adept technology Adept Cobra i600, User Manual, Page: 69 / 150

Installing the Robot Solenoid Kit
Adept Cobra i600/i800 Robot User’s Guide, Rev E 69
Figure 5-12. Connecting Spare Air Line to User Connector
13. Disconnect the tubing from the 6 mm User Air fitting shown in Figure 5-12 . Fold
the tubing out of the way and restrain using tie-wraps.
14. Locate the spare air line contained in the tubing bundle inside the front end of the
cover. Remove the spare air line from the bundle.
15. Insert the spare air line into the back of the empty 6 mm User Air fitting.
NOTE: This 6 mm User Air connector and the corresponding 6 mm User
Air connector at the top of Figure 5-2 on page 59 are not functional for
other uses after this modification.
16. Reinstall the Joint 1 cover, taking care to ensure that all tubing is inside the cover
and nothing gets crimped or pinched when pushing the cover into position.
Reinstall the screws to secure the cover. Tighten the screws to 1.6 N·m (14 in·lb).
17. Reinstall the outer link cover and tighten the screws to 1.6 N·m (14 in·lb) of
torque.
18. Connect the factory air supply to the modified 6 mm User Air connector.
19. Turn on system power and boot the system. The default values for the gripper
signals that activate the solenoids are 9 and 10. Once the system boot has
completed, at the MicroV
+
dot prompt, type in the following commands to
activate the solenoids one at a time.
.SIGNAL 9
.SIGNAL 10
WARNING: The robot air pressure may be disconnected
until this test has been done to prevent unsecured
pneumatic lines from accidentally injuring personnel.
User Air fitting for
connecting spare line.
Remove factory
installed tubing first.
Tubing bundle
containing spare air
line
Joint 1 cover lifted to
access spare air line