCODER TRANSDUCER INTERFACE
$HDIN[1..4]
$HDIN[5..8]
ENCODER ASSE 1
0V(24Vdc)
0V(24Vdc)
ENCODER AXIS 1
+24Vdc
+24Vdc
HSI1+
HSI3+
HSI1-
HSI3-
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8
X5A /IAM1 X4A /IAM1 X2 /IAM1 X11 /ETI1
CR1723356x CR17132660 CR17230967

22AWG 24AWG
AWG 14AWG 18AWG
YEL/GRN
YEL/GRN
3-GRN
1-WHT
5-GRA
2-BRN
GRN
WHT
6-PNK
GRA
BRN
PNK
4-YEL
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
30.1C 10AWG 10AWG

YEL/GRN YEL/GRN
X60a /CIP 1 2 3 14 X60d /CIP 2 1 X10 /CIP 1 2 3 4 5 6 7

PHASE U AX1
FASE V AX1
CLK - AX1
CLK - AX1
DATA + AX1
DATA + AX1
0V(UP) AX1
0V(UP) AX1
SCHERMO AX1
FASE W AX1
GROUND
FRENO - AX1
BRAKE - AX1
DATA - AX1
DATA - AX1
FASE U AX1
PHASE V AX1
CLK + AX1
CLK + AX1
PHASE W AX1
SHIELD AX1
TERRA
FRENO + AX1
BRAKE + AX1
UP AX1
UP AX1
0V(24Vdc)
+24Vdc
HSI1+
HSI3+
HSI1-
HSI3-
D
36.2A
36.2A
36.2A
36.3A
36.4A
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT 36.4A AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT
TO THE SAME PINS OF THE X2 TO THE DISTRIBUTION SIGNALS MACHINE TO THE SAME PINS OF THE X1 TO THE DISTRIBUTION SIGNALS MACHINE
SCHEMA ELETTRICO ROBOT

CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT HIGH SPEED INPUT ASSI
MACHINE CIRCUIT DIAGRAM ONLY WITH HIGH SPEED INPUT AXIS KIT
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)
A. DIELI ACER G. ALOTTO INTERCONNESSIONI CONTROLLO/ROBOT
26/03/2018 CR17.9322.33 00 /
COMAU CONTROL/ROBOT SIGNALS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
ASSE 2
AXIS 2
A
FMP
IAM1
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI2
ENCODER ASSE 2
ENCODER AXIS 2
U V W B- B+ 1 6 5 9 4 8
X5B /IAM1 X4B /IAM1 X11 /ETI2
CR1723356x CR17230967
24AWG
AWG 14AWG 18AWG
YEL/GRN
YEL/GRN
GRN
WHT
GRA
BRN
PNK
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
29.3C 31.1C
X60b /CIP 1 2 3 14 X60d /CIP 4 3 X10 /CIP 13 14 15 16 17 18 19

PHASE U AX2
FASE V AX2
CLK - AX2
CLK - AX2
DATA + AX2
DATA + AX2
SCHERMO AX2
FASE W AX2
GROUND
0V(UP) AX2
0V(UP) AX2
FRENO - AX2
BRAKE - AX2
DATA - AX2
DATA - AX2
FASE U AX2
PHASE V AX2
CLK + AX2
CLK + AX2
PHASE W AX2
SHIELD AX2
TERRA
FRENO + AX2
BRAKE + AX2
UP AX2
UP AX2
D
AGLI STESSI PIN DEL CONNETTORE X2 DELLO SMISTAMENTO ROBOT AGLI STESSI PIN DEL CONNETTORE X1 DELLO SMISTAMENTO ROBOT

CR17233561 FOR SEC 1.0 (14AWG) MACHINE CIRCUIT DIAGRAM
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
ASSE 3
AXIS 3
A
FMP
IAM2
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI3
OVT NEG COM

OVT POS COM
OVT NEG IN
ENCODER ASSE 3
OVT POS IN
0V(24Vdc)
0V(24Vdc)
ENCODER AXIS 3
+24Vdc
+24Vdc
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8
C CR17231567 CR17231567
18AWG BLU 18AWG BLU
CR1723356x CR17133160 CR17230967

22AWG 24AWG
AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
PNK
YEL
GRN
WHT
BRN
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
30.3C 32.1C
X60c /CIP 1 2 3 X60d /CIP 6 5 X10 /CIP 25 26 27 28 29 30 31

PHASE U AX3
FASE V AX3
CLK - AX3
CLK - AX3
DATA + AX3
DATA + AX3
0V(UP) AX3
0V(UP) AX3
SCHERMO AX3
FASE W AX3
FRENO - AX3
BRAKE - AX3
DATA - AX3
DATA - AX3
FASE U AX3
PHASE V AX3
CLK + AX3
CLK + AX3
PHASE W AX3
SHIELD AX3
FRENO + AX3
BRAKE + AX3
UP AX3
UP AX3
OVT NEG IN
OVT POS IN
+24Vdc
+24Vdc
D
37.8A
37.1A
37.8A
37.1A

CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT OLTRECORSA ASSI
MACHINE CIRCUIT DIAGRAM ONLY WITH OVERTRAVEL AXIS KIT
CR17233563 FOR SEC 2.0 - 3.0 (12AWG)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
ASSE 4
AXIS 4
A
FMP
IAM2
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI4
ENCODER ASSE 4
ENCODER AXIS 4
U V W B- B+ 1 6 5 9 4 8
CR1723356x CR17230967
24AWG
AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
PNK
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
31.3C 33.1C
X60a /CIP 11 12 13 X60d /CIP 13 12 X10 /CIP 37 38 39 40 41 42 43

PHASE U AX4
FASE V AX4
CLK - AX4
CLK - AX4
DATA + AX4
DATA + AX4
0V(UP) AX4
0V(UP) AX4
SCHERMO AX4
FASE W AX4
FRENO - AX4
BRAKE - AX4
DATA - AX4
DATA - AX4
FASE U AX4
PHASE V AX4
CLK + AX4
CLK + AX4
PHASE W AX4
SHIELD AX4
FRENO + AX4
BRAKE + AX4
UP AX4
UP AX4
D

CR17233563 FOR SEC 2.0 - 3.0 (14AWG)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
19.2D
ASSE 5
AXIS 5
0V(24Vdc)
A
FMP
IAM3
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI5
ROBOT ALARM+
ROBOT ALARM-
AIR INPUT+
ENCODER ASSE 5
AIR INPUT-
0V(24Vdc)
0V(24Vdc)
ENCODER AXIS 5
+24Vdc
+24Vdc
U V W B- B+ 1 2 3 4 5 6 7 8 1 6 5 9 4 8
C CR17231567 CR17231567
18AWG BLU 18AWG BLU
CR1723356x CR17230967
CR17130263
24AWG
AWG 18AWG 20AWG BLU
YEL/GRN
GRN
WHT
GRA
BRN
PNK
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
32.3C 34.1C
X60b /CIP 11 12 13 X60d /CIP 15 14 X10 /CIP 49 50 51 52 53 54 55

ROBOT ALARM
PHASE U AX5
FASE V AX5
CLK - AX5
CLK - AX5
DATA + AX5
DATA + AX5
0V(UP) AX5
0V(UP) AX5
SCHERMO AX5
FASE W AX5
FRENO - AX5
BRAKE - AX5
DATA - AX5
DATA - AX5
FASE U AX5
PHASE V AX5
CLK + AX5
CLK + AX5
PHASE W AX5
SHIELD AX5
FRENO + AX5
BRAKE + AX5
UP AX5
UP AX5
AIR INPUT
D
35.5A
35.5A

CR17233561 FOR SEC 1.0 (14AWG) SOLO CON KIT SEGNALI ROBOT
MACHINE CIRCUIT DIAGRAM ONLY WITH SIGNAL MACHINE KIT
CR17233563 FOR SEC 2.0 - 3.0 (14AWG)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
ASSE 6
AXIS 6
A
FMP
IAM3
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
B SAFE MC MODULE
ETI6
ENCODER ASSE 6
ENCODER AXIS 6
U V W B- B+ 1 6 5 9 4 8
CR1723356x CR17230967
24AWG
AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
PNK
YEL
BLK 1
BLK 2
BLK 3
BLK 6
BLK 5
33.3C
X60c /CIP 11 12 13 X60d /CIP 17 16 X10 /CIP 61 62 63 64 65 66 67

PHASE U AX6
FASE V AX6
CLK - AX6
CLK - AX6
DATA + AX6
DATA + AX6
0V(UP) AX6
0V(UP) AX6
SCHERMO AX6
FASE W AX6
FRENO - AX6
BRAKE - AX6
DATA - AX6
DATA - AX6
FASE U AX6
PHASE V AX6
CLK + AX6
CLK + AX6
PHASE W AX6
SHIELD AX6
FRENO + AX6
BRAKE + AX6
UP AX6
UP AX6
D

CR17233563 FOR SEC 2.0 - 3.0 (14AWG)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
19.4D
19.4D
19.5D
19.5D
33.4D
33.5D
23.1D
23.1D
23.2D
23.2D
23.5D
23.5D
23.5D
23.4D
+24V DRIVE OFF
ROBOT ALARM
AIR INPUT
+24V ROBOT
INPUT 1
INPUT 2
INPUT 3
INPUT 4
0V(24Vdc)
0V(24Vdc)
OUTPUT 4
OUTPUT 3
OUTPUT 2
OUTPUT 1
A
CR17230967 CR17130263 CR17130263

18AWG 20AWG 22AWG
BLK 2
BLK 1
BLK 1
BLK 2
GRN
GRA
RED
PNK
BLU
BLU
BLU
BLK
YEL
VIO
CR17230967
B 18AWG
1 2 3 4 5 6 7 8 9 10
X1 /CAB X3A /CAB

42 42 42 42 43 43 43 43
42 43
CR1723356x CR17230967
18AWG 20AWG
BLU BLU
10AWG
YEL/GRN
X60d /CIP 11 10 X10 /CIP 12 36 9 21 57 58 59 60 69 70 71 72
OUTPUT 4
OUTPUT 3
OUTPUT 2
OUTPUT 1
+24V DRIVE OFF
ROBOT ALARM
AIR INPUT
+24V ROBOT
INPUT 1
INPUT 2
INPUT 3
INPUT 4
0V(24V DRIVE OFF)
0V(24Vdc)
OPZIONALE
OPTIONAL
AGLI STESSI PIN DEL CONNETTORE X1-X2 DELLO SMISTAMENTO ROBOT

TO THE SAME PINS OF THE X1-X2 TO THE DISTRIBUTION SIGNALS MACHINE

MACHINE CIRCUIT DIAGRAM
OPZIONI COLLEGABILI
(SH. 42)
D
(SH. 43)
(SH. 44)
ASSE AGGIUNTIVO (SH. 45)
(SH. 47)
(SH. 48) CR17233561 FOR SEC 1.0 SOLO CON KIT SEGNALI ROBOT
(SH. 49) CR17233563 FOR SEC 2.0 - 3.0 ONLY WITH SIGNAL MACHINE KIT
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
29.4D
29.4D
29.5D
29.5D
29.5D
29.5D
+24Vdc
HSI1+
HSI3+
0V(24Vdc)
HSI1-
HSI3-
A
CR17132660
22AWG
3-GRN
1-WHT
5-GRA
2-BRN
6-PNK
4-YEL
X138 /HSM 1 6 2 7 8 3 4 5
HSM5
HIGH SPEED INPUT MODULE
2.2K 2.2K
B HS1 HS3
1N4148 1N4148
GIALLO GIALLO
YELLOW YELLOW
2 3 4 1 2 3 4 1 9 10
X136 /HSM X137 /HSM X138/HSM

0V(24Vdc)
0V(24Vdc)
HSI1+ $HDIN[1..4]
HSI3+ $HDIN[5..8]
HSI1- $HDIN[1..4]
+24Vdc
HSI3- $HDIN[5..8]
+24Vdc
CR17132660
22AWG BLU
1 2 3
X3B /CAB
C HIGH SPEED INPUT 1 HIGH SPEED INPUT 3
HIGH SPEED INPUT 1 HIGH SPEED INPUT 3
CR17230967
20AWG
BLU
X10 /CIP 46 47
HSI3+ $HDIN[5..8]
HSI3- $HDIN[5..8]
D
SOLO CON KIT HIGH SPEED INPUT ASSI

