User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
19
AC Power
Motor 0-3
Power
Motor 4-6
Power
Motors 0/1
Feedback
Motor 2/3
Feedback
Motor 4-6
Feedback
Motors 0-3
Signals
Motors 4-6
Si
g
nals
I/O Connector 1
I/O Connector 2
Figure 9 - Control Cabinet
All BarrettArm and BarrettWrist power and signal cables from the Kollmorgen Controllers exit
through the array of mil-spec circular connectors on the rear panel of the cabinet. To attach one
of these 4.3m cables, insert the circular plug into the rear panel socket until you can engage the
plug’s locking ring onto the socket. Subsequent tightening of the ring ¼-turn will pull the plug
into the socket and ensure a solid connection. All circular connectors are unique to ensure
correct connections.
Plug in the three ribbon cables to the correct connector on the rear of the cabinet. Plug the
other end into the adaptor box. On the other side of the adaptor box, plug in the additional five
ribbon connectors
3.3.3 The Host Computer
The five ribbon cables that were connected to the adaptor box are connected, at the other end,
to the motion control board residing in the host computer’s ISA slot. Each ribbon is guided
through the empty card-slot in the host computer (usually located in the back) and pushed
firmly into the ribbon socket on the motion control board according to Figure 10.