The document contains an electrical drawing of a robot manipulator system. It includes diagrams of the electrical connections between various components of the robot including motors, photoelectric sensors, proximity sensors, servomotors, relays, and a PLC controller. The components are connected to power sources and ground lines with various common lines. Signal lines also connect the components for control functions.

1. TITLEROBOTMANIPULATOR
SUBTITLEELECTRICALDREWING
EST.UNIVERSITYOFMORATUWA
SCALENottoScaleDATE
NAME
DEPT.
20/12/2010
A.M.P.JAYAMANNE
ELECTRICALENGINEERING
L
.
FGCOMXOX2X4X6X10X12X14X16X18X20
NCOMX1X3X5X7X11X13X15X17X19X21
24V
A
.BY0Y1Y2Y4COM3Y7Y11Y12Y14.
0VCOM0
COM1
COM2Y3Y5Y6Y10COM4Y13Y15.
M
1
2
3
4
5
6
7
P+
PB
PULS
SIGN
S-ON
ALM-RST
+24VIN
R
PELN
FILTER
single-phaseAC220V
(50/60Hz)
M
1
2
3
4
5
6
7
P+
PB
PULS
SIGN
S-ON
ALM-RST
+24VIN
R
PELN
FILTER
M
1
2
3
4
5
6
7
P+
PB
PULS
SIGN
S-ON
ALM-RST
+24VIN
R
PELN
FILTER
R1
R2
R3
R4
R5
R6
Y6
Y7
Y10
Y11
Y12
Y13
123
PG1PG2PG3PG
ABABABAB
P2P1
P4P3
P6P5
PE1P7
X11X10
X13X12
X15X14
X17X16
X18
COM10
COM10COM10
COM10COM10
COM10COM10
COM10COM10
COM10
COM10
PGENCODERS
M
R
CN2
PLC
OP1
OP1
P
PEPHOTOELECTRICSENSOR
MOTOR
RELAY
SERVODRIVERS
OPPANEL
PROXIMITYSENSOR