FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. CONNECTION MANUAL (HARDWARE)

B-64303EN/03

7.SERVO INTERFACE

7.3.5

Input Signal Specifications

A/B (Type I)

V_B

a/2

T_Z L_Z

V_XA V_XB

V_A

a/2

c/2

Effective

component c

VOA,VOB

V_OZ

c/2

A/B (Type II)

V_B

V_A

b/2

V_XA

b/2

V_XB

V_OA,V_OXA

V_OB,V_OXB

Min.

Standard

Max.

Item

Symbol

Unit

spec.

Amplitude (phase A/B)

Type I a of phase A and phase B

0.6

1.0

1.5

V_P-P

Type II Sum of b of phase A and b of

phase XA Sum of b of phase B and b of

phase XB

Amplitude (phase Z)

Sum of c of Z and c of XZ (analog signal)

0.2

0.4

Center value

Type I V_OA,V_XA ,V_OB,V_XB

(DC level)

Type II V_OA,V_OXA ,V_OB,V_OXB

2.0

2.5

3.0

V_OZ,V_OXZ

Offset voltage

Type I V_OA-V_XA , V_OB-V_XB

-0.1

+0.1

(phase A/B)

Type II V_OA-V_OXA , V_OB-V_OXB

Offset voltage (phase Z)

V_OZ-V_OXZ

-0.05

+0.05

Pulse width of phase Z

T_Z

600

nSec

Length of phase Z

L_Z

1/4

Pitch of A (or B)

Input impedance

100

120

140

Input frequency

200

kHz

* The detection precision depends on the precision of signals from the encoder.

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7.SERVO INTERFACE

B-64303EN/03

7.3.6

Connection of Battery for Absolute Position Detector

When a separate absolute position detector that requires battery backup is connected to an additional unit,

a battery case for the separate absolute pulse coder must be connected to JA4A of the analog input

separate detector interface unit.

Analog input separate detector

Battery case for the separate

interface unit

absolute pulse coder

JA4A

(PCR-EV20MDT)

(M3 terminal)

+6V

Cable connection

JA4A

Battery case

+6V

RECOMMENDED CABLE MATERIAL:

≥0.2 mm² (7/0.18)

Recommended connectors:

PCR-E20FA (Honda Tsushin Kogyo)

FI30-20S (Hirose Electric)

FCN-247J020-G/E (Fujitsu)

52622-2011 (Molex)

NOTE

If the cable is connected to JA4A when the separate absolute pulse coder

battery case contains the battery, the battery voltage is applied to the battery

power supply pin (+6 V) for each of the feedback connectors (JF105 to JF108).

In this case, if the battery line and 0 V are short-circuited, the battery may heat

up or the protection circuit within the separate detector interface unit may fail.

First, make sure the battery case contains no battery or the cable is not

connected to JA4A. Then, complete all cabling work and confirm cables are

correctly connected. Finally, place the battery or connect the cable to JA4A.

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B-64303EN/03

7.SERVO INTERFACE

7.3.7

Connection Between the Analog Input Separate Detector

Interface Unit and Additional Unit

A flat cable is used to connect the analog input separate detector interface unit and additional unit as

shown below.

The flat cable is 100 mm long.

Units viewed from top

Analog input separate

Additional unit

detector interface unit

Mounting

surface

CNF1

CNF2

Marking

mark

Place an order on a flat cable together with separate detector interface units.

7.3.8

Connector Locations

Connector locations on the analog input separate detector interface unit

GND

For the outside dimensions, see Appendix A.

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7.SERVO INTERFACE

B-64303EN/03

7.3.9

Installation

Notes on installation

(1) Use an interface unit in a completely enclosed cabinet.

(2) Install an interface unit on a vertical surface, and provide a space of 100 mm above and below

the unit. Below an interface unit, do not place equipment that generates a large amount of

heat.

(3) When using an analog input separate detector interface unit and addition unit, place the units as

shown below so that the flat cable connecting the units does not block the vent holes. A flat

cable not longer than 100 mm must be used.

