Chapter 4 - System Cable Installation
46 AdeptSix 300CR Robot Instruction Handbook, Rev. A
Figure 4-4. Interconnect Cable Connection to the Robot
Connection to the PA-4 Power Chassis
Refer to the following information for details on connecting the cabling between the robot
and the Adept PA-4 power chassis, and peripheral equipment. See Figure 4-1 on page 43
or Figure 4-2 on page 44, depending on which controller you are using.
1. Connect the end of the Arm Power cable with the motor output connector clamp
to the six connectors on the three Dual E amp modules.
NOTE: The CH connectors on all the Dual E Amps are labelled CH1 and
CH2. For reference, Figure 4-5 on page 47 matches CN plugs 1 to 6 with
the CH connectors (labelled CH 1 to 6 in the drawing).
2. Install the plug labeled CN29 on the Arm Power cable in the CN29 connector on
the Multi-Axis Interface (MAI-2) module.
3. Connect the end of the Arm Signal cable with two plugs to the two connectors on
the MAI-2 module in the following order.
a. Install the plug labeled CNPG456 in the CNPG456 connector.
b. Install the plug labeled CNPG123 in the CNPG123 connector.
4. Install one ground wire each from the Arm Signal Cable and the Arm Power
Cable to the front right screw on the top of the Adept PA-4 power chassis.
NOTE: Provide strain relief for the motor power and signal cable
connectors at the amplifier modules.
onnection details
of the power suppl
cable
robot
1B
1B
2B
