Table Of Robot Control Signals - Yamaha YP-X Series Owner's Manual

CHAPTER 6 Specifications
1-3
Robot side
Signal Connector No
Resolver
S2 1
2
S4
3
S1
4
S3 ZP
R1 5
6
R2
DG 7
1
Brake MB+
ZBK
2
MB-
S2 1
Resolver
S4 2
S1 3
S3 4
RP
5
R1
6
R2
DG 7
Brake MB+
1
RBK
MB- 2
HLIM
GND24
HLIM
GND24
1
U
V ZM 2
W 3
1
U
2
V RM
3
W
Round terminal
FG

Table of robot control signals

1) YP340X, TRCX4, QRCX4
YP330X, YP320XR, YP220BXR and QRCX3
Controller side
Connection No Connector Color/No.
1
2
3
4
5
6
7
14
16
19
20
ZR
21
22
23
24
25
32
34
10
11
28
29
2
3 ZM
4
2
3
RM
4
1
Robot side
Signal Connector
Resolver
Blue S2
Orange
S4
Green
S1
Brown
S3 XP
Gray R1
Red
R2
Green DG
Black Brake MB+
XBK
Yellow MB-
Pink S2
Resolver
S4
Purple
White S1
Blue/Red S3
YP
Orange/White R1
Green/White R2
Green DG
Brown/White Brake MB+
YBK
Gray/White MB-
Green
HLIM
GND24
Green HLIM
GND24
1
U
2 V XM
3 W
4
U
5
V YM
6 W
Yellow/Green Round terminal
FG
6-8
Controller side
No Connection No Connector
1 1
2 2
3 3
4 4
5 5
6 6
7 7
1
14
2
16
1 19
2
20
3 21
4 22
5
23
6
24
7 25
32
1
2 34
10
11
28
29
1 2
2 3
3 4
1 2
2 3
3
4
1
Color/No.
Blue
Orange
Green
Brown
Gray
Red
Green
Black
Yellow
Pink
Purple
XY
White
Blue/Red
Orange/White
Green/White
Green
Brown/White
Gray/White
Green
Green
1
XM 2
3
4
5
YM
6
Yellow/Green