2.3.1 Manipulator

Figure 8 Major parts of the manipulator

Figure 9 Manipulator connection and display device (YL012)

Figure 10 Manipulator LED lamp (Left : YL005 / Right : YL015)

No	Name	Description
	Power and Communication connectors	These supply power to and communicate with the robot, respectively.
	Air inlet	This supplies pneumatic pressure through the pneumatic hose.
	Tool flange	This mounts tools to the robot.
	Air outlers	(YL012, YL015) These are used for moving various tools by connecting pneumatic hoses (ø3.2, two pieces).
	Tool I/O connectors	These control the motion of tools. For more details of the tool I/O, see “3.3.1 Tool flange connection point.”
	Handgrip module	This is used for direct teaching.
	EtherCAT connector	This establishes communication with tools through EtherCAT-based terminals. For more details of EtherCAT, see “3.3.1 Tool flange connection point.”
	LED lamp	This indicates the operating states of the robot. OFF: The power of the robot system is off. ON: The power of the robot system is on. Different colors of the LED lamp indicate the following states of the robot: White: The servo motor is waiting for actuation (the power is on or the brake is on) or is in the normal stop state. Green: The servo motor is actuated (the power is on or the brake is off). At this state, jog operation, step forward/backward motion, and playback are possible. Blue: The servo motor is actuated in the direct teaching mode. In this state, only direct teaching is possible. Red: The robot stopped operating because of an error. Resolve the error and try to actuate the servo motor.

• Air outlets are available only for the YL012 and the YL015 models.

• The LED lamp position varies depending on the models. In the cases of the YL005 and the YL015 models, the LED lamp is on the upper frame cover.

• For Ethernet options, and Ethernet connector is installed instead of Air