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10013986
Modified on:30-1-2012
Client :
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AMIGOProjectdefinition :
5-9-2012
Path : 10013986 - Amigo_2012\6 E\3 EPlan
28
Gemini
Projectnumber :
Dr.Ir. H. Sandee
Department : Werktuigbouwkundetel.no. :Ruud vd Bogaert
Location :
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De Rondom 1 (TNO-building)De Rondom 1 (TNO-building)De Rondom 1 (TNO-building)De Rondom 1 (TNO-building)5612 AP Eindhoven5612 AP Eindhoven5612 AP Eindhoven5612 AP Eindhoventel.+31(0)40 247 3659tel.+31(0)40 247 3659tel.+31(0)40 247 3659tel.+31(0)40 247 3659
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Arms
Table of contents
pbemelmans
pbemelmansBase 3-2-2012
30.a
pbemelmansPLC configuration 3-2-2012
3-2-2012
pbemelmansPLC DI 3-2-2012
Arms
pbemelmansPLC DO 3-2-2012
pbemelmans5-9-2012
pbemelmansMain page 5-9-2012
pbemelmans
pbemelmansPLC AI 3-2-2012
40
pbemelmansPLC AO 3-2-2012
5-4-2012
pbemelmansPLC Encoder Interface 5-9-2012
pbemelmansPLC configuration 3-2-2012
pbemelmansPLC Encoder Interface 5-9-2012
pbemelmansPLC Encoder Interface 5-9-2012
pbemelmansPLC RS 485 3-2-2012
pbemelmans24VDC fusebox 3-9-2012
pbemelmansDC/DC converters 5-4-2012
pbemelmansDC/DC converters 3-2-2012
pbemelmansWheelmotor 1 3-9-2012
pbemelmansWheelmotor 2 3-9-2012
pbemelmansWheelmotor 3 3-9-2012
pbemelmansWheelmotor 4 3-9-2012
pbemelmansLRF 3-2-2012
pbemelmansPC's 3-2-2012
pbemelmansTorso 3-2-2012
pbemelmansSpindel 3-9-2012
pbemelmansHead 3-2-2012
Head
30
pbemelmans
10.b
10.a
10
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10.c
10.d
10.e
10.f
10.g
10.h
10.i
10.j
10.k
10.l
10.m
10.n
10.o
10.p
10.q
10.r
10.s
20
20.a
3-2-2012
40.a
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RJ45
RJ45
+-
6A1BECKHOFF EK1100Controller
0 V
DI310.b.4
EL10088 DI
24VDC
DI210.k.110.k.310.k.510.k.710.n.210.k.210.b.1
EL10088 DI
24VDC
ENC810.f.1
EL5101encoderinterface
AO710.n.410.o.310.p.310.q.320.a.310.e.1
EL40388 AO0VAC
AI610.d.1
EL3102
2 AI
DO510.c.4
EL20088 DO0VDC
DO410.n.310.c.1
EL20088 DO0VDC
+24 V
ENC910.f.4
EL5101encoderinterface
CHAS
SIS
24VD
C-PL
C/
10.l.
