R2000ib EE end effector sensor wiring

    Hi folks,

    I have a R2000ib 125l. We want to mount 2 radar sensors on the end of the arm and need to know what is the simplest way to get the sensors powered and integrated into the robot. Like what port and cable assembly perhaps is meant and already interannlly wired for this ?
    The base of the robot has 3 Hartling connectors. One is marked RB1 which goes to the large RJ3ic cabinet in our control room. The second and third connectors are empty and labeled AP1 and AS1 from left to right respectively. There is also 2 physical piping air ports. On the upper end of J3 there are three electrical plugs. One EE one AP1 and 1 AS1. Any help is really appreciated. I have manuals but it’s not that obvious of what’s what ? Thanks again for the help here. John

    Do you have the model number of the sensors you are trying to wire?

    AP1 (Application Power) and AS1 (Application Signal) are pass through connectors.

    I believe the gauge in AP1 is bigger, and in AS1, there are certain conductors that are twisted pairs. The mechanical maintenance manual for that arm will go into more detail.

    The EE connector is 8 inputs, and 8 outputs, along with 24v and ground from the controller. That era of controller is right around when they switched from NPN to PNP for their signalling, so you would need the controller electrical maintenance manual to confirm.

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    Thank you very much Nation for the information. That make much more sense. The sensor is a KEYENCE FR-S01 radar sensor. It can be wired npn or pnp. It has several digital inputs and outputs which can be set up for pre selected distance points normally open or normally closed , can be used as an analog output current sensor value and also has the ability to be an io-Link slave bus sensor that can talk to a Io-Link master. I believe it can do most of these simultaneously. I want to wire it and use it first now as a simple PNP digital /discrete setup . I’m pretty sure all my existing digital inputs and outputs connected to this Robot are PNP…but I’m not sure like you said if the integrated ports on the upper arm are wired/configured the same as the AiD-16 IO card is that I’m using mounted on the yellow backplane ? Are there separate dip switches in the large type A controller model that set the switching type sinking or sourcing NPN or PNP for the arm and the IO exclusively or is it all one or the other ? I think the latter is what recall and again is running on my controller is PNP but I never have been able to find out where that dip switch actually is physically located and what position is proper polarity? The sensor does not draw much current and my current software is version 7.4 or 7.5. I want to use one or more of these sensors to determine and maintain my EOAT to vehicle body part distance standoff using the SKIP Condition and or the Condition Monitor Macro logic. This unless you or anyone else has a better recommendation /method to handle keeping the EOAT 12” away from the body part preferably using digital/. Thank you so much !!

    There are several variants for the AS1/AS2 & AP1/AP2 cables. The robot is old enough to have the cable set changed and the cable in it now may not be the cable it came with. The surest way is to find the AS-Kxxx tag on the AS1/AS2 cable and the AP-Kxxx tag on the AP1/AP2 cable. These tags are found near the ends of the cables not far from the connectors. I looked at one of our robots & it has the AS K131 & AP K132 cables.

    Pinouts for the AS & AP connectors are in the R-2000iB Operator's Manual & also the R-2000iB Maintenance Manual. These also have information on the EE connection on the robot.

    Signal info for the EE connection is in the R-30iA (R-J3iC) Controller Maintenance Manual.

    Detailed information on the Model A I/O system the AID16x module is part of is found in the Model A I/O Connection & Maintenance Manual. This I/O is also used on Fanuc CNCs so you may be able to find it on the web under the B-61813EN part #.

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