Vent holes

Flat cable

Basic unit

Additional unit

Installation using screws

Analog input separate

detector interface unit

Additional unit

When using both an analog input separate detector interface unit and additional unit, install the units as

shown above, with the mounting holes horizontally separated by 70 to 80 mm.

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B-64303EN/03

7.SERVO INTERFACE

7.3.10 Notes on Installing an Analog Input Separate Detector

Interface Unit

CAUTION

To install/remove the unit, a screwdriver must be inserted obliquely. So,

sufficient access clearances are required on both sides of the unit. As a

guideline, if the front of an adjacent unit appears flush with the unit or slightly set

back, allow a clearance of about 20 mm between the unit and the adjacent unit.

If the front of an adjacent unit protrudes beyond the front of the unit, allow a

clearance of about 70 mm between the unit and the adjacent unit. Also, when

installing the unit near a side of the cabinet, allow a clearance of about 70 mm

between the unit and the side of the cabinet.

Access clearance near an analog input separate detector interface unit

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7.SERVO INTERFACE

B-64303EN/03

Installing the unit on the DIN rail

Installing the unit on

the DIN rail

DIN rail

Removing the unit

from the DIN rail

DIN rail

Installing the unit:

Hook the unit on the top of the DIN rail.

Push the unit in until it clicks.

Removing the unit:

Push down the lock by using a screwdriver.

Remove the unit by pulling the lower end of the unit towards you.

CAUTION

When removing the unit, be careful not to damage the lock by applying

excessive force. When installing and removing the unit, hold the upper and

lower ends of the unit so that stress is not applied to the side (that surface with

the slits) of the unit.

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B-64303EN/03

8.CONNECTION TO FANUC I/O Link

8 CONNECTION TO FANUC I/O Link

WARNING

There is a possibility that I/O Link slave module will not operate normally due to

a failure of CNC or I/O module, or abnormally power supply voltage. To prevent

accidents even in this case, design the machine to operate safely by making a

safety circuit outside the I/O Link slave module.

8.1

OVERVIEW

FANUC I/O Link is a serial interface that has a CNC, a cell controller, various I/O units, the machine

operator's panel, or the Power Mate connected and receives or sends I/O signals (bit data) at high speed

between the devices. The FANUC I/O Link regards one device as the master and other devices as slaves

when more than one device is connected. Input signals from the slaves are sent to the master at specified

intervals. Output signals from the master are also sent to the slaves at specified intervals.

8.2

CONNECTION

The I/O Link interface connector JD51A is provided on the main board.

In the I/O there are the master station and its slave stations. The master is the control unit of the CNC,

and the slave is the I/O unit-A. The slaves are divided into groups, and up to 16 groups can be

connected to one I/O Link. (For the Series 0i Mate, however, the number of I/O points are limited.)

The I/O Link is connected in different ways depending on the types of units actually used and the I/O

points. To connect the I/O Link, the assignment and addresses of the I/O signals have been made

programmable with the PMC program. The total number of I/O points for each channel of I/O Link is

1024 or less.

There are two I/O Link connectors: JD1A and JD1B. These connectors are provided for all units that have

the I/O Link function. A cable must be connected from JD1A to JD1B. Although JD1A of the last unit

is not used and left open, it need not be connected with a terminator.

The pin assignments of connectors JD1A and JD1B are common to all units on the I/O Link, and are

illustrated on Subsec. 8.2.1. Use the figures when connecting the I/O Link irrespective of the type of

unit.

Control unit

I/O256/256 or less per group

JD51A

FANUC I/O Link

I/O1024/1024 or less per channel

FANUC I/O Unit-A × 2max

Control unit

Base unit 1

Base unit 2

JD1B

JD1A

Max.

16 group

JD1B

JD1A

JD1B

JD1A

Fig. 8.2 I/O Link connection diagram

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8.CONNECTION TO FANUC I/O Link

B-64303EN/03

Example of I/O Link connection of the Series 0i Mate

I/O Link βi servo

0i Mate-D control unit

(See Section 9.8.)

Machine operator’s

panel

(See Section 9.9.)

