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

2-5

Connecting to the Robot

First make sure that the power to the DRCX 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 DRCX controller.
Be sure to fasten the robot I/O cable with the screws so that it will not come loose or be pulled off.
* 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 cover type No.
DRCX's connector type No.
Signal Table
Terminal No. Signal name
1 PS1+
2 PS1-
3 PC1+
4 PC1-
5 R1+
6 R1-
7 DG
8 DG
9 +24V
10 NC
11 PG
12 ORG1
13 PG
14 BK1+
15 BK1+
16 BK1-
17 BK1-
18 FG

2-5-2 Motor connector and signal table

Mating connector type No.
Mating connector contact type No.
DRCX's connector type No.
Signal table (X and Y axes)
Terminal No. Signal name
1 FG
2 MU
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: 10136-6000EL (3M)
: 10336-52A0-008
: 10236-52A2JL
Description Terminal No.
Resolver SIN input 1 (+)
Resolver SIN input 1 (-)
Resolver COS input 1 (+)
Resolver COS input 1 (-)
Resolver excitation output 1 (+)
Resolver excitation output 1 (-)
Digital ground
Digital ground
Power supply (24V) for origin sensor
No connection
Power supply (0V) for origin sensor
Origin sensor signal input 1
Power supply (0V) for origin sensor
Brake signal 1 (+)
Brake signal 1 (+)
Brake signal 1 (-)
Brake signal 1 (-)
Frame ground
: (X-axis) 1-178128-4, (Y-axis) 2-178128-4 (AMP)
: 1-175218-5
: (X-axis) 1-179553-4, (Y-axis) 2-179553-4
Description Terminal No.
Frame ground
Motor U-phase output
2-5 Connecting to the Robot
Signal name Description
19 PS2+ Resolver SIN input 2 (+)
20 PS2- Resolver SIN input 2 (-)
21 PC2+ Resolver COS input 2 (+)
22 PC2- Resolver COS input 2 (-)
23 R2+
Resolver excitation output 2 (+)
24 R2- Resolver excitation output 2 (-)
25 DG Digital ground
26 DG Digital ground
27 +24V Power supply (24V) for origin sensor
28 NC No connection
29 PG
Power supply (0V) for origin sensor
30 ORG2 Origin sensor signal input 2
31 PG Power supply (0V) for origin sensor
32 BK2+ Brake signal 2 (+)
33 BK2+ Brake signal 2 (+)
34 BK2- Brake signal 2 (-)
35 BK2-
Brake signal 2 (-)
36 FG Frame ground
Signal name Description
3 MV Motor V-phase output
4 MW Motor W-phase output
2
7
2-