2
20A1
0/
10.g
.0
PC2
/10
.s.5
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PLC DIDate
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24V
0V0V
24V
DI11
DI25
DI32
DI46
DI53
DI67
DI310.a.2 EL1008
8 DI24VDC
Beckhoff
DI74
DI88
DI11 10.k.2 fuse detection
DI25 10.k.4 fuse detection
DI32 10.k.6 fuse detection
DI46 10.k.8 fuse detection
DI53 10.n.2 Safety switch
DI67
DI210.a.1 EL1008
8 DI24VDC
Beckhoff
DI74
DI88
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PLC DODate
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24V
0V0V
24V
DO11
DO25
DO32
DO88
DO74
DO67
DO53
DO46
DO510.a.2 EL2008
8 DO24VDC/0.5A
Beckhoff
DO11 10.n.3 Enable motor
DO25
DO32
DO88
DO74
DO67
DO53
DO46
DO410.a.2 EL2008
8 DO24VDC/0.5A
Beckhoff
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Modification
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PLC AIDate
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24V
0V
AI610.a.3 EL3102
2 AI-10..+10 V
Beckhoff
AI11
+2
AI25
+6
0V3
GND8
0V7
GND4
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PLC AODate
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24V
0V
AO710.a.3 EL4038
8 AO-10…+10 V
Beckhoff
AO11 10.n.4 analog output terminal
AO88
AO46 10.q.3 analog output terminal
AO53 20.a.3 analog output terminal
AO67
AO25 10.o.3 analog output terminal
AO32 10.p.3 analog output terminal
AO74
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24V
0V
24V
0V
G18
B6
C7
S8'
UE1'
0V3'
+24V2'
I14'
UO5'
+24V6'
0V7'
ENC910.a.4 EL5101
ENCODER INTERFACE
Beckhoff
A1
C3
B2
A5
G14
+24V2'
I14'
UO5'
S8'
+24V6'
0V7'
ENC810.a.4 EL5101
ENCODER INTERFACE
Beckhoff
A1
C3
B2
G14
A5
G18
B6
C7
0V3'
UE1'
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RJ45
RJ45
INT1730.a.810.j.1
EL6022int.face
2 RS485
+-
20A10BECKHOFF EK1100Controller
0 V
ENC1110.n.510.h.1
EL5101encoderinterface
ENC1210.o.510.h.4
EL5101encoderinterface
ENC1310.p.510.h.7
EL5101encoderinterface
ENC1610.i.7
EL5101encoderinterface
ENC1520.a.510.i.4
EL5101encoderinterface
ENC1410.q.510.i.1
EL5101encoderinterface
CHAS
SIS
24VD
C-PL
C/
10.l.
2
20A1
0/
10.a
.0
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PLC Encoder InterfaceDate
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24V
0V
24V
0V
24V
0V
C7 10.n.7
B6 10.n.6
G18
A5 10.n.6
G14
B2 10.n.6
C3 10.n.7
A1 10.n.6
ENC1110.g.1 EL5101
ENCODER INTERFACE
Beckhoff
0V7' 10.n.7
+24V6' 10.n.8
UO5' 10.n.5
I14'
+24V2' 10.n.8
0V3' 10.n.7
UE1' 10.n.5
S8'
C7 10.o.7
B6 10.o.6
G18
A5 10.o.6
G14
B2 10.o.6
C3 10.o.7
A1 10.o.6
ENC1210.g.2 EL5101
ENCODER INTERFACE
Beckhoff
0V7' 10.o.7
+24V6' 10.o.8
UO5' 10.o.5
I14'
+24V2' 10.o.8
0V3' 10.o.7
UE1' 10.o.5
S8'
C7 10.p.7
B6 10.p.6
G18
A5 10.p.6
G14
B2 10.p.6
C3 10.p.7
A1 10.p.6
ENC1310.g.2 EL5101
ENCODER INTERFACE
Beckhoff
0V7' 10.p.7
+24V6' 10.p.8
UO5' 10.p.5