A. DIELI ACER G. ALOTTO KIT HIGH SPEED INPUT ASSI OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL HIGH SPEED INPUT AXIS KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
31.5D
31.5D
31.5D
31.4D
+24Vdc
+24Vdc
OVT POS IN
OVT NEG IN
A
CR17133160 CR17133160
22AWG 22AWG
GRN
WHT
BRN
YEL
B
CR17133160 CR17133160 CR17133160 CR17133160

22AWG GRN 22AWG WHT 22AWG YEL 22AWG BRN
1 3 4 2 1 3 4 2 1 3 4 2 1 3 4 2 1 3 4 2
X3C /CAB X3D1 /CAB X3D2 /CAB X3D3 /CAB X3D4 /CAB
CR17133160 CR17133160 CR17133160 CR17133160

C 22AWG BLU 22AWG BLU 22AWG BLU 22AWG BLU
OVT POS OUT
OVT NEG IN
OVT POS OUT
OVT NEG IN
OVT POS OUT
OVT NEG IN
OVT POS OUT
OVT NEG IN
OVT NEG OUT
OVT POS IN
OVT NEG OUT
OVT POS IN
OVT NEG OUT
OVT POS IN
OVT NEG OUT
OVT POS IN
CR17230967
20AWG
BLU
X10 /CIP 10 22 23 11
OVT POS OUT
OVT NEG IN
OVT NEG OUT
OVT POS IN
OPZIONI COLLEGABILI
(SH. 42)
D
(SH. 43)
(SH. 44)
SCHEMA ELETTRICO ROBOT ASSE AGGIUNTIVO (SH. 45)
(SH. 47)
(SH. 48) SOLO CON KIT OLTRECORSA ASSI
(SH. 49) ONLY WITH OVERTRAVEL AXIS KIT
A. DIELI ACER G. ALOTTO KIT OLTRECORSA ASSI OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL OVERTRAVEL AXIS KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
18.6D
18.7D
19.1D
19.1D
28.4A
28.5A
OPZIONI COLLEGABILI
+24V I/O
ES PTU 1B
ES PTU 2B
+24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
KIT ALIMENTAZIONE APPLICAZIONI INTERNE INPUT OUTPUT MULTIBUS
(SH. 40) (SH. 58)
INTERNAL SUPPLY APPLICATION KIT INPUT OUTPUT MULTIBUS
INTERFACCIA DEVICENET TIP DRESSER COMMAND

(SH. 55) (SH. 59)
A DEVICENET INTERFACE TIP DRESSER COMMAND
INTERFACCIA PROFIBUS DOPPIO TIP DRESSER COMMAND

(SH. 56) (SH. 60)
PROFIBUS INTERFACE DOUBLE TIP DRESSER COMMAND
INTERFACCIA PROFINET CR17231266 CR17231266

(SH. 57)
PROFINET INTERFACE 18AWG 24AWG
8-RED
6-PNK
BLK 2
BLK 4
BLK 1
BLK 3
B CR17231266
18AWG
BLU
CR17231266
22AWG
X102 2 1 4 X128 3 9 1 7 4 10 2 8 11 5 12 6 BLU
CR17231567 CR17231567
18AWG ORG 18AWG ORG
ESTOP-1B
ESTOP-1B
ESTOP-2B
ESTOP-2B
24V I/O
24V I/O
24V EXT FIELD
24V EXT FIELD

24V DRIVE ON
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
C APPLICAZIONI
APPLICATIONS
2 1 4 2 1 4
CR17231061 CR17240163
18AWG 14AWG
BLK2
BLK1
BLK4
BLK2
BLK1
BLK4
18AWG 18AWG 14AWG
BLU BLU BLU
18AWG 18AWG 18AWG 14AWG

BLU BLU BLU BLU
X30 /CIP 29 15 22 23 30 9 16 2 SP /CIP 4 5 1 3 2

24V EXT FIELD
ESTOP-2B
ESTOP-1B
24V EXT
24V EXT
24V EXT
24V EXT FIELD
24V EXT FIELD

0V
0V
0V
0V
0V
0V
0V
0V
D
24V EXT
0V
0V
0V
39.2A
39.2A
39.2A
39.3A
39.8A
39.8A
39.3A
A TRASFERTA A TRASFERTA SOLO CON CONNETTORE X30 SOLO CON ALIMENTAZIONE ESTERNA
ONLY WITH CONNECTOR X30 ONLY WITH EXTERNAL SUPPLY
TO EXTERNAL EQUIPMENT TO EXTERNAL EQUIPMENT
A. DIELI ACER G. ALOTTO SEGNALI DI SICUREZZA
26/03/2018 CR17.9322.33 00 /
COMAU SAFETY SIGNAL FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
38.1D
38.1D
38.1D
38.1D
38.8D
22.3D
22.3D
22.3D
22.3D
22.4D
22.4D
22.4D
22.4D
22.5D
22.5D
38.8D
38.8D
28.5A
28.5A
GEN STOP CH1
GEN STOP CH2
E-STOP CH1
E-STOP CH2
ESTOP-1B
ESTOP-2B
24V EXT
PULSE 3
PULSE 4
24V EXT FIELD
EXT STOP CH1
EXT STOP CH2

0V
0V
0V
AUTO STOP CH1
AUTO STOP CH2

ES PTU 2A
ES PTU 1A
A
CR17231266 CR17231266 CR17231266 CR17231266 CR17231266

BLU BLU
3-GRN
10-VIO
1-WHT
5-GRA
5-GRA
2-BRN
2-BRN
8-RED
6-PNK
7-BLU
9-BLK
4-YEL
B
CR17231266
22AWG
BLU
X122 22 21 12 11 24 6 5 4 3 2 1 13 14 15 16 17 18 7 8 19 20 9 10
24V EXT
24V EXT FIELD
0V
0V
0V
0V
0V
0V
0V
E-STOP PB1
E-STOP PB2
C CR17231061 CR17231061 CR17231061 CR17231061
11-GRA/PNK
12-RED/BLU
3-GRN
1-WHT
10-VIO
5-GRA
2-BRN
8-RED
6-PNK
7-BLU
9-BLK
4-YEL
X30 /CIP 12 11 6 7 20 21 27 28 4 18 25 26 19 5 13 14
AUTO-STOP 1+
AUTO-STOP 2+
PULSE 3
PULSE 3
PULSE 3
PULSE 4
PULSE 4
PULSE 4
E-STOP 1B
E-STOP 2B
E-STOP 1+
E-STOP 2+
GEN-STOP 1+
GEN-STOP 2+
ESTOP-2A
ESTOP-1A
A TRASFERTA
TO EXTERNAL EQUIPMENT SOLO CON CONNETTORE X30
ONLY WITH CONNECTOR X30
A. DIELI ACER G. ALOTTO SEGNALI DI SICUREZZA
26/03/2018 CR17.9322.33 00 /
COMAU SAFETY SIGNAL FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
KIT ALIMENTAZIONE APPLICAZIONI INTERNE OPZIONALE

C5G-ISAK
OPTIONAL INTERNAL SUPPLY APPLICATION KIT
VEDERE FOGLIO
SEE SHEET
( 38 )
24V EXT FIELD

24V DRIVE ON
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
0V(24Vdc)
24V I/O
3 9 1 7 4 10 2 8 11 5 12 6
X128
CR17132560
18AWG
BLU
X128A 3 9 1 7 4 10 2 8 11 5 12 6
B
ISAM5
INTERNAL SUPPLY APPLICATION MODULE
24V EXT FIELD
24V DRIVE ON
E-STOP-2C
E-STOP-1C
E-STOP-1E
E-STOP-2E
C
0V(24Vdc)
24V I/O
41.3B
41.2B
41.2B
41.2B
41.1B
41.1B
41.5B
41.5B
3 9 1 7 4 10 2 8 11 5 6 12 3 9 1 7 4 10 2 8 11 5 12 6
X124-1 18AWG X126-1 18AWG

BLU BLU
24V EXT FIELD
24V EXT FIELD
24V EXT FIELD
24V EXT FIELD

24V DRIVE ON
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
E-STOP CH1B
E-STOP CH2B
24V DRIVE ON
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
E-STOP CH1B
E-STOP CH2B
24V I/O
24V I/O
24V I/O
24V I/O
E-STOP CH1A
E-STOP CH2A
E-STOP CH1A
E-STOP CH2A
D
APPLICAZIONE 3 (ESPANSIONE) APPLICAZIONE 4 (ESPANSIONE)

APPLICATION 3 (EXPANSION) APPLICATION 4 (EXPANSION)
A. DIELI ACER G. ALOTTO KIT ALIMENTAZIONE APPLICAZIONI INTERNE
26/03/2018 CR17.9322.33 00 /
COMAU INTERNAL SUPPLY APPLICATION KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
KIT ALIMENTAZIONE APPLICAZIONI INTERNE OPZIONALE

C5G-ISAK
OPTIONAL INTERNAL SUPPLY APPLICATION KIT
A
40.8C
40.8C
40.8C
40.8C
40.7C
40.7C
40.8C
40.8C
ISAM5
24V DRIVE ON
0V(24Vdc)
E-STOP-1C
E-STOP-2C
24V I/O
E-STOP-1E
E-STOP-2E
24V EXT FIELD
3 9 1 7 4 10 2 8 11 5 12 6 3 9 1 7 4 10 2 8 11 5 12 6 1 4 2 3 1 4 2 3 1 4 2 3 1 4 2 3
X128-1 18AWG X130-1 18AWG X106-1 X106-2 X106-3 X106-4

BLU BLU
24V EXT FIELD
24V EXT FIELD
24V EXT FIELD
24V EXT FIELD

24V DRIVE ON
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
E-STOP CH1B
E-STOP CH2B
24V DRIVE ON
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
E-STOP CH1B
E-STOP CH2B
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
24V DRIVE ON
0V(24Vdc)
0V(24Vdc)
24V I/O
24V I/O
24V I/O
24V I/O
24V I/O
24V I/O
24V I/O
24V I/O
E-STOP CH1A
E-STOP CH2A
E-STOP CH1A
E-STOP CH2A
APPLICAZIONE 5 (ESPANSIONE) APPLICAZIONE 6 (ESPANSIONE) ALIMENTAZIONE UTENTE (ESPANSIONE)

APPLICATION 5 (EXPANSION) APPLICATION 6 (EXPANSION) USER'S SUPPLY (EXPANSION)
A. DIELI ACER G. ALOTTO KIT ALIMENTAZIONE APPLICAZIONI INTERNE
26/03/2018 CR17.9322.33 00 /
COMAU INTERNAL SUPPLY APPLICATION KIT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
VEDERE FOGLIO ASSE AGGIUNTIVO OPZIONALE VEDERE FOGLIO VEDERE FOGLIO

SEE SHEET OPTIONAL ADDITIONAL AXIS SEE SHEET SEE SHEET
( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2
X5A /CAB
X5B /CAB X1 /CAB 42 43
X3D1 /CAB
CR17241060 X3D2 /CAB
22AWG
X3D3 /CAB
X3D4 /CAB
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 1 2 3 4 5 6
SINGOLO ASSE IAM4 OR IAM5

BUS 600V DC INTERNO AXIS SINGLE INVERTER AXIS MODULE
B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
RTIx
RESOLVER TRANSDUCER INTERFACE
RESOLVER ASSE 8 / 9
RESOLVER AXIS 8 / 9
C U V W B- B+ 5 9 7 3 4 8 1 2
X5A X4A X11
CR17240061 CR17240061 CR17240061 CR17240061

24AWG 18AWG 22AWG
12AWG 18AWG
YEL/GRN
BLK 1
BLK 2
BLK 3
BLK2
BLK1
ORG
GRN
GRN
WHT
WHT
GRA
BRN
RED
BLU
BLU
BLK
YEL
YEL
VIO
20AWG 10AWG
YEL/GRN YEL/GRN
14AWG
YEL/GRN
X62a /CIP X62b /CIP X62c /CIP X62b/CIP
X63a /CIP 1 2 3 X63b /CIP 2 1 7 8 9 X63c /CIP 1 2 3 4 7 8 9 10 11 X63b/CIP 10 11 3 5 6 4
PHASE U
FRENO +
FASE V
SCHERMO
FASE W
FRENO -
BRAKE -
S2
S2
S4
S4
S1
S1
S3
S3
TERMICA PTC
TERMICA PTC
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
PTC THERMAL
PTC THERMAL
OVT NEG IN
OVT NEG IN
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
RH
RH
RL
RL
+24V DRIVE OFF

