Type Function Port Connector Location
Power VP+, PR Barrel
Connector +
M6 Spring
Washer + M6
Nut
Motor M1, M2, M3
Barrel
Connector +
M5 Flat
Washer + M5
Spring Washer
+ M5 screw
Ground PE, PE, PE,
PE
Table 3-1: Power Connectors on the Drum
Type Function Port Connector Location
26-pin high
density D-
Sub female
Feedbacks A
& B
J4
15-pin high
density D-
Sub male
Analog Input
and General
I/O
J3
Table 3-2: Feedback and I/O Connectors on the Drum
Type Function Port Connector Location
9-pin D-Sub
male
CANopen &
Optional
Backup
Supply
J1
9-pin D-Sub
female
RS-232 J2
Table 3-3: Communication and Backup Connectors on the Drum
J3 Male: I/O J4 Female: Feedbacks A & B
J1 Male: CANopen & Optional
Backup Supply J2 Female: RS-232
PE
PE
Drum Installation Guide Installation
MAN-DRUIG (Ver. 1.0)
3-6