I14'
+24V2' 10.p.8
0V3' 10.p.7
UE1' 10.p.5
S8'
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10.i5-9-2012
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PLC Encoder InterfaceDate
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24V 24V
0V0V 0V
24V
C7 10.q.7
B6 10.q.6
G18
A5 10.q.6
G14
B2 10.q.6
C3 10.q.7
A1 10.q.6
ENC1410.g.2 EL5101
ENCODER INTERFACE
Beckhoff
0V7' 10.q.7
+24V6' 10.q.8
UO5' 10.q.5
I14'
+24V2' 10.q.8
0V3' 10.q.7
UE1' 10.q.5
S8'
C7 20.a.7
B6 20.a.6
G18
A5 20.a.6
G14
B2 20.a.6
C3 20.a.7
A1 20.a.6
ENC1510.g.3 EL5101
ENCODER INTERFACE
Beckhoff
0V7' 20.a.7
+24V6' 20.a.8
UO5' 20.a.5
I14'
+24V2' 20.a.8
0V3' 20.a.7
UE1' 20.a.5
S8'
C7
B6
G18
A5
G14
B2
C3
A1
ENC1610.g.3 EL5101
ENCODER INTERFACE
Beckhoff
0V7'
+24V6'
UO5'
I14'
+24V2'
0V3'
UE1'
S8'
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10.j3-2-2012
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3 986 70
Modification
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PLC RS 485Date
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X1
X2
Serial interface 1X1_130.a.8 Serial interface 1
Serial interface 1X1_230.a.9
Serial interface 2X2_2
INT1710.g.4EL6022int.face2 RS485Beckhoff
Serial interface 2X2_1
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Modification
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24VDC fuseboxDate
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F4F3F2F1
10U3 10U6
B3Battery 3
F4F5F6 F1F2F3
10U5Fusebox_2
CHAS
SIS
B2Battery 2
CHAS
SIS
10U4
B1Battery 1
15AF4
15AF5
10U1
15AF6
15AF7
15AF8
15AF9
15AF10
15AF1
15AF2
15AF11
15AF12
15AF3
15AF13
15AF14
1
2K1
10.k.8
10U2Fusebox
1DI1
10.b.1
fuse detection DI210.a.1
S1Main Switch
DI210.a.1
A1
A2K1
1 2 10.k.1
CHAS
SIS
5DI2
10.b.1
fuse detection
6DI4
10.b.1
fuse detectionDI210.a.1
2DI3
10.b.1
fuse detectionDI210.a.1
CHAS
SIS
F15
B4Battery 4
CHAS
SIS
CHAS
SIS
A1
A2K2
10.k.5
11
1210WS1
Wirelesssafety switch
S210.n.3
K210.k.8
24VD
C-F2
/
24VD
C-F1
/ 24VD
C-F6
_2/
10.n
.1
24VD
C-F5
_2/
24VD
C-F5
/10
.q.1
24VD
C-F4
/10
.n.1
24VD
C-F3
/ 24VD
C-F4
_2/
24VD
C-F1
_2/
24VD
C-F2
_2/
24VD
C-F3
_2/
24VD
C-F6
/10
.m.3
24VD
C-F7
/10
.l.1
24VD
C-F8
/
24VD
C-F9
/10
.m.7
24VD
C-F1
0/
10.m
.5
24VD
C-F1
1/
10.m
.1
24VD
C-F1
2/
10.o
.1
24VD
C-F1
3/
10.p
.1
24VD
C-F1
4/
20.a
.1
4mm² zw 4mm² zw 4mm² zw4mm² zw
4mm² rd 4mm² rd 4mm² rd 4mm² rd
10mm²rd 10mm²rd
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Modification
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DC/DC convertersDate
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DC 12V DC 12V DC 12V DC 24V CH
ASSI
S
9
trim
8
trim
7
- Vo
ut
6
+ V
out
5
Rem
ote
On/
Off
4
- Vi
n
3
- Vi
n
2
+ V
in
1
+ V
in
10U10TRACO
TEP 150WI
9
trim
8
trim
7
- Vo
ut
6
+ V
out
5
Rem
ote
On/
Off
4
- Vi
n
3
- Vi
n
2
+ V
in
1
+ V
in
10U9TRACO