+24V DRIVE OFF
OVT POS IN
OVT POS IN
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
D
ASSE 8 (PINZA ELETTRICA) / ASSE 9

AXIS 8 (ELECTRIC GUN) / AXIS 9
A. DIELI ACER G. ALOTTO ASSE AGGIUNTIVO
26/03/2018 CR17.9322.33 00 /
COMAU ADDITIONAL AXIS FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2
X5A /CAB
X3D1 /CAB
CR17241060 X3D2 /CAB
22AWG
X3D3 /CAB
X3D4 /CAB
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 1 2 3 4 5 6
SINGOLO ASSE IAM4 OR IAM5

BUS 600V DC INTERNO AXIS SINGLE INVERTER AXIS MODULE
B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
ETIx
ENCODER ASSE 7 / 9
ENCODER AXIS 7 / 9
C U V W B- B+ 1 6 5 9 4 8
X5A X4A X11
CR17240262 CR17240262 CR17240262

18AWG 22AWG
CR17240262 24AWG
12AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
RED
BLU
BLU
BLU
BLU
BLU
BLU
YEL
BLK 1
BLK 2
BLK 3
20AWG 10AWG
BLK6
BLK5
YEL/GRN YEL/GRN
14AWG
YEL/GRN
X62a /CIP X62b /CIP X62c /CIP X62b/CIP
X63a /CIP 1 2 3 X63b /CIP 2 1 7 8 9 X63c /CIP 1 2 7 8 3 4 11 X63b/CIP 10 4 5 6 12 11
PHASE U
FRENO +
UP
UP
FASE V
CLK -
CLK -
DATA +
DATA +
0V(UP)
0V(UP)
SCHERMO
FASE W
FRENO -
BRAKE -
OVT POS OUT

OVT POS OUT
OVT NEG IN
OVT NEG IN
FASE U
PHASE V
GROUND
GROUND
GROUND
DATA -
DATA -
CLK +
CLK +
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
+24V DRIVE OFF

+24V DRIVE OFF
OVT POS IN
OVT POS IN
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
D
ASSE 7 (SLITTA/TAVOLA) / ASSE 9 (TAVOLA)

AXIS 7 (SLIDE/TABLE) / AXIS 9 (TABLE)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2
X5A /CAB X1 /CAB 42 43

X3D1 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 7 8 9 10 11 12
DOPPIO ASSE IAM4

BUS 600V DC INTERNO AXIS DOUBLE INVERTER AXIS MODULE
B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
RTIx
RESOLVER ASSE 7
RESOLVER AXIS 7
C U V W B- B+ 5 9 7 3 4 8 1 2
X5A X4A X11
CR17240061 CR17240061 CR17240061 CR17240061

24AWG 18AWG 22AWG
12AWG 18AWG
YEL/GRN
BLK 1
BLK 2
BLK 3
BLK2
BLK1
ORG
GRN
GRN
WHT
WHT
GRA
BRN
RED
BLU
BLU
BLK
YEL
YEL
VIO
20AWG 10AWG
YEL/GRN YEL/GRN
14AWG
YEL/GRN

PHASE U
FRENO +
FASE V
SCHERMO
FASE W
FRENO -
BRAKE -
S2
S2
S4
S4
S1
S1
S3
S3
TERMICA PTC
TERMICA PTC
FASE U
PHASE V
GROUND
GROUND
GROUND
PTC THERMAL
PTC THERMAL
OVT POS OUT

OVT POS OUT
OVT NEG IN
OVT NEG IN
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
RH
RH
RL
RL
+24V DRIVE OFF

+24V DRIVE OFF
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
OVT POS IN
OVT POS IN
D
ASSE 7 (PINZA ELETTRICA)

AXIS 7 (ELECTRIC GUN)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2

X3D2 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL
18AWG-BLU

X1 1 2 3 4 5 6
DOPPIO ASSE IAM4

B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
RTIx
RESOLVER ASSE 8
RESOLVER AXIS 8
C U V W B- B+ 5 9 7 3 4 8 1 2
X5B X4B X11
CR17240061 CR17240061 CR17240061 CR17240061

24AWG 18AWG 22AWG
12AWG 18AWG
YEL/GRN
BLK 1
BLK 2
BLK 3
BLK2
BLK1
ORG
GRN
GRN
WHT
WHT
GRA
BRN
RED
BLU
BLU
BLK
YEL
YEL
VIO
10AWG
YEL/GRN

PHASE U
FRENO +
FASE V
SCHERMO
FASE W
FRENO -
BRAKE -
S2
S2
S4
S4
S1
S1
S3
S3
TERMICA PTC
TERMICA PTC
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
PTC THERMAL
PTC THERMAL
OVT NEG IN
OVT NEG IN
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
RH
RH
RL
RL
+24V DRIVE OFF

+24V DRIVE OFF
OVT POS IN
OVT POS IN
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
D

26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2

X3D1 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 7 8 9 10 11 12
DOPPIO ASSE IAM4

B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
ETIx
ENCODER ASSE 7
ENCODER AXIS 7
C U V W B- B+ 1 6 5 9 4 8
X5A X4A X11
CR17240262 CR17240262 CR17240262

18AWG 22AWG
CR17240262 24AWG
12AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
RED
BLU
BLU
BLU
BLU
BLU
BLU
YEL
BLK 1
BLK 2
BLK 3
20AWG 10AWG
BLK6
BLK5
YEL/GRN YEL/GRN
14AWG
YEL/GRN

PHASE U
FRENO +
UP
UP
FASE V
CLK -
CLK -
DATA +
DATA +
0V(UP)
0V(UP)
SCHERMO
FASE W
FRENO -
BRAKE -
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
DATA -
DATA -
OVT NEG IN
OVT NEG IN
CLK +
CLK +
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
+24V DRIVE OFF

+24V DRIVE OFF
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
OVT POS IN
OVT POS IN
D
ASSE 7 (SLITTA/TAVOLA)
AXIS 7 (SLIDE/TABLE)
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2

X3D2 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 1 2 3 4 5 6
DOPPIO ASSE IAM4

B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
RTIx
RESOLVER ASSE 8
RESOLVER AXIS 8
C U V W B- B+ 5 9 7 3 4 8 1 2
X5B X4B X11
CR17240061 CR17240061 CR17240061 CR17240061

24AWG 18AWG 22AWG
12AWG 18AWG
YEL/GRN
BLK 1
BLK 2
BLK 3
BLK2
BLK1
ORG
GRN
GRN
WHT
WHT
GRA
BRN
RED
BLU
BLU
BLK
YEL
YEL
VIO
10AWG
YEL/GRN

PHASE U
FRENO +
FASE V
SCHERMO
FASE W
FRENO -
BRAKE -
S2
S2
S4
S4
S1
S1
S3
S3
TERMICA PTC
TERMICA PTC
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
PTC THERMAL
PTC THERMAL
OVT NEG IN
OVT NEG IN
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
RH
RH
RL
RL
+24V DRIVE OFF

+24V DRIVE OFF
OVT POS IN
OVT POS IN
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
D

26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2

X3D1 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 7 8 9 10 11 12
DOPPIO ASSE IAM4

B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
ETIx
ENCODER ASSE 7
ENCODER AXIS 7
C U V W B- B+ 1 6 5 9 4 8
X5A X4A X11
CR17240262 CR17240262 CR17240262

18AWG 22AWG
CR17240262 24AWG
12AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
RED
BLU
BLU
BLU
BLU
BLU
BLU
YEL
BLK 1
BLK 2
BLK 3
20AWG 10AWG
BLK6
BLK5
YEL/GRN YEL/GRN
14AWG
YEL/GRN

PHASE U
FRENO +
UP
UP
FASE V
CLK -
CLK -
DATA +
DATA +
0V(UP)
0V(UP)
SCHERMO
FASE W
FRENO -
BRAKE -
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
DATA -
DATA -
OVT NEG IN
OVT NEG IN
CLK +
CLK +
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
+24V DRIVE OFF

+24V DRIVE OFF
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
OVT POS IN
OVT POS IN
D
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

( 24 ) ( 35 ) ( 37 )
+24V DRIVE OFF
0V(DRIVE OFF)
OVT NEG OUT

OVT POS OUT
OVT NEG IN
ENABLE 1+
ENABLE 2+
OVT POS IN
ENABLE 1-
ENABLE 2-
A
1 2 3 4 1 3 4 2

X3D2 /CAB
CR17241060
22AWG
FMP
GRN
WHT
BRN
18AWG-BLU
YEL

X1 1 2 3 4 5 6
DOPPIO ASSE IAM4

B
BUS 24V DC INTERNO

INTERNAL 24V DC BUS
ETIx
ENCODER ASSE 8
ENCODER AXIS 8
C U V W B- B+ 1 6 5 9 4 8
X5B X4B X11
CR17240262 CR17240262 CR17240262

18AWG 22AWG
CR17240262 24AWG
12AWG 18AWG
YEL/GRN
GRN
WHT
GRA
BRN
RED
BLU
BLU
BLU
BLU
BLU
BLU
YEL
BLK 1
BLK 2
BLK 3
20AWG 10AWG
BLK6
BLK5
YEL/GRN YEL/GRN
14AWG
YEL/GRN

PHASE U
FRENO +
UP
UP
FASE V
CLK -
CLK -
DATA +
DATA +
0V(UP)
0V(UP)
SCHERMO
FASE W
FRENO -
BRAKE -
OVT POS OUT

OVT POS OUT
FASE U
PHASE V
GROUND
GROUND
GROUND
DATA -
DATA -
OVT NEG IN
OVT NEG IN
CLK +
CLK +
PHASE W
SHIELD
0V(DRIVE OFF)
0V(DRIVE OFF)
BRAKE +
+24V DRIVE OFF

+24V DRIVE OFF
TERRA
TERRA
TERRA
OVT NEG OUT

OVT NEG OUT
OVT POS IN
OVT POS IN
D
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
12 INPUT / 12 OUTPUT DIGITALI OPZIONALE

C5G-D12
OPTIONAL DIGITAL 12 INPUT / 12 OUTPUT
A PS2100 DI9371 DO6322 PS2100 DO6322

POWER SUPPLY 12 INPUT MODULE 6 OUTPUT MODULE POWER SUPPLY 6 OUTPUT MODULE
24Vdc 24Vdc 24Vdc 24Vdc 24Vdc
GND GND GND GND GND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
INPUT 10
INPUT 11
INPUT 12
+24V I/O
+24V I/O
+24V I/O
+24V I/O
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
24 25 26 21 22 23 24 25 26 21 22 23 24 25 26 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16 11 12 13 14 15 16
B
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
OUTPUT 10
OUTPUT 11
OUTPUT 12
0V (24Vdc)
INPUT 10
INPUT 11
INPUT 12
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
OUTPUT 7
OUTPUT 8
OUTPUT 9
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
+24V I/O
+24V I/O
+24V I/O
+24V I/O
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO 12 INPUT / 12 OUTPUT DIGITALI
26/03/2018 CR17.9322.33 00 /
COMAU DIGITAL 12 INPUT / 12 OUTPUT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

C5G-D24
A PS2100 DI9371 DI9371 DO6322

POWER SUPPLY 12 INPUT MODULE 12 INPUT MODULE 6 OUTPUT MODULE
24Vdc 24Vdc 24Vdc 24Vdc
GND GND GND GND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
INPUT 10
INPUT 11
INPUT 12
INPUT 10
INPUT 11
INPUT 12
+24V I/O
+24V I/O
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
GND
GND
GND
GND
GND
GND
GND
24 25 26 21 22 23 24 25 26 21 22 23 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16 11 12 13 14 15 16
B
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
0V (24Vdc)
INPUT 10
INPUT 11
INPUT 12
INPUT 13
INPUT 14
INPUT 15
INPUT 16
INPUT 17
INPUT 18
INPUT 19
INPUT 20
INPUT 21
INPUT 22
INPUT 23
INPUT 24
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
+24V I/O
+24V I/O
APPLICAZIONI
APPLICATIONS
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

