adept technology Cobra s600, User Manual

Page: 90 / 152

Chapter 7 - Optional Equipment Installation
90 Adept Cobra s600/s800 Robot User’s Guide, Rev H
7.6 Installing Robot Solenoid Kit
Introduction
This procedure describes how to mount the 24 V Robot Solenoid option on an Adept
Cobra s-series robot. The kit is available as Adept P/N 02853-000.
The robot has been prewired to accommodate a bank of two 24 VDC solenoid valves.
Power for the internal mounting is accessible via a connector mounted inside the outer
link cover (see
Figure 7-8 on page 91 ). The signals actuating the valves are directly
switchable from V
+
using software signals 3001 and 3002. Refer to the SIGNAL command
in the V+ Language Reference Guide for additional information. The Adept supplied
solenoids each draw a nominal 75 mA from 24 VDC.
The solenoid valve assembly consists of two independent valves (Valve #1 and Valve #2)
on a common manifold. The manifold supplies air at the user’s line pressure: minimum 28
psi (0.19 MPa), to maximum 114 psi (0.786 MPa). Each valve has two output ports, A and
B. The output ports are arranged so that when Port A is pressurized, Port B is not
pressurized. Conversely, when Port B is pressurized, Port A is not. In the Adept Cobra
s-series robots, the air lines from Port A on each valve are plugged at the factory (at the
solenoid assembly).
The Solenoid Kit for the Adept Cobra s-series robot is available through Adept. Contact
your Adept Sales Representative for current price and availability.
Tools Required
• Allen drivers
• Cable ties
• Diagonal wire cutters
• Solenoid Valve upgrade Kit (Adept P/N 02853-000)
Procedure
1. Turn off all power to the robot.
2. Remove two screws on s600 (three screws on s800) on each side of the outer link
cover. Remove two screws on top and remove cover.
3. Connect the Internal Solenoid Valve Cable assembly to the Solenoid Manifold
assembly, by plugging the SOL 1 connector into Valve 1 and SOL 2 into Valve 2.
Table 7-6. Air Pressure
Air Pressure (Psi) Air Pressure (MPa)
28 - 114 0.19 - 0.786