Connecting To The Robot; Robot I/O Connector And Signal Table; Motor Connector And Signal Table - Yamaha SRCP User Manual

2-5 Connecting to the Robot

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2-5 Connecting to the Robot
First make sure that the power to the SRCP controller is turned off, and then connect the robot cable
to the robot I/O connector and motor connector on the front panel of the SRCP controller. Fully insert
the robot cable until it clicks in position.
* When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR
2) is issued.

2-5-1 Robot I/O connector and signal table

Mating connector type No.
Mating connector contact type No.
SRCP's connector type No.
Signal table
Terminal No. Signal name
1 PS+ Position SIN input (+)
2 PS- Position SIN input (-)
3 PC+ Position COS input (+)
4 PC- Position COS input (-)
5 +5V
+5V
6 GND
GND
7 Z+ Linear scale Z+
8 Z- Linear scale Z-
9 DG Digital ground
10 DG Digital ground

2-5-2 Motor connector and signal table

Mating connector type No.
Mating connector contact type No.
SRCP's connector type No.
Signal table
Terminal No. Signal name
Frame ground
1 FG
2 MU Motor U-phase output
: 0-174047-2 (AMP)
: 0-175180-2
: 0-174055-2
Description Terminal No.
11
12
13
14
15
16
17
18
19
20
: 1-178128-4 (AMP)
: 1-175218-5
: 1-179277-5
Description Terminal No.
3
4
Signal name Description
NC No connection
ORG Origin sensor input
+24V Origin sensor, +24V
+24V Origin sensor, +24V
0V
Origin sensor, 24GND
0V
Origin sensor, 24GND
BK+ Brake (+)
BK- Brake (-)
NC No connection
FG Frame ground
Signal name Description
Motor V-phase output
MV
MW Motor W-phase output