TEP 150WI
9
trim
8
trim
7
- Vo
ut
6
+ V
out
5
Rem
ote
On/
Off
4
- Vi
n
3
- Vi
n
2
+ V
in
1
+ V
in
10U8TRACO
TEP 150WI
5
Rem
ote
On/
Off
6
+ V
out
7
- Vo
ut
8
trim
9
trim
4
- Vi
n
3
- Vi
n
2
+ V
in
1+
Vin
10U7TRACO
TEP 150WI
CHAS
SIS
24VD
C-PL
C/
10.a
.110
.g.1
12VD
C-PC
1/
10.s
.1
0VD
C-PC
1/
10.s
.1
12VD
C-PC
2/
10.s
.3
0VD
C-PC
2/
10.s
.3
12VD
C-PC
3/
10.s
.6
0VD
C-PC
3/
10.s
.6
24VD
C-F7
/10
.k.3
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Modification
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DC/DC convertersDate
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DC 18V DC 24V DC 24V DC 24V
6
+ V
out
5
Rem
ote
On/
Off
4
- Vi
n
3
- Vi
n
2
+ V
in
1
+ V
in
10U12TRACO
TEP 150WI
9
trim
8
trim
7
- Vo
ut
6
+ V
out
5
Rem
ote
On/
Off
4
- Vi
n
3
- Vi
n
2
+ V
in
1+
Vin
10U11TRACO
TEP 150WI
CHAS
SIS
CHAS
SIS
CHAS
SIS
CHAS
SIS
5
Rem
ote
On/
Off
3
- Vi
n
4
- Vi
n
2
+ V
in
5
Rem
ote
On/
Off
6
+ V
out
7
- Vo
ut
8
trim
9
trim
10U14TRACO
TEP 150WI1
+ V
in
4
- Vi
n
3
- Vi
n
2
+ V
in
1
+ V
in
10U13TRACO
TEP 150WI
9
trim
8
trim
7
- Vo
ut
CHAS
SIS
CHAS
SIS
CHAS
SIS
9
trim
8
trim
7
- Vo
ut
6
+ V
out
ARM
EN/
24VD
C-AR
M-L
/
24VD
C-AR
M-R
/
24VD
C-F1
0/
10.k
.2
24VD
C-F6
/10
.k.3
24VD
C-F1
1/
10.k
.1
24VD
C-F9
/10
.k.2
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Modification
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Wheelmotor 1Date
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Wires twistedtogether
Wheelmotor EncoderWheelmotor
RD WTGNOR
CH I
10
CH/I
9
CH B
8
CH/B
7
CH A
6
CH/A
5
GN
D
3
VCC
2
K2-8
K2-7
K2-6
K2-5
K2-4
K2-3
K2-2
K2-1
103J1 109876543
GN WT
1 2
10U17ENC 1
10U16Doc. nr.
10008537-05
ENC1110.g.1
1 2
10M124VDC
Wheelmotor
M
AO710.a.3
1AO1
10.e.2
analog outputterminal
1K8
10R1
CHAS
SIS
+VCCRET M1 M2
CMRETCREF-CREF+EN+SORETEN-PRVP+10U15
ELMOP/N: VIO-25/60
AMPLIFIER
DI210.a.1
11
12S2
10.k.8emergency
stop
CHAS
SIS
1DO1
10.c.2
Enable motorDO410.a.2
1.5mm²RD
BR
FLATCABLE1
BRGRPRSBL
CHAS
SIS
Bundle 110.n.4W1
3DI5
10.b.1
Safety switch
1'UE
10.h
.1
5'UO
10.h
.1
5A
10.h
.1
1A
10.h
.1
6B
10.h
.1
2B
10.h
.1
7C
10.h
.1
3C
10.h
.1
3'0V
10.h
.1
7'0V
10.h
.1
2'+24V
10.h
.1
6'+24V
10.h
.1
K3
10.n.2
CHAS
SIS
K310.n.1
24VD
C-F6
_2/
10.k
.5
/
24VD
C-F4
/10
.k.3
EM3
/10
.p.3
EM4
/10
.q.3
EM5
/20
.a.3
EM2
/10
.o.3
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Modification
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Wheelmotor 2Date
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Wires twistedtogether
EncoderWheelmotor
Wheelmotor
2B
10.h
.4
7C
10.h
.4
3C
10.h
.4
6B
10.h
.4
3'0V
10.h
.4
7'0V
10.h
.4
1A
10.h
.4
10U18ELMO
P/N: VIO-25/60AMPLIFIER
VP+ PR EN- SORET EN+ CREF+CREF- CMRET
M2M1+VCCRET
1K8
10R2
5AO2
10.e.2
analog outputterminal
AO710.a.3
1 2
10M224VDC
Wheelmotor
M
ENC1210.g.2
10U19Doc. nr.
