Connecting To The Robot; Robot I/O Connector And Signal Table - Yamaha ERCX Series 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 ERCX controller is turned off, and then connect the robot cable
to the robot I/O connector on the front panel of the ERCX controller. Fully insert the robot I/O cable
until it clicks in position.
* When the robot cable is disconnected from the controller, an alarm (15: FEEDBACK ERROR
2) is issued. Since the controller is shipped with the robot cable disconnected, an alarm is
always issued when the controller is first turned on. But this is not an equipment problem.

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

Mating connector type No.
Mating connector contact type No.
ERCX's connector type No.
Signal table
Terminal No. Signal name
1 BK1+
Brake signal 1 (+)
2 MW Motor W-phase output
3 MU
Motor U-phase output
4 DG Digital ground
5 WCK1+ Wire breakage detection 1 (+)
6 R1+
Resolver excitation output 1 (+)
7 PC1+ Resolver COS input 1 (+)
8 PS1+
Resolver SIN input 1 (+)
: 0-174046-2 (AMP)
: 0-175180-2
: 0-174053-2
Description Terminal No. Signal name
9
10
11
12
13
14
15
16
Description
BK1-
Brake signal 1 (-)
MV Motor V-phase output
FG
Frame ground
NC No connection
WCK1- Wire breakage detection 1 (-)
R1- Resolver excitation output 1 (-)
PC1- Resolver COS input 1 (-)
PS1-
Resolver SIN input 1 (-)