Yamaha 3-axis model owner manual 2 4-axis model

Chapter 3 Preparing the Robot

7-2-2 4-axis model

WARNING

When connecting the robot cable, insert the robot cable connector straight into the mating connector on the controller. Inserting the connector while tilted might cause the pins to make poor contact, causing robot malfunc- tion and the connector itself might even break.

!CAUTION

These connectors all work in only one direction. Take a good look at the con- nector shape before trying to attach it. Connecting the wrong way may damage the connectors.

!CAUTION

With the TRCX4 controller, the MOTOR connector and PI connector shapes are the same for the XY-axis and ZR-axis. Take care not to reverse the robot cables XY and ZR when connecting.

1)Prepare the required tools. Precision phillips-head screwdriver.

2)While referring to Table 3-3 and Fig.3-3, securely insert the motor connector into the correct position on the controller unitl a click is heard.

3)While referring to Table 3-3 and Fig.3-3, insert the robot I/O cable into the correct position on the controller.

4)Use the precision phillips-head screwdriver to tighten the robot I/O connec- tor screws.

Table 3-3

Robot cable		TRCX
XM	MOTOR X
YM	MOTOR Y		Main side unit
XY	ROB I/O
ZM	MOTOR X
RM	MOTOR Y		Sub-side unit
ZR	ROB I/O

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