10008537-05
10U20ENC 2
1 2 3 4 5 6 7 8 9 10104J1
K2-8
K2-7
K2-6
K2-5
K2-4
K2-3
K2-2
K2-1
VCC
2
GN
D
3
CH/A
5
CH A
6
CH/B
7
CH B
8
CH/I
9
CH I
10
10.o.4W2
BRGN WT Bundle 2 WTRD OR GN BL PRS GR BR
FLATCABLE2
1.5mm²RD CH
ASSI
S
CHAS
SIS
CHAS
SIS
6'+24V
10.h
.4
2'+24V
10.h
.4
1'UE
10.h
.4
5'UO
10.h
.4
5A
10.h
.4
24VD
C-F1
2/
10.k
.1
EM2
/10
.n.2
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Modification
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Wires twistedtogether
EncoderWheelmotor
Wheelmotor
10U21ELMO
P/N: VIO-25/60AMPLIFIER
VP+ PR EN- SORET EN+ CREF+CREF- CMRET
M2M1+VCCRET
1K8
10R3
2AO3
10.e.2
analog outputterminal
AO710.a.3
1 2
10M324VDC
Wheelmotor
M
ENC1310.g.2
10U22Doc. nr.
10008537-05
10U23ENC 3
1 2 3 4 5 6 7 8 9 10105J1
K2-8
K2-7
K2-6
K2-5
K2-4
K2-3
K2-2
K2-1
VCC
2
GN
D
3
CH/A
5
CH A
6
CH/B
7
CH B
8
CH/I
9
CH I
10
10.p.4W3
BRGN WT Bundle 3 WTRD OR GN BL PRS GR BR
FLATCABLE3
1.5mm²RD
CHAS
SIS
CHAS
SIS
CHAS
SIS
1'UE
10.h
.7
5'UO
10.h
.7
5A
10.h
.7
1A
10.h
.7
6B
10.h
.7
2B
10.h
.7
7C
10.h
.7
3C
10.h
.7
3'0V
10.h
.7
7'0V
10.h
.7
2'+24V
10.h
.7
6'+24V
10.h
.7
24VD
C-F1
3/
10.k
.1
EM3
/10
.n.2
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Modification
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Wheelmotor 4Date
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Wires twistedtogether
EncoderWheelmotor
Wheelmotor
CHAS
SIS
6AO4
10.e.2
analog outputterminal
10U24ELMO
P/N: VIO-25/60AMPLIFIER
VP+ PR EN- SORET EN+ CREF+CREF- CMRET
M2M1+VCCRET
1K8
10R4
AO710.a.3
1 2
10M424VDC
Wheelmotor
M
ENC1410.g.2
10U25Doc. nr.
10008537-05
10U26ENC 4
1 2 3 4 5 6 7 8 9 10106J1
K2-8
K2-7
K2-6
K2-5
K2-4
K2-3
K2-2
K2-1
VCC
2
GN
D
3
CH/A
5
CH A
6
CH/B
7
CH B
8
CH/I
9
CH I
10
10.q.4W4
BRGN WT Bundle 4 WTRD OR GN BL PRS GR BR
FLATCABLE4
1.5mm²RD
CHAS
SIS
CHAS
SIS
1'UE
10.i.
1
5'UO
10.i.
1
5A
10.i.
1
1A
10.i.
1
6B
10.i.
1
2B
10.i.
1
7C
10.i.
1
3C
10.i.
1
3'0V
10.i.
1
7'0V
10.i.