C5G-D24
A DO6322 PS2100 DO6322 DO6322

6 OUTPUT MODULE POWER SUPPLY 6 OUTPUT MODULE 6 OUTPUT MODULE
GND GND GND GND
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
+24V I/O
+24V I/O
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
GND
21 22 23 24 25 26 24 25 26 21 22 23 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16 11 12 13 14 15 16
B
OUTPUT 10
OUTPUT 11
OUTPUT 12
OUTPUT 13
OUTPUT 14
OUTPUT 15
OUTPUT 16
OUTPUT 17
OUTPUT 18
OUTPUT 19
OUTPUT 20
OUTPUT 21
OUTPUT 22
OUTPUT 23
OUTPUT 24
OUTPUT 7
OUTPUT 8
OUTPUT 9
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
0V (24Vdc)
+24V I/O
+24V I/O
APPLICAZIONI
APPLICATIONS
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
2 INPUT ANALOGICI 2 OUTPUT ANALOGICI

C5G-AI2 C5G-AO2
2 ANALOG INPUT 2 ANALOG OUTPUT
A PS2100 AI2622 PS2100 AO2622

POWER SUPPLY 2 ANALOG INPUT MODULE POWER SUPPLY 2 ANALOG OUTPUT MODULE
GND GND GND GND
A/D A/D D/A D/A

+24V I/O
+24V I/O
+24V I/O
+24V I/O
GND
GND
24 25 26 24 25 26
11 12 13 21 22 23 11 12 13 21 22 23
B
IN 1 I+
IN 2 I+
OUT 1 I+
OUT 1 V+
OUT 2 I+
OUT 2 V+
GND
GND
GND
GND
0V (24Vdc)
0V (24Vdc)
+24V I/O
+24V I/O
IN 1 V+
IN 2 V+
+24V I/O
+24V I/O
APPLICAZIONI APPLICAZIONI
APPLICATIONS APPLICATIONS
A. DIELI ACER G. ALOTTO 2 INPUT ANALOGICI - 2 OUTPUT ANALOGICI
26/03/2018 CR17.9322.33 00 /
COMAU 2 ANALOG INPUT - 2 ANALOG OUTPUT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

C5G-A2IO
A PS2100 AI2622 AO2622

POWER SUPPLY 2 ANALOG INPUT MODULE 2 ANALOG OUTPUT MODULE
24Vdc 24Vdc 24Vdc
GND GND GND
A/D A/D D/A D/A

+24V I/O
+24V I/O
GND
24 25 26
11 12 13 21 22 23 11 12 13 21 22 23
B
IN 1 I+
IN 2 I+
OUT 1 I+
OUT 1 V+
OUT 2 I+
OUT 2 V+
GND
GND
GND
GND
0V (24Vdc)
+24V I/O
+24V I/O
IN 1 V+
IN 2 V+
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO 2 INPUT E 2 OUTPUT ANALOGICI
26/03/2018 CR17.9322.33 00 /
COMAU 2 ANALOG INPUT & 2 ANALOG OUTPUT FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
INTERFACCIA DEVICENET OPZIONALE

C5GP-DCM
OPTIONAL DEVICENET INTERFACE
VEDERE FOGLIO 12 INPUT MODULE VEDERE FOGLIO DI-1 VEDERE FOGLIO

SEE SHEET (DI9371) SEE SHEET SEE SHEET
( 38 ) ( 23 ) ( 27 )
+24Vdc DRIVE ON
A DCM
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
DEVICE NET MASTER INTERFACE
+24Vdc EXT
+24Vdc I/O
FIELD_BUS
THERMAL
THERMAL
0V(24Vdc)
INPUT 10
INPUT 11
INPUT 12
INPUT 1
INPUT 2
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
CAN_H
CAN_L
DRAIN
V+
V-
21 22 23 24 25 26
11 12 13 14 15 16
3 9 1 7 4 10 2 8 11 5 12 6 5 1 3 2 4
X128 18AWG
DNP
ORG
INSULATED WIRE
2 3 1 4 5
B
FOR MASTER 1 FOR MASTER 2
GRN
WHT
WHT
RED
RED
BLU
BLK
BLK
CR17240964 CR17240964 CR17240964 CR17240964 CR17240964
BLU BLU
CR17240964
18AWG
YEL/GRN
X93 /CIP
X94 /CIP 4 3 1 2 7 14 13 5 12 17 9 10
+24Vdc I/O
CAN_L
CAN_H
+Vsec
THERMAL
+24Vdc DRIVE ON
0V(24Vdc)
0V(24Vdc)
KSR / HSI3+ $HDIN[5..8]
-Vsec
GROUND
KSR / HSI3- $HDIN[5..8]

D
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO INTERFACCIA DEVICENET
26/03/2018 CR17.9322.33 00 /
COMAU DEVICENET INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
INTERFACCIA PROFIBUS OPZIONALE

C5GP-PBM
OPTIONAL PROFIBUS INTERFACE

( 38 ) ( 23 ) ( 27 )
+24Vdc DRIVE ON
A PBM
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
PROFIBUS DP MASTER
+24Vdc EXT
+24Vdc I/O
FIELD_BUS
THERMAL
THERMAL
0V(24Vdc)
INPUT 10
INPUT 11
INPUT 12
INPUT 1
INPUT 2
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
PFB B
PFB A
21 22 23 24 25 26
11 12 13 14 15 16
3 9 1 7 4 10 2 8 11 5 12 6 A1 B1
X128 18AWG
PFP
ORG
INSULATED WIRE
2 3 1 4 5
B
GRN
GRN
WHT
RED
RED
BLK
CR17240965 CR17240965 CR17240965 CR17240965
BLU BLU
CR17240965
18AWG
YEL/GRN
X93 /CIP
X94 /CIP 4 3 1 2 7 11 6 5 12 17 9 10
+24Vdc I/O
PFB B
+Vsec
THERMAL
0V(24Vdc)
0V(24Vdc)

+24Vdc DRIVE ON
-Vsec
GROUND

PFB A
D
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO INTERFACCIA PROFIBUS
26/03/2018 CR17.9322.33 00 /
COMAU PROFIBUS INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
INTERFACCIA PROFINET OPZIONALE

C5GP-PNM
OPTIONAL PROFINET INTERFACE

( 38 ) ( 23 ) ( 27 )
+24Vdc DRIVE ON
A PNM
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
PROFINET IO CONTROLLER
+24Vdc EXT
+24Vdc I/O
FIELD_BUS
THERMAL
THERMAL
0V(24Vdc)
INPUT 10
INPUT 11
INPUT 12
INPUT 1
INPUT 2
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
RD+
TD+
RD-
TD-
21 22 23 24 25 26
11 12 13 14 15 16
3 9 1 7 4 10 2 8 11 5 12 6 1 2 3 6
X128 18AWG
PFM
ORG
INSULATED WIRE
2 3 1 4 5
B
ORG
GRN
WHT
WHT
RED
BLU
BLK
YEL
CR17240966 CR17240966 CR17240966 CR17240966
BLU BLU
CR17240964
18AWG
YEL/GRN
X93 /CIP
X94 /CIP 4 3 1 2 7 8 7 10 9 5 12 17 9 10
+24Vdc I/O
+Vsec
THERMAL
TD-
+24Vdc DRIVE ON
0V(24Vdc)
0V(24Vdc)
RD+
-Vsec
GROUND
TD+
RD-

D
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO INTERFACCIA PROFINET
26/03/2018 CR17.9322.33 00 /
COMAU PROFINET INTERFACE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
INPUT OUTPUT MULTIBUS OPZIONALE

C5GP-IOM
OPTIONAL INPUT OUTPUT MULTIBUS
VEDERE FOGLIO DI9371 DI-2 DO8322 DO-2

SEE SHEET 12 INPUT MODULE 8 OUTPUT MODULE
( 21 ) 24Vdc 24Vdc
+24Vdc DRIVE ON
GND GND
A
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
+24Vdc EXT
+24Vdc I/O
FIELD_BUS
0V(24Vdc)
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
INPUT 10
INPUT 11
INPUT 12
3 9 1 7 4 10 2 8 11 5 12 6
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
+24Vdc
+24Vdc
X128
0V
0V
18AWG
ORG
21 22 23 24 25 26 21 22 23 24 25 26
11 12 13 14 15 16 11 12 13 14 15 16
CR17130355
18AWG
BLU
B
GRY/PNK
RED/BLU
GRN
WHT
BRN
GRY
RED
PNK
BLU
YEL
VIO
BK
CR17130355 CR17130355
22AWG 22AWG
X93 /CIP
X41 /CIP 4 1 7 8 9 10 14 13 12 17 3 2 11 6
+24Vdc I/O
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
0V(24Vdc)
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
D
APPLICAZIONI
APPLICATIONS
A. DIELI ACER G. ALOTTO INPUT OUTPUT MULTIBUS
26/03/2018 CR17.9322.33 00 /
COMAU INPUT OUTPUT MULTIBUS FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
TIP DRESSER COMMAND OPZIONALE
14.6D
14.6D
14.6D
C5GP-TDK
OPTIONAL TIP DRESSER COMMAND
L1
L2
L3
AI2622 AI-1 VEDERE FOGLIO 12 INPUT MODULE VEDERE FOGLIO DI-1 8 OUTPUT MODULE DO-1
2 ANALOG INPUT MODULE SEE SHEET (DI9371) SEE SHEET (DO8332)
( 38 ) ( 23 )
+24Vdc DRIVE ON
BLK1
BLK2
BLK2
A
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
+24Vdc EXT
CR17131565
+24Vdc I/O
FIELD_BUS
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
0V(24Vdc)
INPUT 10
INPUT 11
INPUT 12
14AWG
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
IN 1 V+
IN 2 V+
IN 1 I+
IN 2 I+
GND
GND
507 508 509 21 22 23 24 25 26 21 22 23 24
11 12 13 21 22 23 11 12 13 14 15 16 11 12 13 14
3 9 1 7 4 10 2 8 11 5 12 6
Q102 1 3 5
X128
18AWG
ORG
CR17131565 CR17131565 CR17131565
CR17243863 22AWG 22AWG 22AWG
24AWG BLU BLU BLU
2 4 6
X7
111 111 111 111 225 227 229 230 231 232 105 106 115 116 117 118 108 107
BLK1
BLK2
BLK2
WHT
BRN
B CR17131565 111 111 225 227 229 105 115 117

22
14AWG
K105
520 521 522
X7 59.7B 21 CR17131565
112 112 112 112 22AWG
CR17131565 CR17131565 BLU
22AWG 22AWG
BLU BLU 226
X7 14
X7 K105
110 110 110 110
Q102
226
13 CR17131565
1 3 5 110 110 110 22AWG
K105 BLU
59.7B
2 4 6
CR17131565
22AWG
BLU
CR17243863
C 14AWG
526 527 528
CR17243863
YEL/GRN
BLK1
BLK2
BLK2
20AWG
BLU
YEL/GRN
X66b/CIP 1 2 3 4 X66c/CIP 1 2 6 12 5 11 8
SOLO CON CABLAGGIO C5GP-WDC
FORCE +
AIR BLOW
+24Vdc
FORCE -
0Vdc
CUTTER IN ROTATION TDS1
ENABLE FORCE SENS 1
ONLY WITH C5GP-WDC WIRING DRESSING

