User`s manual

CHAPTER 6 Specifications
6-8
1-3 Table of robot control signals
1) YP340X, TRCX4, QRCX4
YP330X, YP320XR, YP220BXR and QRCX3
Signal Connector ConnectorConnection
No No
S2
XP
YP
XBK
YBK
XM
YM
XM
YM
XY
S1
S3
R1
R2
DG
MB+
MB-
S2
V
W
S4
S1
S3
R1
R2
DG
MB+
MB-
HLIM
GND24
HLIM
GND24
U
V
W
FG
U
1
2
4
5
6
77
1
2
3
1
2
3
1
2
3
1
2
1
2
4
5
6
7
3
1
2
4
5
6
14
16
19
20
21
22
23
24
25
32
34
10
11
28
29
2
3
4
2
3
4
1
3
1
2
3
4
5
6
S4
Controller sideRobot side
Signal Connector Connector Color/No. Color/No. Connection
No No
Resolver
Brake
Brake
Resolver
Resolver
Brake
Brake
Resolver
S2
ZP
RP
ZBK
RBK
ZM
RM
ZM
RM
Round terminal Round terminal
ZR
S1
S3
R1
R2
DG
MB+
MB-
S2
V
W
S4
S1
S3
R1
R2
DG
MB+
MB-
HLIM
GND24
HLIM
GND24
U
V
W
FG
U
1
2
4
5
6
77
1
2
3
1
2
3
1
2
3
1
2
1
2
4
5
6
7
3
1
2
4
5
6
14
16
19
20
21
22
23
24
25
32
34
10
11
28
29
2
3
4
2
3
4
1
3
Green
Blue
Orange
Brown
Gray
Red
Black
Yellow
Pink
Purple
White
Blue/Red
Orange/White
Green/White
Green
Brown/White
Gray/White
Green
Green
1
2
3
4
5
6
Yellow/Green
Green
Green
Blue
Orange
Brown
Gray
Red
Black
Yellow
Pink
Purple
White
Blue/Red
Orange/White
Green/White
Green
Brown/White
Gray/White
Green
Green
Yellow/Green
Green
S4
Controller sideRobot side