1
2'+24V
10.i.
1
6'+24V
10.i.
1
24VD
C-F5
/10
.k.3
EM4
/10
.n.2
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10.s28
3 986 70
Modification
1
LRFDate
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USB
CHAS
SIS
10U27LRF
USB
-LRF
/10
.s.2
12VD
C-F7
/
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4
2028
3 986 70
Modification
1
PC'sDate
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AUD
IO+
-
10U29Switch
TCP/
IP
PC3
-
+
USB
1
FIRE
WIR
E
USB
7U
SB6-
10U28
+
USB
4
USB
2
-+
TCP/
IP
USB
3
TCP/
IP
TCP/
IP
USB
7
USB
5
FIRE
WIR
E
USB
7U
SB6
USB
5U
SB4
USB
3U
SB2
USB
1-+
USB
6
TCP/
IPTC
P/IP
USB
5
PC2FI
RE
WIR
E
TCP/
IP +
USB
1-
USB
2
USB
4U
SB3
TCP/
IPTC
P/IP
PC1
PC2
PC1
ROUTER
WIRELESSROUTER
+-
+-
POWERSUPPLY +
-
+-
0VD
C-PC
3/
10.l.
712
VDC-
PC3
/10
.l.7
0VD
C-PC
2/
10.l.
612
VDC-
PC2
/10
.l.5
0VD
C-PC
1/
10.l.
412
VDC-
PC1
/10
.l.3
USB
-LRF
/10
.r.9
USB
-ARM
-R/
USB
-ARM
-L/
PC2
/10
.a.0
USB
_KIN
ECT
/30
.a.7
AUD
IO_I
N/O
UT
/
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20.a28
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4
3028
3 986 70
Modification
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SpindelDate
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Spindle motor EncoderSpindle motor
Wires twistedtogether
3AO5
10.e.2
analog outputterminal
20U1ELMO
P/N: VIO-25/60AMPLIFIER
VP+ PR EN- SORET EN+ CREF+CREF- CMRET
M2M1+VCCRET
1K8
20R1
AO710.a.3
1 2
20M124VDC
Spindle motor
M
ENC1510.g.3
20U2Doc. nr.
10008537-05
20U3ENC 5
1 2 3 4 5 6 7 8 9 10107J1
K2-8
K2-7
K2-6
K2-5
K2-4
K2-3
K2-2
K2-1
VCC
2
GN
D
3
CH/A
5
CH A
6
CH/B
7
CH B
8
CH/I
9
CH I
10
20.a.4W5
BRGN WT Bundle 5 WTRD OR GN BL PRS GR BR
FLATCABLE5
1.5mm²RD CH
ASSI
S
CHAS
SIS
CHAS
SIS
1'UE
10.i.
4
5'UO
10.i.
4
5A
10.i.
4
1A
10.i.
4
6B
10.i.
4
2B
10.i.
4
7C
10.i.
4
3C
10.i.
4
3'0V
10.i.
4
7'0V
10.i.
4
2'+24V
10.i.
4
6'+24V
10.i.
