Yamaha Robotics YK120X Manual Do Utilizador
7-15
CHAPTER 7 Specifications
1-4
Wiring table
Robot cable wiring table
W
V
R2
S1
Resolver
S4
YM
XM
0.14sq
0.14sq
0.14sq
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
Twisted pair
4
U
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.15sq
YP
0.15sq
XP
YM
XM
Resolver
V
W
U
2
3
3
R1
R2
FG
R2
FG
S2
S4
S1
S3
S4
S1
S3
S3
24
23
22
21
20
19
6
6
5
5
7
4
3
2
1
4
3
2
1
R1
FG
S2
7
7
5
6
6
2
1
1
3
2
3
2
1
3
2
1
4
FG
4
3
No
Wire
Color/No.
No
25
3
4
4
4
1
2
3
2
3
1
2
3
2
3
2
3
3
1
2
2
6
5
7
7
S2
FG
R1
1
2
3
4
2
3
4
1
2
3
4
2
3
4
7
5
5
6
6
19
20
21
22
23
24
20
21
22
23
24
S3
S3
S1
S4
S2
FG
R2
R1
3
2
U
W
V
Resolver
ZM
RM
ZR
ZP
0.15sq
RP
0.15sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
0.5sq
25
S4
Resolver
S1
R2
0.14sq
0.14sq
0.14sq
U
4
ZM
RM
1
28
V
W
1
FG
FG
XY
11
0.3sq
10
0.3sq
18
0.14sq
29
HLIM
GND24
HLIM
GND24
28
11
0.3sq
10
0.3sq
29
HLIM
GND24
HLIM
GND24
0.14sq
14
36
0.14sq
0.14sq
0.14sq
0.14sq
0.14sq
Brake MB -
2
Brake MB+
16
0.14sq
ZBK
1
27
0.14sq
2
30
GND
3
ORG
31
0.14sq
RORG
Robot side
Controller side
Signal
Connector
Connection
Connector
No
Wire
Color/No.
No
Signal
Connector
Connection
Connector
No
Wire
Color/No.
No
Signal
Connector
Connection
Connector
No
Wire
Color/No.
No
Signal
Connector
Connection
Connector
Orange/Red 1
Orange/Black 1
Orange/Red 2
Orange/Black 2
Gray/Red 1
Gray/Black 1
Gray/Red 2
Gray/Black 2
Pink/Red 1
Pink/Black 1
White/Red 1
White/Black 1
Green
Green
Green
Green
Green
Green
Yellow/Red 1
Yellow/Black 1
Orange/Red 1
Orange/Black 1
Orange/Red 2
Orange/Black 2
Gray/Red 1
Gray/Black 1
Gray/Red 2
Gray/Black 2
Pink/Red 1
Pink/Black 1
White/Red 1
White/Black 1
Green
Green
Yellow/Red 1
Yellow/Black 1
Black
White
Red
Yellow
Green
Green
Blue
Yellow
Brown
Pink
Sky blue
Orange
Purple
Gray
Round terminal
Origin position sensor 24V
White/Red 2
Yellow/Red 2
Yellow/Black 2