Epson ES Series - 5.3 Replacing the Joint #3 Motor; X40 Signal connector X41 Motor signal connector

4. Connector Pin Assignments Part 2: Maintenance
104
X40 Signal connector X41 Motor signal connector
No. Line color Connect to No. Line color Connect to
1A FGND GRN shield 1 4A BLU/(WHT)
1B N.C. 2 4A WHT/(BLU)
2A 4A BLU/(WHT) X41-1 3 4B YLW/(WHT)
2B 4A WHT/(BLU) X41-2 4 4B WHT/(YLW)
3A 4B YLW/(WHT) X41-3 5 4Z GRN/(WHT)
3B 4B WHT/(YLW) X41-4 6 4Z WHT/(GRN)
4A 4Z GRN/(WHT) X41-5 7 4S * RED/(WHT)
4B 4Z WHT/(GRN) X41-6 8 4S * WHT/(RED)
5A 4S * RED/(WHT) X41-7 9 BAT+ BLU/(BRN)
5B 4S * WHT/(RED) X41-8 10 BAT- BRN/(BLU)
6A ENC+5V PPL/(WHT) X41-12 11 RES YLW/(BRN)
6B EGND WHT/(PPL) X41-13 12 ENC+5V PPL/(WHT)
7A BAT+ BLU/(BRN) X41-9 13 EGND WHT/(PPL)
7B BAT- BRN/(BLU) X41-10 14 FGND GRN
Joint #4
motor
encoder
(SIGNAL)
8A RES YLW/(BRN) X41-11
8B N.C.
9A N.C.
9B N.C.
* Motor for 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.