Epson ES Series Manipulator Manual page 116

4. Connector Pin Assignments
X40 Signal connector
No.
1A FGND
1B N.C.
2A 4A
2B 4A
3A 4B
3B 4B
4A 4Z
4B 4Z
5A 4S
5B 4S
6A ENC+5V
6B EGND
7A BAT+
7B BAT-
8A RES
8B N.C.
9A N.C.
9B N.C.
10A N.C.
10B N.C.
11A N.C.
11B N.C.
12A N.C.
12B N.C.
13A N.C.
13B N.C.
104
Line color Connect to
GRN
BLU/(WHT)
WHT/(BLU)
YLW/(WHT)
WHT/(YLW)
GRN/(WHT)
WHT/(GRN)
* RED/(WHT)
* WHT/(RED)
PPL/(WHT)
WHT/(PPL)
BLU/(BRN)
BRN/(BLU)
YLW/(BRN)
X41 Motor signal connector
No.
shield 1 4A
2 4A
X41-1 3 4B
X41-2 4 4B
X41-3 5 4Z
X41-4 6 4Z
X41-5 7 4S
X41-6 8 4S
X41-7 9 BAT+
X41-8 10 BAT-
X41-12 11 RES
X41-13 12 ENC+5V
X41-9 13 EGND
X41-10 14 FGND
X41-11
* Motor for manipulators whose Serial
number starts with "1" does not have
S-channel signal.
Part 2: Maintenance
Line color Connect to
BLU/(WHT)
WHT/(BLU)
YLW/(WHT)
WHT/(YLW)
GRN/(WHT)
WHT/(GRN)
Joint #4
* RED/(WHT)
motor
encoder
* WHT/(RED)
(SIGNAL)
BLU/(BRN)
BRN/(BLU)
YLW/(BRN)
PPL/(WHT)
WHT/(PPL)
GRN