D
59.1C
59.1C
M1 THERMAL ADJUST
3 59.1C
EXTERNAL FOR MOTOR <0.6kW SET 2,2A 59.6B
TIP DRESSER 1 FOR MOTOR < 1kW SETTING 3,2A
A. DIELI ACER G. ALOTTO TIP DRESSER COMMAND OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL TIP DRESSER COMMAND FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
DOPPIO TIP DRESSER COMMAND OPZIONALE
14.7D
14.7D
14.7D
C5GP-TDK2
OPTIONAL DOUBLE TIP DRESSER COMMAND
L1
L2
L3
AI2622 AI-1 VEDERE FOGLIO 12 INPUT MODULE VEDERE FOGLIO DI-1 8 OUTPUT MODULE DO-1
2 ANALOG INPUT MODULE SEE SHEET (DI9371) SEE SHEET (DO8332)
( 38 ) ( 23 )
+24Vdc DRIVE ON
BLK1
BLK2
BLK2
A
E-STOP CH1B
E-STOP CH2B
E-STOP CH1A
E-STOP CH2A
+24Vdc EXT
CR17131565
+24Vdc I/O
FIELD_BUS
OUTPUT 1
OUTPUT 2
OUTPUT 3
OUTPUT 4
OUTPUT 5
OUTPUT 6
OUTPUT 7
OUTPUT 8
0V(24Vdc)
INPUT 10
INPUT 11
INPUT 12
14AWG
INPUT 1
INPUT 2
INPUT 3
INPUT 4
INPUT 5
INPUT 6
INPUT 7
INPUT 8
INPUT 9
IN 1 V+
IN 2 V+
IN 1 I+
IN 2 I+
GND
GND
507 508 509 21 22 23 24 25 26 21 22 23 24
11 12 13 21 22 23 11 12 13 14 15 16 11 12 13 14
3 9 1 7 4 10 2 8 11 5 12 6
Q102 1 3 5
X128
18AWG
ORG
CR17131565 CR17131565 CR17131565
CR17243863 CR17243864 22AWG 22AWG 22AWG
24AWG 24AWG BLU BLU BLU
2 4 6
X7
111 111 111 111 225 227 229 230 231 232 105 106 115 116 117 118 108 107
BLK1
BLK2
BLK2
WHT
WHT
BRN
BRN
B CR17131565 111 111 111 111 225 227 229 230 105 106 115 116 117 118
22
14AWG
K1O5
520 521 522
X7 60.7B 21 CR17131565 CR17131566
112 112 112 112 22AWG 22AWG
CR17131565 CR17131565 BLU BLU
22AWG 22AWG
BLU BLU 226
X7 14
CR17131566 X7 K1O5 K106
14AWG
110 110 110 110
Q102
226
13 CR17131566
1 3 5 1 3 5 110 110 110 110 22AWG
K1O5 K106 BLU
60.7B 60.8B 21
2 4 6 2 4 6
K106 CR17131565 CR17131566
22AWG 22AWG
60.8B 22
BLU BLU
CR17243863 CR17243864
C 14AWG 14AWG
526 527 528 523 524 525
CR17243863 CR17243864
YEL/GRN
YEL/GRN
BLK1
BLK2
BLK2
BLK1
BLK2
BLK2
20AWG 20AWG
BLU BLU
YEL/GRN
YEL/GRN
X66b/CIP 1 2 3 4 X67b/CIP 1 2 3 4 X66c/CIP 1 2 6 12 5 11 8 X67c/CIP 1 2 6 12 5 11 8
SOLO CON CABLAGGIO C5GP-WDC2
FORCE +
AIR BLOW
FORCE +
AIR BLOW
+24Vdc
+24Vdc
FORCE -
FORCE -
ENABLE FORCE SENS 1
ENABLE FORCE SENS 2

0Vdc
0Vdc

ONLY WITH C5GP-WDC2 WIRING DRESSING 2
D
60.1C 60.2C
60.1C 60.2C
M1 M2 THERMAL ADJUST
3 3 60.1C 60.2C
EXTERNAL EXTERNAL FOR MOTOR <0.6kW SET 2,2A 60.6B 60.6C
TIP DRESSER 1 TIP DRESSER 2 FOR MOTOR < 1kW SETTING 3,2A
A. DIELI ACER G. ALOTTO DOPPIO TIP DRESSER COMMAND OPZIONALE
26/03/2018 CR17.9322.33 00 /
COMAU OPTIONAL DOUBLE TIP DRESSER COMMAND FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
B PAGINA INTENZIONALMENTE BIANCA

INTENTIONALLY LEFT BLANK
A. DIELI ACER G. ALOTTO PAGINA INTENZIONALMENTE BIANCA
26/03/2018 CR17.9322.33 00 /
COMAU INTENTIONALLY LEFT BLANK FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
DEFINIZIONE SEGNALI CONNETTORE X30 OPZIONALE

OPTIONAL X30 CONNECTOR DESCRIPTION SIGNALS
36 29 22 15 8 1
X30/CIP NOT USED +24Vdc EXT +24Vdc EXT +24Vdc EXT NOT USED NOT USED
A FIELD_BUS
(38) (38) (38)
37 30 23 16 9 2
PIN 1
NOT USED 0V 0V 0V 0V 0V
(24Vdc) EXT (24Vdc) EXT (24Vdc) EXT (24Vdc) INT (24Vdc) INT
FIELD_BUS
(38) (38) (38) (38) (38)
38 31 24 17 10 3
NOT USED NOT USED NOT USED NOT USED NOT USED NOT USED
39 32 25 18 11 4
NOT USED NOT USED G-STOP LINEA A-STOP LINEA E-STOP PB E-STOP LINEA
VISTA ESTERNA CH1A CH1A CH1A CH1A
(1A MAX)
EXTERNAL VIEW
(39) (39) (39) (39)
40 33 26 19 12 5
CH2A CH2A CH2A CH2A
(1A MAX)
C
(39) (39) (39) (39)
41 34 27 20 13 6
CH1B CH1B CH1B CH1B
(1A MAX)
(39) (39) (39) (39)
42 35 28 21 14 7
CH2B CH2B CH2B CH2B
(1A MAX)
D (39) (39) (39) (39)
A. DIELI ACER G. ALOTTO DEFINIZIONE SEGNALI CONNETTORE X30
26/03/2018 CR17.9322.33 00 /
COMAU X30 CONNECTOR DESCRIPTION SIGNALS FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
GRUPPO O GRUPPO O GRUPPO O

MODULO MODULO MODULO LEGENDA:
PARTE FOGLIO PARTE FOGLIO PARTE FOGLIO
PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET
LEGEND:
24V APC 25.2B DNP DCM 55.6B FMP CAB 43.5B ACO SH. 86 Air Conditioner Kit
A ACO CAB 16.3A DO-1 CAB 21.8D FMP CAB 44.5B APC SH. 85 Acopos PC
AI-1 CAB 59.3A DO-1 CAB 23.4A FMP CAB 45.5B ASM SH. 80 Auxiliary Supply Module
AI-1 CAB 60.3A DO-1 CAB 59.8A FMP CAB 46.5B BC SH. 84 Bus Controller Base
APC CAB 25.2A DO-1 CAB 60.8A FMP CAB 47.5B BCM SH. 83 Battery Charger Module
APC CAB 26.1A DO-2 CAB 58.7A FMP CAB 48.5B

CAB SH. 75 85 Base Cabinet
ASM FMP 15.3B E110 CAB 19.6D FMP CAB 49.5B
CAB SH. 76 86 Base Cabinet (Optional)
BATT1 CAB 17.4A E111 CABR 19.7D HS1 HSM5 36.1B
CABR SH. 88 Rear Base Cabinet
BATT2 CAB 17.5A E112 CABR 19.7D HS3 HSM5 36.3B
CIP SH. 78 79 Connectors Interface Panel
BC-1 CAB 21.2D E113 CABR 19.8D HSM5 CAB 36.6B
DCM SH. 87 Device Net Processor
BC-1 CAB 27.3D ETH1 APC 25.5B IAM1 FMP 26.4A
B
BCM CAB 17.7B ETH CAB 25.7C IAM1 FMP 29.1A ETIx SH. 81 Encoder Transducer Interface
BCM CAB 18.8A ETH2 APC 25.7B IAM1 FMP 30.1A ETO SH. 88 Electrical Transformer Option
BCM CAB 19.8A ETI1 IAM1 29.6B IAM2 FMP 26.6A FMP SH. 80 Feed-through Mounting Plate
BCM CAB 20.7A ETI2 IAM1 30.6B IAM2 FMP 31.1A HSM SH. 86 Hight Speed Input Module
BCM CAB 27.7A ETI3 IAM2 31.6B IAM2 FMP 32.1A IAMx SH. 81 82 Inverter Axis Modules
DI-1 CAB 21.7D ETI4 IAM2 32.6B IAM3 FMP 26.7A

ISAM5 SH. 86 Internal Supply Application
DI-1 CAB 23.1A ETI5 IAM3 33.6B IAM3 FMP 33.1A
LIM SH. 83 Limiter
DI-1 CAB 55.5A ETI6 IAM3 34.6B IAM3 FMP 34.1A
PBM SH. 87 Prufibus Processor
DI-1 CAB 56.5A ETIx IAM4 49.4C IAM4 FMP 27.4A
C PNM SH. 87 Profinet Processor
DI-1 CAB 57.5A ETIx IAM4 43.4C IAM4 FMP 42.5B
PFG-PBC SH. 84 Power Link Bus Controller
DI-1 CAB 59.7A ETIx IAM4 46.4C IAM4 FMP 43.5B
DI-1 CAB 60.7A ETIx IAM4 48.4C IAM4 FMP 44.5B PPS SH. 80 Passive Power Supply
DI-2 CAB 58.5A FMP CAB 15.7B IAM4 FMP 45.5B RTIx SH. 82 Resolver Transducer Interface
DL1 BCM 17.2B FMP CAB 26.2A IAM4 FMP 46.5B SLU SH. 84 Safe Logic Unit
DL2 BCM 17.2D FMP CAB 27.4A IAM4 FMP 47.5B SSK SH. 86 Service Socket Kit
DL4 BCM 17.7D FMP CAB 29.1A IAM4 FMP 48.5B TDK SH. 86 Tip Dresser Command
DL5 BCM 17.8D FMP CAB 30.1A IAM4 FMP 49.5B

TDK2 SH. 86 Douple Tip Dresser Command
DL6 BCM 17.4D FMP CAB 31.1A IAM5 FMP 27.5A
D
DL9 BCM 17.2D FMP CAB 34.1A ISAM5 CAB 40.7B
DL10 BCM 17.3D FMP CAB 42.5B ISAM5 CAB 41.7B
A. DIELI ACER G. ALOTTO TAVOLA DI RIFERIMENTO COMPONENTI
26/03/2018 CR17.9322.33 00 /
COMAU REFERENCE TABLE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8

PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET
LEGEND:
K105 TDK 59.7B SP CIP 38.4D X2 IAM3 33.4C ACO SH. 86 Air Conditioner Kit
A K105 TDK2 60.7B SSK CAB 16.7A X2 LIM 18.1A APC SH. 85 Acopos PC
K106 TDK2 60.8B T100 ETO 14.2D X3 ASM 15.6C ASM SH. 80 Auxiliary Supply Module
LIM CAB 18.1B T110 SSK 16.6B X3 BCM 27.7B BC SH. 84 Bus Controller Base
P1 CAB 16.1C TP5 CAB 28.1D X3A APC 26.1B BCM SH. 83 Battery Charger Module
PFG-PBC BC 21.4C USB1 APC 25.3B X3A CAB 35.5B

PFG-PBC BC 27.5D USB CAB 25.4C X3A IAM1 26.4B
PFG-PCS BC 21.4C USB2 APC 25.4B X3A IAM2 26.6B
PFM PNM 57.6B X1 ASM 15.3C X3A IAM3 26.7B
PFP PBM 56.6B X1 CAB 14.3D X3A IAM4 27.4B
PPS FMP 15.2C X1 CAB 35.1B X3A IAM5 27.5B
B
PPS FMP 26.2A X1 CAB 42.6A X3A PFG-PBC 27.5C ETIx SH. 81 Encoder Transducer Interface
Q100 CAB 14.4B X1 CAB 43.6A X3A PPS 26.3B ETO SH. 88 Electrical Transformer Option
Q102 TDK 59.1B X1 CAB 44.6A X3A SLU 27.8C FMP SH. 80 Feed-through Mounting Plate
Q102 TDK2 60.1B X1 CAB 45.6A X3B CAB 36.5C HSM SH. 86 Hight Speed Input Module
Q120 SSK 16.6A X1 CAB 46.6A X3B IAM1 26.5B IAMx SH. 81 82 Inverter Axis Modules
Q121 SSK 16.6C X1 CAB 47.6A X3B IAM2 26.6B

Q122 ACO 16.4B X1 CAB 48.6A X3B IAM3 26.8B
LIM SH. 83 Limiter
R1 CABR 15.3A X1 CAB 49.6A X3B IAM4 27.4B
RTIx IAM4 42.4C X1 IAM4 42.1B X3B IAM5 27.6B
RTIx IAM4 44.4C X1 IAM4 43.1B X3B PFG-PBC 27.5C
RTIx IAM4 45.4C X1 IAM4 44.1B X3B PPS 26.3B
RTIx IAM4 47.4C X1 IAM4 45.1B X3B SLU 27.7C PPS SH. 80 Passive Power Supply
S1 ETO 14.2D X1 IAM4 46.1B X3C CAB 37.1C RTIx SH. 82 Resolver Transducer Interface
S102 CAB 16.2B X1 IAM4 47.1B X3D1 CAB 37.2C SLU SH. 84 Safe Logic Unit
SI-1A CAB 21.5D X1 IAM4 48.1B X3D1 CAB 42.7A SSK SH. 86 Service Socket Kit
SI-1A CAB 22.2A X1 IAM4 49.1B X3D1 CAB 43.7A TDK SH. 86 Tip Dresser Command
SI-1B CAB 21.6D X1 LIM 18.1B X3D1 CAB 44.7A