Rear of unit

Operator’s panel I/O module

(DI;48 points, DO;32 points)

(with an M.P.G.)

(See Section 9.4.)

I/O Link connector

[JD51A]

Operator’s panel I/O module

(DI;48 points, DO;32 points)

(without an M.P.G.)

(See Section 9.4.)

M.P.G. : Manual Pulse Generator

The following example assumes that two operator's panel I/Os and one machine operator's panel are used.

DI space map

DO space map

Operator’s panel I/O

48 DI points

32 DO points

X10

Reserved

Operator’s panel I/O

Reserved

32 DO points

X15

Reserved

X16

1st MPG

X17

2nd MPG

Machine operator’s panel

X18

3rd MPG

X19

DO alarm detection

Y10

X20

Operator’s panel I/O

Y11

X21

48 DI points

Y12

Y13

X25

Y14

X26

Reserved

Y15

Reserved

X34

Reserved

X35

DO alarm detection

X36

Machine operator’s panel

X47

NOTE

1 The manual pulse generators in X16 to X18 are directly read by the CNC, so

only the above allocation must be performed by the PMC.

2 For DO alarm detection in X19 and X35, see Subsection 9.4.9.

3 For the Series 0i Mate, up to 256 DI points and up to 256 Do points can be used.

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8.CONNECTION TO FANUC I/O Link

B-64303EN/03

DI space map

DO space map

I/O Unit for 0i-D

96 DI points

64 DO points

Machine operator’s panel,

other I/O

X10

Y10

X11

Y11

X12

I/O Unit for 0i-D: 1st MPG

Y12

X13

I/O Unit for 0i-D: 2nd MPG

Y13

X14

I/O Unit for 0i-D: 3rd MPG

Y14

X15

I/O Unit for 0i-D: DO alarm

Y15

detection

X16

Machine operator’s panel,

Y16

X17

other I/O

Y17

X18

Y18

X19

Y19

X20

Y20

・

NOTE

1 The manual pulse generators in X12 to X14 are directly read by the CNC, so

only the above allocation must be performed by the PMC.

2 For DO alarm detection in X15, see Section 9.6.

8.2.1

Connection of FANUC I/O Link by Electric Cable

+5 V terminals are for an optical I/O Link adapter. They are not necessary when connecting with a

metal cable.

A line for the +5V terminal is not required when the Optical I/O Link Adapter is not used.

No connections must be made to the pins with brackets ([ ]) because they are used in JD51A when the

second channels are connected in the FANUC I/O Link.

Do not make a connection to a pin for which no signal is assigned.

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B-64303EN/03

8.CONNECTION TO FANUC I/O Link

Recommended cable connectors

PCR-E20FA (Honda Tsushin Kogyo Co., Ltd.)

FCN-247J020-G/E (Fujitsu Ltd.)

52622-2011 (Molex Japan Co., Ltd.)

8.2.2

Connection of FANUC I/O Link by Optical Fiber Cable

The FANUC I/O Link can be extended to the maximum length of 200 m with optical fiber cables using an

optical I/O Link adapter. The length of the electrical cable connected to the optical conversion adapter

must not exceed 2 m.

In the following cases, use an optical fiber cable.

• When the cable is more than 10 meters long. When the cable is more than 15 meters long if it is

laid within the same cabinet.

• When the cable is run between different cabinets, and the cabinets cannot be connected with each

other via a ground wire of 5.5 mm² or more.

If the power magnetics cabinet includes an I/O Link slave unit, and cables are connected through a

duct to the operator's panel (as shown below), the control section I/O Link slave unit can be assumed

to be incorporated in the same cabinet.

• When there is concern that the cable is influenced by strong noise; for example :When there is a

strong electromagnetic noise source beside the cable such as a welding machine.

When a noise generating cable such as a power cable runs for a long distance in parallel with the

cable.

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B-64303EN/03

8.CONNECTION TO FANUC I/O Link

Optical cable

NOTE

For handling of optical cables, see Appendix D.

• Optical cable specification

A66L-6001-0026#L or later

For #L or later, specify the cable length. (See the Appendix D, “OPTICAL FIBER CABLE.”)

