Hello
You actually have a Denso RC5 controller, even though the brand is a Yaskawa.
All parts and accessories are interchangeable, including the learning console.
To make your robot work you need to prepare a box like the one in the picture.
The box has an emergency stop button with TWO independent contactors (but activated at the same time by that same button) in a normally closed state (when you press the red button each of the two circuits is open and the robot stops) and a key switch to activate between manual mode or automatic mode of the robot. The green button is inactive.
The red button is used to short-circuit the emergency stops of the controller.
These contacts are on the 64-pin CN10 connector, and for this you will need a suitable connector (I buy them from Misumi America, htpps:\\us.misumi-ec.com) although you can also buy them on Ebay, They are easy to find .
Seen the connector from the side of the cables (from where you must solder the cables of the emergency stop button) you must make the installation to be able to short (connect one pin with the other) through the contactors of the box the following pins: 63-64 (third pin of the third row from the right with third pin of the fourth row from the right) and 65-66 (second pin of the third row from the right with the second pin of the fourth row from the right). the right).
You will also need a male DB9 connector for the CN7 I/O Power Source connector.
Seen from the side of the cables, you must make a jumper between the pins as you can see in the photos.
If all went well, this will enable you to activate the motors, but you will not be able to run any programs in automatic momo.
To be able to select between manual or automatic mode you need a third 50-pin connector for connector CN8 of the controller.
This connector is the same type as the previous 68-pin connector, but naturally shorter.
With the key switch you must short-circuit pins 3 and 4 of the connector (seen from the cable side) which are the second pin of the first row from the left and the second pin of the second row from the left) .
When you connect both pins the controller goes into auto mode, and when you unplug them (opens the circuit) the controller goes into manual or learn mode (as you choose).
If after trying it you can't get it to work properly, don't hesitate to contact me again.
I have a robot just like yours and if you need it I could sell you a mini-teach pendant in good condition.
Lastly, please excuse my English. It is a Google translation because I am writing to you from Spain and I do not speak your language.
A greeting and good luck.