SI-1B CAB 22.4A X1 PPS 15.2C X3D1 CAB 46.7A
SLU-1 CAB 21.1D X2 ASM 15.4C X3D1 CAB 48.7A
D
SLU-1 CAB 27.7D X2 CAB 19.5B X3D2 CAB 37.4C
SO-1 CAB 21.6D X2 IAM1 29.4C X3D2 CAB 42.7A
SO-1 CAB 22.6A X2 IAM2 31.4C X3D2 CAB 43.7A
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET
LEGEND:
X3D2 CAB 45.7A X5A IAM4 42.1C X11 ETI1 29.6C ACO SH. 86 Air Conditioner Kit
A X3D2 CAB 47.7A X5A IAM4 43.1C X11 ETI2 30.6C APC SH. 85 Acopos PC
X3D2 CAB 49.7A X5A IAM4 44.1C X11 ETI3 31.6C ASM SH. 80 Auxiliary Supply Module
X3D3 CAB 37.5C X5A IAM4 46.1C X11 ETI4 32.6C BC SH. 84 Bus Controller Base
X3D3 CAB 42.7B X5A IAM4 48.1C X11 ETI5 33.6C BCM SH. 83 Battery Charger Module
X3D3 CAB 43.7B X5A PPS 15.2B X11 ETI6 34.6C

X3D4 CAB 37.7C X5B CAB 24.5C X11 ETIx 43.4C
X3D4 CAB 42.7B X5B CAB 42.1A X11 ETIx 46.4C
X3D4 CAB 43.7B X5B CAB 43.1A X11 ETIx 48.4C
X4 BCM 27.8B X5B CAB 45.1A X11 ETIx 49.4C
X4A IAM1 29.3C X5B CAB 47.1A X11 RTIx 42.4C
B
X4A IAM2 31.3C X5B CAB 49.1A X11 RTIx 44.4C ETIx SH. 81 Encoder Transducer Interface
X4A IAM3 33.3C X5B IAM1 30.1C X11 RTIx 45.4C ETO SH. 88 Electrical Transformer Option
X4A IAM4 42.2C X5B IAM2 32.1C X11 RTIx 47.4C FMP SH. 80 Feed-through Mounting Plate
X4A IAM4 43.2C X5B IAM3 34.1C X13 ACO 16.3C HSM SH. 86 Hight Speed Input Module
X4A IAM4 44.2C X5B IAM4 45.1C X13 SSK 16.6B IAMx SH. 81 82 Inverter Axis Modules
X4A IAM4 46.2C X5B IAM4 47.1C X30 CIP 38.1D

X4A IAM4 48.2C X5B IAM4 49.1C X30 CIP 39.1D
LIM SH. 83 Limiter
X4B IAM1 30.3C X5B PPS 15.3B X41 CIP 58.1D
X4B IAM2 32.3C X5C CAB 24.6C X60a CIP 29.1D
X4B IAM3 34.3C X5D CAB 24.7C X60a CIP 32.1D
X4B IAM4 45.2C X5E CAB 24.8C X60b CIP 30.1D
X4B IAM4 47.2C X7 TDK 59.3B X60b CIP 33.1D PPS SH. 80 Passive Power Supply
X4B IAM4 49.2C X7 CAB 60.3B X60c CIP 31.1D RTIx SH. 82 Resolver Transducer Interface
X5A CAB 24.4C X10 CIP 29.6D X60c CIP 34.1D SLU SH. 84 Safe Logic Unit
X5A CAB 42.1A X10 CIP 30.6D X60d CIP 29.3D SSK SH. 86 Service Socket Kit
X5A CAB 43.1A X10 CIP 31.6D X60d CIP 30.3D TDK SH. 86 Tip Dresser Command
X5A CAB 44.1A X10 CIP 32.6D X60d CIP 31.3D

D
X5A IAM1 29.1C X10 CIP 35.3C X60d CIP 34.3D
X5A IAM2 31.1C X10 CIP 36.5D X60d CIP 35.1C
X5A IAM3 33.1C X10 CIP 37.1D X61a CIP 44.1D
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET PART
ASSEMBLY OR
SHEET
LEGEND:
X61a CIP 46.1D X67b/CIP CIP 60.2D X124-1 ISAM5 40.1D ACO SH. 86 Air Conditioner Kit
A X61a CIP 48.1D X67c/CIP CIP 60.5D X126-1 ISAM5 40.4D APC SH. 85 Acopos PC
X61b CIP 44.2D X90 CIP 78.6B X128 CAB 38.4B ASM SH. 80 Auxiliary Supply Module
X61b CIP 46.2D X93 CIP 55.1D X128 CAB 40.1B BC SH. 84 Bus Controller Base
X61b CIP 48.2D X93 CIP 56.1D X128 CAB 55.1B BCM SH. 83 Battery Charger Module
X61c CIP 44.4D X93 CIP 57.1D X128 CAB 56.1B

X62a CIP 42.1D X94 CIP 56.1D X128 CAB 59.3B
X62a CIP 43.1D X94 CIP 57.1D X128 CAB 60.3B
X62a CIP 45.1D X100 BCM 17.1B X128A ISAM5 40.1B
B
X62a CIP 47.1D X101 BCM 18.2B X128-1 ISAM5 41.1D ETIx SH. 81 Encoder Transducer Interface
X62a CIP 49.1D X102 BCM 17.3B X130 BCM 20.1C ETO SH. 88 Electrical Transformer Option
X62b CIP 42.2D X102 CAB 38.2B X130-1 ISAM5 41.3D FMP SH. 80 Feed-through Mounting Plate
X62b CIP 43.2D X103A BCM 18.3B X136 HSM5 36.1B HSM SH. 86 Hight Speed Input Module
X62b CIP 45.2D X103B BCM 18.4B X137 HSM5 36.3B IAMx SH. 81 82 Inverter Axis Modules
X62b CIP 47.2D X103C BCM 18.5B X138 HSM5 36.1A

X62b CIP 49.2D X106A BCM 18.6B X310 BCM 20.5C
LIM SH. 83 Limiter
X62c CIP 42.4D X106-1 ISAM5 41.5D X311 BCM 20.3C
X62c CIP 43.4D X106-2 ISAM5 41.6D Z1 CAB 14.3C
X62c CIP 45.4D X106-3 ISAM5 41.7D
X62c CIP 47.4D X106-4 ISAM5 41.8D
X62c CIP 49.4D X106B BCM 18.7B PPS SH. 80 Passive Power Supply
X63a CIP 42.1D X106C BCM 19.1B RTIx SH. 82 Resolver Transducer Interface
X63a CIP 43.1D X108 CAB 24.1B SLU SH. 84 Safe Logic Unit
X63b CIP 42.2D X109 CAB 24.4B SSK SH. 86 Service Socket Kit
X63b CIP 43.2D X110 BCM 19.3B TDK SH. 86 Tip Dresser Command
X63c CIP 42.4D X115 SSK 16.6D

X63c CIP 43.4D X119 BCM 19.4B
X66b/CIP CIP 59.1D X119 CIP 14.7B
D
X66b/CIP CIP 60.1D X120 CAB 14.4A
X66c/CIP CIP 59.3D X122 CAB 39.1C
X66c/CIP CIP 60.3D X124 CAB 28.1B
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B PAGINA INTENZIONALMENTE BIANCA

INTENTIONALLY LEFT BLANK
A. DIELI ACER G. ALOTTO PAGINA INTENZIONALMENTE BIANCA
26/03/2018 CR17.9322.33 00 /
COMAU INTENTIONALLY LEFT BLANK FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
ALIMENTAZIONE ELETTRICA VENTOLE DISSIPATORE AMS
AMS HEATSINK FANS
POWER SUPPLY
T100
X120 OPZIONALE
CR17432461 CR17134462 CR17131565 OPTIONAL
E111 E112 E113
CR17133461
ETO Micro Porta
ELECTRICAL ACO Door Switch SSK TDK
TRANSFORMER AIR CONDITIONER KIT SERVICE SOCKET KIT TIP DRESSER COMMAND CR17431061 CR17431061 CR17431061
S102 Q120
A Q100 Q122 Q102
CR17134462
CR17432461
CR17131565 CR17131566
T110 VENTOLA INT. CABINA
X13 X13 K105 K106 INT. CABINET FAN

CR17131264 CR17230061 E110
Z1 CR17243863 CR17243864
Filtro rete Q121 CR17430961
Main filter X66/CIP X67/CIP
CR17134462
CR17231662 CR17231762
CONDIZIONATORE D'ARIA X115
CR17230162 X2/CAB
AIR CONDITIONER
X1/CAB PRESA DI SERVIZIO

SERVICE SOCKET M1 M2
BAT 1 BAT 1
EXTERNAL EXTERNAL BATTERY 1 BATTERY 1
B TIP DRESSER 1 TIP DRESSER 2
- + - +
CR17230563
CR17230563 LIM
LIMITER
CR17230461 CR17230967 CR17230663
CR17230563
CR17230262
CR17230563
X5A
24V X1 X1 X3 X2 X310 X103B X100 X101 X119 X102

C ACOPOS PC PASSIVE POWER AUX. SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER BATTERY CHARGER
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS MODULE
SAFE MC SAFE MC SAFE MC MODULE MODULE
X103A X106A X106A X106B X106C
FMP
CR17230662 CR17230662 CR17231266
SOLO CON ASSI AGGIUNTIVI SOLO CON ALIMENTAZIONE ESTERNA SOLO CON KIT CONNETTORE DI ALIMENTAZIONE
ONLY WITH ADDITIONAL AXIS ONLY WITH EXTERNAL SUPPLY ONLY WITH MAIN CONNECTOR KIT X102
SOLO CON CONDIZIONATORE SOLO CON KIT AUTOTRASFORMATORE SOLO CON C5GP-REC2.0 E REC3.0 CR17231061 CR17240163
ONLY WITH AIR CONDITIONER ONLY WITH AUTOTRANSFORMER KIT ONLY WITH C5GP-REC2.0 & REC3.0 SLU-1 BC-1 DO-1
D
SAFE LOGIC BUS 8 OUTPUT X128 X30 SP
UNIT CONTROLLER MODULE
SOLO CON KIT PRESA DI SERVIZIO SOLO CON TIP DRESSER COMMAND BASE Applicazioni Trasferta
ONLY WITH SERVICE SOCKET KIT ONLY WITH TIP DRESSER COMMAND
Applications External Equipment
SOLO CON CONNETTORE X30 SOLO CON DOPPIO TIP DRESSER COMMAND
ONLY WITH CONNECTOR X30 ONLY WITH DOUBLE TIP DRESSER COMMAND
A. DIELI ACER G. ALOTTO SCHEMA DI INTERCONNESSIONE CABINA
26/03/2018 CR17.9322.33 00 /
COMAU CABINET INTERCONNECTION DIAGRAM FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
X5E X5D X5C X5B X5A

A
CR17240960
CR17241060 CR17241060 CR17241060 CR17241060
X109 X108
X5A
X1 X1 X1 X1
CR17231167
PPS IAM1 IAM2 IAM3 IAM4 or IAM5 IAM4 or IAM5 IAM4 or IAM5 IAM4 or IAM5
PASSIVE POWER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER INVERTER
SUPPLY AXIS AXIS AXIS SINGLE AXIS SINGLE AXIS DOUBLE AXIS DOUBLE AXIS
SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE MODULE MODULE MODULE MODULE
AXIS 1-2 AXIS 3-4 AXIS 5-6 (RESOLVER) (ENCODER) (RESOLVER) (ENCODER)
BCM SO-1
B BATTERY CHARGER 4 SAFE
ETI1-2 ETI3-4 ETI5-6 ETI RTI ETI RTI MODULE OUTPUT MODULE
X4B
X5B
X4B
X5B
X4B
X5B
X4B
X4B
X4B
X5B
X4B
X5B
X4A
X5A
X4A
X5A
X4A
X5A
X4A
X4A
X4A
X5A
X4A
X5A
X11
X11
X11
X11
X11
X11
X11
X11
X11
X11
X11
X11
X119
X2
X2
X2
CR17231567 CR17231567
FMP
CR17230967
CR17230967
X1
CR1723356x
C
CR17230967
CR17230967
CR17240061
CR17240061
CR17240061
CR17240262
CR17240262
CR17240262
CR17240061
CR17240061
CR17240061
CR17240262
CR17240262
CR17240262
CR1723356x
CIP
X3A X3B X3C
CR17230967
CR17230967
CR17230967
X60 X10 X61 or X62 or X63 X61 or X62 or X63 X61 or X62 or X63 X61 or X62 or X63
SOLO CON ASSI AGGIUNTIVI CR17233561 FOR SEC 1.0

