Yamaha 3-axis model, 4-axis model owner manual Specifications, Robot cable, Axis robot cable

Chapter 5 Specifications

1 Specifications

The specifications of each robot's common parts are shown below.

1-1 Robot cable

This cable is used to connect the controller and robot.

Signal		Connector	No	Connection	No	Connector	Color/No.	Wire
Resolver	S2		1		1		Blue	0.3sq
	S4		2		2		Orange	twisted pair
	S1	XP	3		3		Green	0.3sq
	S3		4		4		Brown	twisted pair
		r
			5
	R1				5		Gray	0.3sq
	R2		6		6		Red	twisted pair
	DG		7		7		Green	0.3sq
Brake	MB+	XBK	1		14		Black	0.3sq
	MB-	t	2		16		Yellow	twisted pair
Resolver	S2		1		19		Pink	0.3sq
	S4		2		20	XY	Purple	twisted pair
	S1	YP	3		21	q	White	0.3sq
	S3		4		22		Blue/Red	twisted pair
		y
	R1		5		23		Orange/White	0.3sq
	R2		6		24		Green/White	twisted pair
	DG		7		25		Green	0.3sq
Brake	MB+	YBK	1		32		Brown/White	0.3sq
	MB-	u	2		34		Gray/White	twisted pair
	HLIM				10		Green
	GND24				11
	HLIM				28		Green
	GND24				29
Sensor	24V	ORG	1		27		Red/White	0.3sq
	ORG	i	2		30		Yellow/Black	0.3sq
	GND24		3		31		Pink/Black	twisted pair
	U	XM	1		2		1	0.75sq
	V		2		3	XM	2	0.75sq
		o
						w
	W		3		4		3	0.75sq
	FG	Ring-tongue terminal	4		1		Yellow /Green	0.75sq
	U	YM	1		2		4	0.75sq
	V		2		3	YM	5	0.75sq
		!0
						e
	W		3		4		6	0.75sq
	FG	Ring-tongue terminal !14
r
XP
t
XBK
y
YP
u
YBK
								XY
i
ORG
o
XM								XM
!0
YM
								YM

q

w

e

!1

2-axis robot cable

5-1