R12 Robot Manual
page
25
12. CONNECTIONS
Connections to the rear panel are as follows:-
MOTORS
25-way D-type, female:
dual 5/6-axis versions with RoboForth V13.6x and V14.
1,2 - motor 1 winding 1
3,4 - motor 1 winding 2 (waist)
5,6 - motor 2 winding 1
7,8 - motor 2 winding 2 (shoulder)
9,10 - motor 3 winding 1
11,12 - motor 3 winding 2 (elbow)
14,15 - motor 4 winding 1
16,17 - motor 4 winding 2 (L-hand)
18,19 - motor 5 winding 1
20,21 - motor 5 winding 2 (R-hand/wrist twist)
22,23 – motor 6 winding 1
24,25 – motor 6 winding 2 (6
th
axis rotate)
If track fitted there is an MS connector to the track (see track pin-out) and wiring from the
cable chain to the robot remain as above apart from 22-25.
SENSORS/ENCODERS
25-way D-type, male:
Sensors:
Encoders:
Waist
1 (PB 0)
6 - B
7 – A
Shoulder
2 (PB 1)
8 - B
9 – A
Elbow
3 (PB 2)
10 - B
11 - A
Hand
4 (PB 3)
12 - B
13 - A
Wrist/yaw
5 (PB 4)
14 - B
15 - A
6
th
axis rotate
21 (PB 5)
(reserved 23)
(reserved 24)
0 volts
17 sensor return
19 encoder return
Supply
18 +12 volts
20 +5 volts
16 +24v LEDs
5/6 axis versions
Electric gripper –
22
25
6TH AXIS MODULE CONNECTOR ON FOREARM
Sensor:
Motor:
12v supply (brown)
1
Phase A1
2
0v return (blue)
6
A2
3
Signal (black)
7 (goes to PB 5)
B1
4
B2
5