ONLY WITH ADDITIONAL AXIS CR17233563 FOR SEC 2.0 - 3.0
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
CONTAORE OPZIONALE
OPTIONAL HOUR METER
BCM P1 DI-1 DO-1 FMP

BATTERY 12 INPUT MODULE 8 OUTPUT MODULE FEED-THROUGH MOUNTING PLATE
CHARGER
MODULE IAM1 IAM2 IAM3
CR17132461
A
X106 INVERTER INVERTER INVERTER
AXIS AXIS AXIS
SAFE MC MODULE SAFE MC MODULE SAFE MC MODULE
ETI1-2 ETI3-4 ETI5-6

X4B Brake Command 2
X4B Brake Command 4
X4B Brake Command 6

X4A Brake Command 1
X4A Brake Command 3
X4A Brake Command 5

X128
X2 Overtravel Axis
X5B Power Axis 2
X5B Power Axis 4
X5B Power Axis 6

X5A Power Axis 1
X5A Power Axis 3
X5A Power Axis 5

X11 Encoder 1
X11 Encoder 2
X11 Encoder 3
X11 Encoder 4
X11 Encoder 5
X11 Encoder 6
CR17132560
CR17130263
CR17130263
B
CR17132660
CR17133160
CR17130263
HSM5
HIGH SPEED INPUT MODULE
X128A
ISAM5
X136 X137 X138
X124-1 X126-1 X128-1 X130-1 X106-1 X106-2 X106-3 X106-4

C
CR17132560 CR17132560
APPLICAZIONI 3÷6 (ESPANSIONE) ALIMENTAZIONE UTENTE (ESPANSIONE)
APPLICATIONS 3÷6 (EXPANSION) USER'S SUPPLY (EXPANSION)
CIP
CR17132660
CR17133160 CR17133160
SOLO CON KIT ALIMENTAZIONE APPLICAZIONI INTERNE
ONLY WITH INTERNAL SUPPLY APPLICATION KIT
X3A X3B X3C X3D1 X3D2 X3D3 X3D4

D
SOLO CON KIT HIGH SPEED INPUT ASSI X10 X61 or X62 or X63
SOLO CON KIT OLTRECORSA ASSI SOLO CON CONTAORE Robot Assi Aggiuntivi
ONLY WITH OVERTRAVEL AXIS KIT ONLY WITH HOUR METER
Robot Additional Axis
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
CR17231861 CR17231861 CR17231861 CR17231861 CR17231861 CR17231861 CR17231862 CR17231861
A
X5A
X3A X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B X3A X3B

ACOPOS PC PASSIVE POWER AUXILIARY SUPPLY INVERTER INVERTER INVERTER INVERTER INVERTER BATTERY
SUPPLY MODULE AXIS AXIS AXIS AXIS AXIS CHARGER
SAFE MC SAFE MC SAFE MC MODULE MODULE MODULE
USB1 USB2 USB3 USB4 ETH1 ETH2
B
FMP
CR17130782
CR17130882
CR17231861
USB ETH
X3B X3A X3B X3A
C
SLU-1
SAFE LOGIC UNIT
(SL8110)
PFG-PBC (BC1083)
POWER LINK BUS CONTROLLER
BC-1 (BB82)
D
SOLO CON KIT USB

ONLY WITH USB KIT

26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
SI-1 SO-1 BCM APC

20 SAFE INPUT MODULE 4 SAFE OUTPUT MODULE BATTERY CHARGER MODULE ACOPOS PC
1A 1B X130 X106A X106B X106C X110 ETH1
CR17230762
CR17231266 CR17231266 CR17231266 CR17231266
CR17231266 CR17231266
C
X122 X124
CR17231061
TP5
D
X30
Trasferta
External Equipment
SOLO CON CONNETTORE X30

ONLY WITH CONNECTOR X30
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
DI-1 DCM PBM PNM DI-2 DO-2

12 INPUT MODULE DEVICE NET MASTER PROFIBUS DP PROFINET IO 12 INPUT MODULE 8 OUTPUT MODULE
INTERFACE MASTER CONTROLLER
X128 DNP PFP PFM
B
CR17240964
CR17240965
CR17240966
CR17240964
CR17240965
CR17240966
CR17240964
CR17240965
CR17240966
CR17130355
C
CIP
SOLO CON INTERFACCIA DEVICENET

ONLY WITH DEVICENET INTERFACE
SOLO CON INTERFACCIA PROFIBUS

ONLY WITH PROFIBUS INTERFACE
D
X93 or X94 X93 or X94 X93 or X94 X93 or X41 SOLO CON INTERFACCIA PROFINET
ONLY WITH PROFINET INTERFACE

ONLY WITH INPUT OUTPUT MULTIBUS
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA FRONTALE VISTA POSTERIORE

FRONT VIEW REAR VIEW
A
ETH P1
COMAU S.p.A.
Via Rivalta 30
10095 Grugliasco (TO), Italy
USB CONTROL UNIT

UNITA' DI CONTROLLO
PART No.
N° DI CODICE
DATE & SERIAL No

DATA E N° DI SERIE
DEGREE OF PROTECTION WEIGHT

GRADO DI PROTEZIONE PESO
SHORT CIRCUIT CURRENT RATING
MASSIMA CORRENTE DI CORTO CIRCUITO
POWER SUPPLY
ALIMENTAZIONE
230Vac
SOLO CON CONDIZIONATORE SOLO CON KIT ETHERNET SOLO CON KIT USB SOLO CON CONTAORE SOLO CON KIT PRESA DI SERVIZIO
ONLY WITH AIR CONDITIONER ONLY WITH ETHERNET KIT ONLY WITH USB KIT ONLY WITH HOUR METER ONLY WITH SERVICE SOCKET KIT
A. DIELI ACER G. ALOTTO DISPOSIZIONE COMPONENTI
26/03/2018 CR17.9322.33 00 /
COMAU PARTS LOCATION FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
INGRESSO RETE
MAIN SUPPLY IN
CAB
CIP
C
X124
ATTACCO TERRA ATTACCO TERMINALE DI PROGRAMMAZIONE

GROUND CONNECTION PROGRAMMING TERMINAL UNIT CONNECTION
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
OPZIONI COLLEGABILI
A
ASSI AGGIUNTIVI ( SH. 79 - 82 - 86 )

ADDITIONAL AXIS
FMP
KIT CONDIZIONATORE
C5GP-ACO (SH. 86)
AIR CONDITIONER KIT S102
CAB
KIT AUTOTRASFORMATORE
C5GP-ETO (SH. 88 )
AUTOTRANSFORMER KIT CIP C5G-ISAK (SH. 86)
KIT ALIMENTAZIONE APPLICAZIONI INTERNE
INTERNAL SUPPLY APPLICATION KIT
KIT HIGH SPEED INPUT ASSI
C5G-HSK (SH. 86)
HIGH SPEED INPUT AXIS KIT
KIT PRESA DI SERVIZIO
C5GP-SSK (SH. 86)
SERVICE SOCKET KIT 12 INPUT / 12 OUTPUT DIGITALI
C C5G-D12 (SH. 87)
24 INPUT / 24 OUTPUT DIGITALI
C5G-D24 (SH. 87)
2 INPUT ANALOGICI
C5G-AI2 (SH. 87)
KIT CONNETTORE DI ALIMENTAZIONE 2 ANALOG INPUT
C5GP-MCK (SH. 79)
MAIN CONNECTOR KIT 2 OUTPUT ANALOGICI
C5G-AO2 (SH. 87)
2 ANALOG OUTPUT
C5G-A2IO (SH. 87)
KIT HIGH SPEED INPUT ASSI INPUT OUTPUT MULTIBUS
C5G-HSK (SH. 79) C5GP-IOM (SH. 79) INTERFACCIA DEVICENET
HIGH SPEED INPUT AXIS KIT INPUT OUTPUT MULTIBUS C5GP-DCM (SH. 87)
DEVICENET INTERFACE
KIT SEGNALI ROBOT CABLAGGIO CONNETTORE TIP DRESSER
C5GP-SMK (SH. 79) C5GP-WDC (SH. 79) INTERFACCIA PROFIBUS
SIGNAL MACHINE KIT WIRING DRESSING CONNECTOR C5GP-PBM (SH. 87)
PROFIBUS INTERFACE
KIT OLTRECORSA ASSI CABLAGGIO CONNETTORE TIP DRESSER 2
C5G-OTK (SH. 79) C5GP-WDC2 (SH. 79) INTERFACCIA PROFINET
OVERTRAVEL AXIS KIT WIRING DRESSING CONNECTOR 2 C5GP-PNM (SH. 87)
D PROFINET INTERFACE
INTERFACCIA DEVICENET
C5GP-DCM (SH. 79) INPUT OUTPUT MULTIBUS
DEVICENET INTERFACE C5GP-IOM (SH. 87)
INTERFACCIA PROFIBUS
C5GP-PBM (SH. 79) TIP DRESSER COMMAND
PROFIBUS INTERFACE C5GP-TDK (SH. 86)
TIP DRESSER COMMAND
INTERFACCIA PROFINET
C5GP-PNM (SH. 79) DOPPIO TIP DRESSER COMMAND
PROFINET INTERFACE C5GP-TDK2(SH. 86)
DOUBLE TIP DRESSER COMMAND
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA SUPERIORE
UPPER VIEW
DRIVES
BCM
Z1
B
Q100
E110
APC
C
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
CIP
VISTA ESTERNA X30

EXTERNAL VIEW
PIN 1
X30
X60 X10
PANNELLO 1 PANNELLO 2 PANNELLO 3

PANEL 1 PANEL 2 PANEL 3
X90
B
X124
X60 X10 SP X90

4 3
5 2
1
C PIN 1 6 7 8
a PIN 1
b PIN 1
c PIN 1
PIN 1
d
PASSACAVO
THROUGH PASS CABLE
POLARIZZATORE FEMMINA
FEMALE GUIDE PIN
POLARIZZATORE MASCHIO SOLO CON CONNETTORE X30 SOLO CON ALIMENTAZIONE ESTERNA
MALE GUIDE PIN ONLY WITH CONNECTOR X30 ONLY WITH EXTERNAL SUPPLY
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA ESTERNA VISTA INTERNA

EXTERNAL VIEW
CIP INTERNAL VIEW
OPZIONI COLLEGABILI
OPTIONS CONNECTABLES X90
X124
X30
X60 X93 X10 X93
PANNELLO 1 PANNELLO 2 PANNELLO 3 X94 X41

PANEL 1 PANEL 2 PANEL 3 PANNELLO 1 PANNELLO 2 PANNELLO 3
X94
X60 PANEL 1 PANEL 2 PANEL 3 X10
X90
X30
X93
X124
POLARIZZATORE FEMMINA
FEMALE GUIDE PIN
POLARIZZATORE MASCHIO
B MALE GUIDE PIN
X3D4/CAB
PIN 1
X3D3/CAB
X120 X66 X61 X62
PIN 1
1
PIN 1 PIN 1 PIN 1
a a a
X3D2/CAB
2
3 PIN 1 PIN 1 PIN 1
b PIN 1 b b
4
5
X3D1/CAB
PIN 1 PIN 1 PIN 1
6
PIN 1 = R c c c
PIN 2 = S PIN 1
PIN 3 = T
X3C/CAB
X67
PIN 1
X64 X63
X3B/CAB
a
PIN 1
a PIN 1 a PIN 1
b PIN 1
PIN 1 PIN 1
PIN 1 b b
c
X3A/CAB
PIN 1 PIN 1
c c
SOLO CON KIT CONNETTORE DI ALIMENTAZIONE PIN 1