• Maximum number of connectable stages

Up to 16 high-speed type I/O link adapter stages can be connected in one I/O link, while only up to

five conventional I/O link adapters (standard type) can be connected.

Standard type (A13B-0154-B001)

up to 5 adapter stages can be connected in series

High-speed type (A13B-0154-B004)

up to 16 adapter stages can be connected in series

NOTE

It is impossible to use both high-speed and standard type adapters on the same

line.

• Power supply

The same power supply type can be used for both the standard type (A13B-0154-B001) and

high-speed type (A13B-0154-B004).

(a) Power supply voltage:

4.75 to 5.25 V (at receiving end)

(b) Required current:

200 mA

• Installation conditions

(a) The optical link adapter enclosure is not fully sealed ; install it with the CNC control unit in the

fully enclosed cabinet.

(b) Ground the case using the case fixing screw of the optical link adapter.

However, keep it from coming in contact with other circuits to prevent possible short-circuits.

When mounting the optical link adapter in a cabinet, attach it with an L-type fitting using the

case fixing screws (M3) of the optical link adapter.

• Required parts

(a) For making up an I/O Link using the optical link adapter, the following parts are necessary:

<1> Optical I/O Link adapter

<2> Interunit connecting cable

<3> Optical cable

• Relay with an optical fiber relay adapter

For the outline drawing of the optical fiber relay adapter, see Appendix D.

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8.CONNECTION TO FANUC I/O Link

B-64303EN/03

NOTE

Optical fiber cables can be relayed only at are location.

When a high-speed optical link adapter is used, no optical fiber relay adapter can

be used.

• Maximum transmission distance with an optical fiber cable(s)

The table below shows the maximum transmission distance with an optical fiber cable(s), which

varies depending on whether a connection adapter is used for a relay.

Number of relay

Maximum transmission distance

200m

Standard type

100m (total)

100m

High-speed type

N/A

8.2.3

Connection when Multiple Channels of FANUC I/O Links are

Used

For the Series 0i, up to two channels of FANUC I/O Link interfaces can be used. This function can be

used to expand the number of I/O points to 2048/2048.

Signals for two channels are assigned to the FANUC I/O Link connector (JD51A) on the main board.

When using only one channel, see Subsection 8.2.1.

When using the second channel, use the I/O Link branching adapter for two channels to branch the

FANUC I/O Link.

NOTE

When Dual Check Safety is used in the Series 0i, up to three channels of

FANUC I/O Link interfaces can be used. However, the third channel can be

used only for connection of safety-related I/Os in Dual Check Safety. For

connection when using Dual Check Safety, refer to the FANUC Series

0i-MODEL D Dual Check Safety Connection Manual (B-64303EN-4).

Using the second channel

To use the second channel, use the I/O Link branching adapter to set a branch in the FANUC I/O Link.

Connection

CNC

I/O Link branching adapter

JD51A

JD44B

FANUC I/O Link channel 1

JD1A-1

FANUC I/O Link channel 2

JD1A-2

Connection after the I/O Link branching adapter is the same as that for the FANUC I/O Link.

Part number of the I/O Link branching adapter: A20B-1007-0680 (60 g)

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B-64303EN/03

8.CONNECTION TO FANUC I/O Link

Connection between the CNC and I/O Link branching adapter

The +5V pin is provided to use the optical I/O Link adapter for optical fiber transmission. When not

using the optical I/O Link adapter, leave the +5V pin unconnected.

Cabling

Recommended cable connectors:

PCR-E20FA (Honda Tsushin Kogyo Co., Ltd.)

FI30-20S (Hirose Electric Co., Ltd.)

FCN-247J020-G/E (Fujitsu)

52622-2011 (Molex Japan Co., Ltd.)

Recommended cable: A66L-0001-0284#10P

Connection between the I/O Link branching adapter and slave I/O devices

The I/O Link branching adapter can be connected to slave I/O devices in the same way as for the

conventional FANUC I/O Link. See 8.2.1.

