Yamaha 4-axis model, 3-axis model Connecting to the Qrcx or RCX40 controller, RCX40, Qrcx

Chapter 3 Preparing the Robot

7-3 Connecting to the QRCX or RCX40 controller

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 RCX40, QRCX 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 3-4 and Fig.3-4, Fig.3-5, securely insert the motor connector into the correct position on the controller unitl a click is heard.

3)While referring to Table 3-4 and Fig.3-4, Fig.3-5, 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 3-4
Robot cable		RCX40, QRCX
XM		MOTOR1 (X side)
YM		MOTOR1 (Y side)
ZM		MOTOR2 (Z side)
RM		MOTOR2 (R side)
XY		PI1
ZR		PI2

Note)This is for the main robot.

Refer to the controller instruction manual for details.

3-18