ONLY WITH MAIN CONNECTOR KIT
D
SOLO CON ASSI AGGIUNTIVI SOLO CON KIT HIGH SPEED INPUT ASSI SOLO CON INTERFACCIA DEVICENET SOLO CON INTERFACCIA PROFINET SOLO CON CABLAGGIO C5GP-WDC
ONLY WITH ADDITIONAL AXIS ONLY WITH HIGH SPEED INPUT AXIS KIT ONLY WITH DEVICENET INTERFACE ONLY WITH PROFINET INTERFACE ONLY WITH C5GP-WDC WIRING DRESSING
SOLO CON KIT SEGNALI ROBOT SOLO CON KIT OLTRECORSA ASSI SOLO CON INTERFACCIA PROFIBUS SOLO CON INPUT OUTPUT MULTIBUS SOLO CON CABLAGGIO C5GP-WDC2
ONLY WITH SIGNAL MACHINE KIT ONLY WITH OVERTRAVEL AXIS KIT ONLY WITH PROFIBUS INTERFACE ONLY WITH INPUT OUTPUT MULTIBUS ONLY WITH C5GP-WDC2 WIRING DRESSING 2
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
FMP VISTA SUPERIORE

A
TOP VIEW
PPS ASM
X2
X1
X1
X3B
B
X3
X3A
SLOT
1 2 3 4 5 6 7 8 9 10 11 12
SLOT 1-2 SLOT 3

ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
X5A X5B
D SWITCH
7 8 8
A
3 4 5 6
BCD
SW
(VEDERE MANUALE)
E
2
F 0 1
7 8 8
(SEE MANUAL) VISTA INFERIORE
A
3 4 5 6
BCD
SW
E
LOWER VIEW
2
F 0 1
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA SUPERIORE
TOP VIEW
IAMx
FMP
A
SAFE MC SAFE MC SAFE MC SAFE MC
MODULE DOUBLE MODULE DOUBLE MODULE SINGLE MODULE SINGLE
2 AXIS 1 AXIS 2 AXIS 1 AXIS
X2 X2 X2 X2
X3B X3B X3B X3B

B X3A X3A X3A X3A
ETIx ETIx ETIx ETIx
SLOT X11 X11 X11 X11

1 2 3 4 5 6 7 8 9 10 11 12
SLOT 4 ÷ 7 (MOD.1)
SLOT 4 ÷ 9 (MOD.3)
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
C
X5A X5B X5A X5A X5B X5A
D SWITCH
7 8 8
A
3 4 5 6
BCD
SW
(VEDERE MANUALE)
E
2
F 0 1
7 8 8
(SEE MANUAL) VISTA INFERIORE
A
3 4 5 6
BCD
SW
E
LOWER VIEW
2
F 0 1
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8

SLOT ASSI AGGIUNTIVI
1 2 3 4 5 6 7 8 9 10 11 12 ADDITIONAL AXIS VISTA SUPERIORE
TOP VIEW
A
IAMx

ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
X2 X2 X2 X2
X1 X1
X1 X1
X3B X3B X3B X3B
B X3A X3A X3A X3A
ETI /RTIx ETI/RTIx ETI/RTIx ETI/RTIx
X11 X11 X11 X11
SLOT 8 ÷ 12 (MOD.1)
SLOT 10 ÷ 12 (MOD.3)
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
C
VISTA INFERIORE
LOWER VIEW
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
BCM
A
X101
X102 X100
X106C
X106B
B
X106A
LIM
BATT1 - BATT2
X119
X130
X102
X2/CAB
X310
24VF
78
88
79
X122
X311
X128
X103B X110
X103C X103A
X4 X3
24VF
78
88
79
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
X108/CAB X109/CAB
PIN 1 PIN 1
CIP
X124
X1/CAB
PFG-PBC SI-1B DO-1
GND
GND
507
507
508
508
509
509
42
42
42
42
43
43
43
43
SI-1A SO-1 DI-1

R
SLU-1 BC -1
GND
GND
507
507
508
508
509
509
42
42
42
42
43
43
43
43
R
SOLO CON KIT AUTOTRASFORMATORE

26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
USB3
USB1
A
USB4
USB2
ETH2
APC
CAB
ETH1
B
COM1
CIP
Display Port
X124
Monitor /Panel
Power 24VDC
D
IF Option 2
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
Q102 TDK
X7
VISTA INTERNA
K105
INSIDE VIEW
OPZIONI COLLEGABILI
X5A/CAB X5B/CAB X5C/CAB X5D/CAB X5E/CAB
A
PIN 1 PIN 1 PIN 1 PIN 1 PIN 1
ISAM5
TDK2 X128 -A
X106 -1 X106 -2 X106 -3 X106 -4
Q102 X7 1
K105 K106
1 1 1 1
X124 -1 X126 -1 X128 -1 X130 -1

1 1 1 1
B
Q122 CAB
ACO 1 3 5
X13 HSM
GND
200
201
201
202
400
460
500
0V
HSI 1 HSI 2
HS1 HS3
CIP
1
X136
X137
1
X138
1
COMAU HSM5
CS1571 [00]
X136
X137
GND
200
201
201
202
400
460
500
0V
X138
1
2 4 6
SSK
Q120 Q121
380V
440V
500V
0V
302
380V
500V
440V
0V
301
SOLO CON ASSI AGGIUNTIVI SOLO CON KIT HIGH SPEED INPUT ASSI SOLO CON TIP DRESSER COMMAND
ONLY WITH ADDITIONAL AXIS ONLY WITH HIGH SPEED INPUT AXIS KIT ONLY WITH TIP DRESSER COMMAND
SOLO CON KIT PRESA DI SERVIZIO SOLO CON KIT ALIMENTAZIONE APPLICAZIONI INTERNE SOLO CON CONDIZIONATORE SOLO CON DOPPIO TIP DRESSER COMMAND
ONLY WITH SERVICE SOCKET KIT ONLY WITH INTERNAL SUPPLY APPLICATION KIT ONLY WITH AIR CONDITIONER ONLY WITH DOUBLE TIP DRESSER COMMAND
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA INTERNA
INSIDE VIEW
OPZIONI COLLEGABILI
A
HSI 1 HSI 2
AI-1
DI-2
DO-2
CIP
1
1
X136
X137
X138
1
COMAU HSM5
CS1571 [00]
MASTER / SLAVE
SLAVE
B
DO8322 8 OUTPUT MODULE

DI9371 12 INPUT MODULE
PS2100 POWER SUPPLY
PS2100 POWER SUPPLY
PS2100 POWER SUPPLY
PS2100 POWER SUPPLY
PS2100 POWER SUPPLY
PS2100 POWER SUPPLY

AI2622 2 ANALOG INPUT MODULE
AO2622 2 ANALOG OUTPUT MODULE
PS2100 POWER SUPPLY
AO2622 2 ANALOG OUTPUT MODULE

DCM PBM PNM
C
DEVICENET
PROFIBUS
PROFINET

D ONLY WITH INPUT OUTPUT MULTIBUS
SOLO CON 12 INPUT / 12 OUTPUT DIGITALI SOLO CON INTERFACCIA DEVICENET SOLO CON 2 INPUT ANALOGICI SOLO CON INTERFACCIA PROFINET SOLO CON CABLAGGIO C5GP-WDC
ONLY WITH DIGITAL 12 INPUT / 12 OUTPUT ONLY WITH DEVICENET INTERFACE ONLY WITH 2 ANALOG INPUT ONLY WITH PROFINET INTERFACE ONLY WITH C5GP-WDC WIRING DRESSING
SOLO CON 24 INPUT / 24 OUTPUT DIGITALI SOLO CON INTERFACCIA PROFIBUS SOLO CON 2 OUTPUT ANALOGICI SOLO CON 2 INPUT E 2 OUTPUT ANALOGICI SOLO CON CABLAGGIO C5GP-WDC2
ONLY WITH DIGITAL 24 INPUT / 24 OUTPUT ONLY WITH PROFIBUS INTERFACE ONLY WITH 2 ANALOG OUTPUT ONLY WITH 2 ANALOG INPUT & 2 ANALOG OUTPUT ONLY WITH C5GP-WDC2 WIRING DRESSING 2
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
VISTA POSTERIORE
REAR VIEW
R1
VISTA SUPERIORE
UPPER VIEW
E113 E112 E111

B
CABR
OPZIONALE
OPTIONAL
VENTOLE
T100 & S1 ETO FANS
T110
T110
SOLO CON KIT PRESA DI SERVIZIO SOLO CON KIT AUTOTRASFORMATORE SOLO CON C5GP-SEC2.0 E SEC3.0
ONLY WITH SERVICE SOCKET KIT ONLY WITH AUTOTRANSFORMER KIT ONLY WITH C5GP-SEC2.0 & SEC3.0
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
ACOPOS MULTI SERVODRIVE SEC1.0
PPS ASM IAM1 IAM2 IAM3
SafeMC
SafeMC
SafeMC
MODULE TYPE .............

I0110D
I0055D
I0028D
C0320
P0220
B
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
C
1 2 3 4 5 6 7 8 9 10 11 12
D
A. DIELI ACER G. ALOTTO TAVOLA CONFIGURAZIONE MULTI SERVODRIVE
26/03/2018 CR17.9322.33 00 /
COMAU MULTI SERVODRIVE CONFIGURATION TABLE FILENAME-NOMEFILE CR1793223300
1 2 3 4 5 6 7 8
SafeMC
SafeMC
SafeMC

I0220D
I0220D
I0055D
C0320
P0220
B
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
C
1 2 3 4 5 6 7 8 9 10 11 12
D
26/03/2018 CR17.9322.33 00 /
1 2 3 4 5 6 7 8
SafeMC
SafeMC
SafeMC

I0220D
I0220D
I0110D
C0320
P0220
B
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
ACOPOS multi
C
1 2 3 4 5 6 7 8 9 10 11 12
D
26/03/2018 CR17.9322.33 00 /

CD c5gp - Sec1 2 3

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CD c5gp - Sec1 2 3

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1 2 3 4 5 6 7 8

DESCRIZIONE FOGLI FOGLIO 2 ÷ 4

CONFIGURAZIONE SISTEMA FOGLIO 5

INTERCONNESSIONE A BLOCCHI FOGLIO 6 13

N. REVISIONE DATA VISTO

TAVOLE DI RIFERIMENTO COMPONENTI FOGLIO 63 67

SCHEMA DI INTERCONNESSIONE CABINA FOGLIO 68 73

DISPOSIZIONE COMPONENTI FOGLIO 74 88

TAVOLA CONFIGURAZIONE MULTI SERVODRIVE FOGLIO 89 91

NUMERO FG. NUMERO FG.

NUMERO FG. NUMERO FG.

NUMERO FG. NUMERO FG.

SCHEMA CIRCUITALE ROBOT

SCHEMA CIRCUITALE DEL CONTROLLO

DATE & SERIAL No

DEGREE OF PROTECTION WEIGHT

24V X5B X1 X1 X3 X2 X310 X103B X100 X101 X119 X102

24Vdc BUS DC INTERNO

+24V 24V ROBOT

FMP X103A X106A X106B X106C X106C

DISTRIBUZIONE 24V SDM

BMS BLOCK BATTERY CHANGER CURRENT SENSING CURRENT SENSING

CMD01 CMD02 CMD03 CMD04 CMD05 CMD06 CMD07 SS2

X103A X103B X103C X106A X106B X106C X110 X119

CIRCUITO CONTROLLO ASSI

ACOPOS MULTI SERVODRIVE

ETI1-2 ETI3-4 ETI5-6 RTI ETI RTI-RTI ETI-RTI ETI-ETI

X2 Robot Alarm/Air Input

X4B Brake Command 4

X4B Brake Command 6

X4B Brake Command 8

X4B Brake Command 8

X4B Brake Command 8

X4A Brake Command 3

X4A Brake Command 5

X4A Brake Command 7

X4A Brake Command 7

X4A Brake Command 7

X4A Brake Command

X5B Power Axis 4

X5B Power Axis 6

X5B Power Axis 8

X5B Power Axis 8

X5B Power Axis 8

X5A Power Axis 3

X5A Power Axis 5

X5A Power Axis 7

X5A Power Axis 7

X5A Power Axis 7

X11 Encoder 7/9

X5A Power Axis

BCM DI-1 DO-1 FMP

A IAM1 IAM2 IAM3

ETI1-2 ETI3-4 ETI5-6

X2 Robot Alarm/Air Input

X4B Brake Command 4

X4B Brake Command 6

X4A Brake Command 3

X4A Brake Command 5

X2 Hight Speed Input

X5B Power Axis 4

X5B Power Axis 6

X5A Power Axis 3