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8.CONNECTION TO FANUC I/O Link

B-64303EN/03

Cable length

CNC

I/O Link branching adapter

I/O device

JD44A

JD44B

JD1A-1

JD1B

JD1A-2

The total of l_A and l_B must not exceed 10 m; where l_A is the length of the cable between connector JD44A

on the CNC and connector JD44B on the I/O Link branching adapter, and lB is the length of the cable

between connector JD1A-1 or JD1A-2 on the I/O Link branching adapter and connector JD1B on the I/O

unit. When all cables are accommodated in the same cabinet, however, a total cable length of up to 15

m is allowed.

Installation of the I/O Link branching adapter

Install the I/O Link branching adapter in a hermetically sealed cabinet like the CNC.

External dimensions of the I/O Link branching adapter

JD44B JD1A-1

JD1A-2

Unit : mm

Allow a clearance of about 10 cm above the adapter for connection and routing of cables.

Installation of the I/O Link branching adapter

Installation on the DIN rail

Unit: mm

Recommended DIN rail

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9.CONNECTION OF I/O Link SLAVE DEVICES

B-64303EN/03

9 CONNECTION OF I/O Link SLAVE

DEVICES

WARNING

There is a possibility that I/O Link slave module will not operate normally due to

a failure of CNC or I/O module, or abnormally power supply voltage. To prevent

accidents even in this case, design the machine to operate safely by making a

safety circuit outside the I/O Link slave module.

9.1

UNITS CONNECTABLE WITH THE FANUC I/O LINK

Basically, those units that have the slave interface of the FANUC I/O Link can be connected. The table

provides a list of general units that can be connected. A detailed description of each unit listed in the table

is provided later. For details of other units, refer to their manuals.

General units that are connectable

Unit name

General description

Reference

FANUC I/O Unit-MODEL A

I/O unit with a module configuration that can flexibly handle a

Connection and

combination of input/output signals required for the power

Maintenance

magnetics circuit

Manual

B-61813E

FANUC I/O Unit-MODEL B

I/O unit of distribution type that can flexibly handle a combination

Connection and

of input/output signals required for the power magnetics circuit

Maintenance

Manual

B-62163E

Handy Machine Operator’s

Small hand-held operator's panel that is operated on the machine

Connection

Panel

side and has a manual pulse generator, emergency stop switch,

Manual

enable switch, display unit, and input keys

B-63753EN

Distribution I/O

I/O unit of distribution type that can flexibly handle a combination

Section 9.2

Connector Panel I/O Module

of input/output signals required for the power magnetics circuit.

This unit has an interface with a manual pulse generator.

Distribution I/O

Unit that has an interface with the machine operator's panel. This

Section 9.3

Operator's Panel I/O Module

unit has an interface with a manual pulse generator.

(for Matrix Input)

Distribution I/O

Unit that has an interface with the machine operator's panel. This

Section 9.4

Operator's Panel I/O Module

unit can also handle input/output signals required for the power

magnetics circuit. This unit has an interface with a manual pulse

generator.

Distribution I/O

Unit that has an interface with the power magnetics cabinet. This

Section 9.4

Power Magnetics Cabinet I/O

unit can also handle input/output signals required for the power

Module

magnetics circuit.

Distribution I/O

I/O unit of distribution type that can flexibly handle a combination

Section 9.5

I/O Module Type-2 for

of input/output signals required for the power magnetics circuit.

Connector Panel

This unit has an interface with a manual pulse generator.

Connection Of I/O Units for 0i

As an I/O unit for a machine interface, an I/O unit for 0i that has a

Section 9.6

function equivalent to the function of the I/O card built into the

Series 0i-B can be used. The number of DI/DO points for 0i is

96/64.

Fanuc I/O Link Connection

Unit that makes a connection with a FANUC I/O Link master to

Section 9.7

Unit

transfer DI/DO signals

Connecting the Fanuc Servo

Unit that makes a connection with a CNC through the FANUC I/O

Section 9.8

Unit β Series With I/O Link

Link for servo motor control

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B-64303EN/03

9.CONNECTION OF I/O Link SLAVE DEVICES

Unit name

General description

Reference

Connection To Standard

Standard machine operator's panel. This panel can be easily

Section 9.9

Machine Operator's Panel

customized.

