Epson ES Series - X20 Signal connector X21 Motor signal connector

4. Connector Pin Assignments Part 2: Maintenance
102
X20 Signal connector X21 Motor signal connector
No. Line color Connect to No. Line color Connect to
1A FGND GRN shield 1 2A BLU/(WHT)
1B N.C. 2 2A WHT/(BLU)
2A 2A BLU/(WHT) X21-1 3 2B YLW/(WHT)
2B 2A WHT/(BLU) X21-2 4 2B WHT/(YLW)
3A 2B YLW/(WHT) X21-3 5 2Z GRN/(WHT)
3B 2B WHT/(YLW) X21-4 6 2Z WHT/(GRN)
4A 2Z GRN/(WHT) X21-5 7 2S * RED/(WHT)
4B 2Z WHT/(GRN) X21-6 8 2S * WHT/(RED)
5A 2S * RED/(WHT) X21-7 9 BAT+ BLU/(BRN)
5B 2S * WHT/(RED) X21-8 10 BAT- BRN/(BLU)
6A ENC+5V PPL/(WHT) X21-12 11 RES YLW/(BRN)
6B EGND WHT/(PPL) X21-13 12 ENC+5V PPL/(WHT)
7A BAT+ BLU/(BRN) X21-9 13 EGND WHT/(PPL)
7B BAT- BRN/(BLU) X21-10 14 FGND GRN
Joint #2
motor
encoder
(SIGNAL)
8A RES YLW/(BRN) X21-11
8B N.C.
9A N.C.
9B N.C.
* Motor for the manipulators whose Serial
number starts with “1” does not have
S-channel signal.
10A N.C.
10B N.C.
11A N.C.
11B N.C.
12A N.C.
12B N.C.
13A N.C.
13B N.C.