4
24VD
C-F1
4/
10.k
.1
EM5
/10
.n.3
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USB
12VDC
CHAS
SIS
INT1710.g.4
432130U4
DYNAMIX 1
30U1Microsoft's Kinect
30U2Dynamixel RX-28
30U3Dynamixel RX-28
4
D-
3
D+
2
VDD
1
GN
D
3
D+
4
D-
2
VDD
1
GN
D
X1_2
10.j.1
X1_1Serial interface 1
10.j.1
Serial interface 1
4
D-
3
D+
2
VDD
1
GN
D
15VDC-DYNAMIX1/
12VDC-KINECT /
USB_KINECT / 10.s.6
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Modification
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40U1ARM Left
40U2ARM Right
+24V 0VDC 0VDC+24V
40U3VoltregelaarTegen EMK
+48VDC 0VDC
MASSA/
+48VDC/
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
Title
Size Document Number Rev
Date: Sheet of
10008537-04 V1.0
Battery fuse
A
1 1Tuesday, October 12, 2010
Title
Size Document Number Rev
Date: Sheet of
10008537-04 V1.0
Battery fuse
A
1 1Tuesday, October 12, 2010
Title
Size Document Number Rev
Date: Sheet of
10008537-04 V1.0
Battery fuse
A
1 1Tuesday, October 12, 2010
K101
+Bat
K101
+Bat
Q101
BC557B
Q101
BC557B
K107
Fuse_detect
K107
Fuse_detect
K102
-Bat
K102
-Bat
R101
10k
R101
10k
12F101
FUSE
F101
FUSE
K105
Chassis
K105
Chassis
K103
+Bat_fused
K103
+Bat_fused
R102
2k7
R102
2k7
12
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Bumblebee motor adapter
A
1 1Wednesday, January 05, 2011
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Bumblebee motor adapter
A
1 1Wednesday, January 05, 2011
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Bumblebee motor adapter
A
1 1Wednesday, January 05, 2011
K2
spare
K2
spare
K1
spare
K1
spare
J1
CON10A
J1
CON10A
12345678910
J3
CON20A
J3
CON20A
1234567891011121314151617181920
J2
CON10A
J2
CON10A
12345678910
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
Title
Size Document Number Rev
Date: Sheet of
10008537-01 V1.0
Robot Earth fusebox
B
1 1Wednesday, October 27, 2010
Title
Size Document Number Rev
Date: Sheet of
10008537-01 V1.0
Robot Earth fusebox
B
1 1Wednesday, October 27, 2010
Title
Size Document Number Rev
Date: Sheet of
10008537-01 V1.0
Robot Earth fusebox
B
1 1Wednesday, October 27, 2010
K15
KLEM
K15
KLEM
F215A
F215A
F515A
F515A
F1415A
F1415A
F915A
F915A
K8
KLEM
K8
KLEM
K12
KLEM
K12
KLEM
K2
KLEM
K2
KLEM
F615A
F615A
F1015A
F1015A
K5
KLEM
K5
KLEM
F315A
F315A
F715A
F715A
K9
KLEM
K9
KLEM
F1115A
F1115A
K13
KLEM
K13
KLEM
K3
KLEM
K3
KLEM
F415A
F415A
K21KLEM
K21KLEM
F8
15A
F8
15A
F1215A
F1215A
K6
KLEM
K6
KLEM
K10
KLEM
K10
KLEM
K14
KLEM
K14
KLEM
K4
KLEM
K4
KLEM
K7
KLEM
K7
KLEM
F115A
F115A
F1315A
F1315A
K20KLEM
K20KLEM
K11
KLEM
K11
KLEM
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
LRF motor interface
A
1 1Thursday, November 18, 2010
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
LRF motor interface
A
1 1Thursday, November 18, 2010
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
LRF motor interface
A
1 1Thursday, November 18, 2010
K2
KLEM
K2
KLEM
K10
Mot+
K10
Mot+
K3
B
K3
B
K14end_switch
K14end_switch
K4B\K4
B\
K12
index_switch
K12
index_switch
K5
A
K5
A
K6
A\
K6
A\
J1
CON10
J1
CON10
12345678910
K7Mot-K7Mot-
K11
index_switch
K11
index_switch
K13end_switch
K13end_switch
K8
GND
K8
GND
K1
KLEM
K1
KLEM
K9VCCK9VCC
5
5
4
4
3
3
2
2
1
1
D D
C C
B B
A A
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Superzener
A
1 1Monday, November 15, 2010
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Superzener
A
1 1Monday, November 15, 2010
Title
Size Document Number Rev
Date: Sheet of
<Doc> V1.0
Superzener
A
1 1Monday, November 15, 2010
D118VD118V
Q1MJ11015Q1MJ11015
X2GNDX2GND
D227VD227V
X1+42VX1+42V