Connection to the Small

Small machine operator's panel. The operator's panel has 30

Section 9.10

Machine Operator's Panel or

keys, an emergency stop switch, and two rotary switches for

Small Machine Operator's

override. Two types are available: small machine operator's panel

Panel B

and small machine operator's panel B.

Terminal Type I/O Module

I/O module that is equivalent to a connector panel I/O module.

Section 9.11

Input/output signals are connected on a spring-type terminal block

(ferrule terminal block).

I/O Link-As-I Converter

Converter unit that connects the FANUC I/O Link with the AS-i

Section 9.12

(Actuator Sensor Interface), which is an I/O-level open network

9.2

CONNECTION OF CONNECTOR PANEL I/O MODULE

9.2.1

Configuration

Flat cable for module connection

Direction to be

used when the

Direction to be used when

modules are

the modules are

mounted using

connected directly to the

DIN rails or

connection printed circuit

screws

board

Expansion module 3

JD1A

JD1B

Expansion module 2

Expansion module 1

(with manual pulse generator)

Basic module

I/O Link cable

Manual pulse generator cable

NOTE

For direction connection to the connection printed circuit board, expansion

modules are installed to the right of the basic module on the installation plane.

For installation using DIN rails or screws, expansion modules are installed to the

left of the basic module on the installation plane.

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9.CONNECTION OF I/O Link SLAVE DEVICES

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9.2.2

Connection Diagram

JD51A

NOTE

1 Ensure that the expansion module with the MPG interface is located nearest to

the basic module, as shown in the figure. When this module is used with other

units (such as I/O modules for the operator's panel) that are connected to the I/O

Link and have the MPG interface, only the MPG interface of the unit (module)

that is on the I/O Link and is nearest to the CNC is enabled.

2 The connection diagram above shows an example of using a DI/DO module, 2A

output module, and analog input module as expansion modules. These

expansion modules can be used in any combination.

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9.CONNECTION OF I/O Link SLAVE DEVICES

9.2.3

Module Specifications

Types of modules

Name

Drawing No.

Specifications

Remarks

I/O module for connection

A03B-0815-C001

DI/DO : 24/16

(basic module)

I/O module for connection

DI/DO : 24/16

A03B-0815-C002

(expansion module A)

With MPG interface

I/O module for connection

DI/DO : 24/16

A03B-0815-C003

(expansion module B)

Without MPG interface

I/O module for connection

DO : 16

A03B-0815-C004

(expansion module C)

2A output module

I/O module for connection

A03B-0815-C005

Analog input module

NOTE 1

(expansion module D)

Fuse (accessory)

A03B-0815-K002

(for basic module)

20 mm long

Inter-module flat cable

A03B-0815-K100

Suitable for a module interval of 32 mm

NOTE 1 It is possible to connect up to two Analog input modules to one Basic module.

Module specifications (common items)

Item

Specifications

Remarks

FANUC I/O Link

Expandable up to 16 units or 1024/1024

Interface with CNC

connection

points as CNC slaves

Interface between basic module and

Bus connection using a

Up to three expansion modules connectable

expansion modules

flat cable

per basic module

For the specifications (such as signal input requirements) specific to each module, see the relevant pages

of each item.

Installation conditions

Ambient temperature for the

Operation: 0°C to 55°C

unit

Storage and transportation: -20°C to 60°C

Temperature change

1.1°C/minute maximum

Humidity

Normal condition: 75% (relative humidity)

Short term (within one month): 95% (relative humidity)

Vibration

Operation: 0.5 G or less

Atmosphere

Normal machining factory environment (For use in an environment with relatively

high levels of dust, coolant, organic solutions, and so forth, additional measures

are required.)

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9.CONNECTION OF I/O Link SLAVE DEVICES

B-64303EN/03

Other conditions

(1) Use each I/O module in a completely sealed cabinet.

(2) For ventilation within each I/O module, each module must be installed in the

orientation shown below.

Moreover, for ventilation and wiring, allow a clearance of 100 mm or more

above and below each module. Never place a device that generates a large

amount of heat below an I/O module.

(3) While referring to Subsection 9.2.7, ensure that the vent hole of the basic

module is not obstructed by the flat cable.

Upper side

I/O Link connection

Lower side

MPG connection

Power supply rating

Module

Power supply voltage

Power supply rating

Remarks

Basic module

24 VDC ±10% is fed through

0.2A+7.3mA×DI

Number of DI points with

the I/O connector (CB150) of

DI=ON

Expansion modules A and B

0.2A+7.3mA±DI the basic

0.1A+7.3mA×DI

Number of DI points with

module;

DI=ON

Expansion module C

±10% includes momentary

0.1A

(2A module)

variations and ripples.

Expansion module D

0.1A

(analog input module)

As a guideline for the heat dissipation, assume [power supply capacity × 24 (W)].

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B-64303EN/03

9.CONNECTION OF I/O Link SLAVE DEVICES

9.2.4

DI/DO Connector Pin Assignment

This section describes the DI/DO connector pin allocation of the basic module and expansion modules A

and B.

NOTE

1 The DI and DO addresses for the basic and expansion modules run

contiguously. These basic and expansion module DI and DO addresses are

allocated to the I/O Link as a group. For example, when the DI and DO top

addresses are X0004 and Y0000 (m = 4 and n = 0), respectively, then the

addresses are allocated as shown in the following table.

2 Pins 18 and 50 (+24V) of connector CB150 are used to apply 24 V externally to

a module. Be sure to connect these pins because the +24 V applied to the

module is used internally.

Basic module

X4 to X6

Y0 to Y1

Expansion module 1

X7 to X9

Y2 to Y3

Expansion module 2

X10 to X12

Y4 to Y5

Expansion module 3

X13 to X15

Y6 to Y7

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9.CONNECTION OF I/O Link SLAVE DEVICES

Pin No.

Address No.

Bit No.

+24V stabilized power

supply

NOTE

Xm+0.0 through Xm+0.7 are DI pins for which a common voltage can be

selected. That is, by connecting the DICOM0 CB150(24) pin to the +24 V power

supply, a DI signal can be input with its logical state reversed. If, however, a

cable is connected to ground, it has the same effect as inputting an ON state DI

signal. To prevent such accidents, the connection of the DICOM0 CB150(24) pin

to the 0 V power supply is recommended whereever possible.

For safety reasons, the emergency stop signal needs to be allocated to an

appropriate bit of the addresses for which the common voltage is fixed, ranging

from Xm+1.0 to Xm+1.7 or from Xm+2.0 to Xm+2.7. See Subsection 8.4.19 for

information about how to allocate the emergency stop signal.

For unused DI pins allocated to the addresses for which the common voltage is

fixed (fromXm+1.0 to Xm+1.7 and from Xm+2.0 to Xm+2.7), the logic is fixed to

“0”. For unused pins allocated to Xm+0.0 to Xm+0.7 for which the common

voltage can be selected, the logic is fixed to “0” when the DICOM0 CB150(24)

pin is connected to the 0 V power supply. When the DICOM0 CB150(24) pin is

connected to the +24 V power supply, the logic is fixed to “1”. The logic of the

unused pins allocated to Xm+0.0 to Xm+0.7 is variable when the contact of the

DICOM0 CB150(24) pin is open.

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9.CONNECTION OF I/O Link SLAVE DEVICES

9.2.7

DI/DO Signal Specifications

This section describes the specifications of the DI/DO signals used with the basic module and expansion

modules A and B.

DI (input signal specifications)

Number of points

24 points (per module)

Contact rating

30 VDC, 16 mA or more

Leakage current between

1 mA or less (26.4 V)

contacts when opened

Voltage decrease between

2 V or less (including a cable voltage decrease)

contacts when closed

Delay time

The receiver delay time is 2 ms (maximum). In addition, [I/O Link transfer time

between CNC and I/O module (2 ms maximum)] + [ladder scan period

(depending on CNC)] must be considered.

DO (output signal specifications)

Number of points

16 points (per module)

Maximum load current when ON

200 mA or less including momentary variations

Saturation voltage when ON

1 V (maximum) when the load current is 200 mA

Withstand voltage

24 V +20% or less including momentary variations

Leakage current when OFF

20 µA or less

Delay time

The driver delay time is 50 µs (maximum). In addition, [I/O Link transfer time

between CNC and I/O module (2 ms maximum)] + [ladder scan period

(depending on CNC)] needs to be considered.

ON/OFF of the power supply (DO common) for DO signals (output signals)

By turning off (opening) the power supply pin (DOCOM) for the DO signals (output signals), all the DO

signals of each module can be turned off at the same time. At this time, the DO state is as shown below.

DOCOM

OFF

DO state when DO is

on in the sequence

OFF

DO state when DO is

off in the sequence

OFF

NOTE

When DO is on in the sequence, the ON/OFF state of DOCOM is directly

reflected in the DO state as indicated above by the dashed box. The +24 V

signal to be supplied to the I/O module must not be turned off during operation.

Otherwise, a CNC communication alarm is issued. Ensure that +24 V is supplied

either when or before the power to the CNC is turned on, and that +24 V is

removed either when or after the power to the CNC is turned off.

Parallel DO (output signal) connection

A DO load current of twice the level can be obtained by connecting DO points in parallel and exercising

ON/OFF control at the same time in the sequence. Namely, the maximum load current per DO point is

200 mA.

By connecting two DO points in parallel and turning on the two DO points at the same time, 400 mA can

be obtained. In this case, however, the leakage current is doubled up to 40 µA when the DO points are

turned off.

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DOCOM

CB150(01),(33)

+24V

+24 V regulated

power supply

Relay

9.2.8

2A Output Connector Pin Allocation

This section describes the 2A output connector pin allocation of expansion module C.

NOTE

1 The DI/DO addresses of an expansion module and the DI/DO addresses of the

basic module are contiguous.

Addresses allocated to I/O Link are handled as a group covering the basic and

expansion modules. That is, when the first addresses allocated are X0004 and

Y0000 (m = 4, n = 0), the DI/DO addresses are as listed below.

2 When the 2A output module is used, the DI addresses of the module cannot be

used. (When the 2A output module is used as expansion module 3, X13 through

X15 cannot be used.)

Basic module

X4 to X6

Y0 to Y1

Basic module 1

X7 to X9

Y2 to Y3

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9.2.10

2A Output DO Signal Specifications

This section describes the specifications of the 2A output DO signals used with expansion module C.

DO (output signal specifications)

Number of points

32 points (per module)

2 A or less per point.

Maximum load current when ON

12 A maximum for the entire module (DO: 16 points) (including momentary

variations).

24 V +20% or less

Withstand voltage

(including momentary variations)

Leakage current when OFF

100 µA or less

[I/O Link transfer time (2 ms maximum)] + [ladder scan period (depending on

Delay time

CNC)] must be considered.

ON/OFF of the power supply (DO common) for DO signals (output signals)

By turning off (opening) the power supply pin (DOCOM) for the DO signals (output signals), all the DO

signals of each module can be turned off at one time. At this time, the DO state is as shown below.

DOCOM

OFF

DO state when DO is

on in the sequence

OFF

DO state when DO is

off in the sequence

OFF

NOTE

When DO is on in the sequence, the ON/OFF state of DOCOM is directly

reflected in the DO state as indicated above by the dashed box. The +24 V

signal to be supplied to the I/O module must not be turned off during operation.

Otherwise, a CNC communication alarm is issued. Ensure that +24 V is supplied

either when or before the power to the CNC is turned on, and that +24 V is

removed either when or after the power to the CNC is turned off.

Parallel DO (output signal) connection

The 2A output module does not allow parallel DO connections including parallel connections with the

DO signals of other modules.

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FANUC Series 0i-MODEL D, Series 0i Mate-MODEL D. CONNECTION MANUAL (HARDWARE) - page 5