Festo DHEF A-RA1 Series, Instructions, Page: 2 / 4

7. Mount solenoid valve 6 and proportional-pressure regulator aJ at a suitable
position on the robot foot.
6 Installation
6.1 Safety
Fig. 2 I/O settings
1. Switch the outputs "analog out[0]" and "analog out[1]" to [Voltage] and set
to 0 V.
2. Save setting: "Save"
è
"Save installation as..."
3. Overwrite the existing data with the selection "default.installation".
The "Analog Output" values must not be changed manually during operation -
they must be set to 0 V.
6.2 Pneumatic Installation
On-site requirements:
–
Compressed air supply with a maximum pressure of 0.8 MPa (116 psi, 8 bar)
– 4 and 6 mm tubing lines
Tubing from Connection Tubing to Connection Tubing
Adaptive shape
gripper
4
O Solenoid valve 6 2 PUN-6
Adaptive shape
gripper
4
B Solenoid valve 6 4 PUN-6
Adaptive shape
gripper
4
C Proportional-pres-
sure regulator
aJ
2 PUN-4
Solenoid valve 6 1 Compressed air
supply Max. 0.8 MPa
(116 psi, 8 bar) PUN-6
Proportional-pres-
sure regulator
aJ
1 Compressed air
supply Max. 0.65 MPa
(94 psi, 6.5 bar) PUN-4
Tab. 1 Pneumatic Installation
6.3 Electrical Installation
WARNING!
Risk of injury due to electric shock
• For the electric power supply, use only PELV or SELV circuits that ensure a
reliable electric disconnection from the mains network.
1. Switch off power to the controller and safeguard it from being switched on
again unintentionally.
2. Slide proximity sensor 2 (2x) into the slots of the adaptive shape gripper 4
and fasten it. Position one proximity sensor on the flange side and one on the
cap side.
Laying cables and tubing
Fig. 3 Laying cables and tubing
The cables and tubing are attached to the outside of the robot arm using the sup-
plied Velcro straps.
Note the specified bending radii of the cables and tubing.
The freedom of movement of the robot must not be restricted by the cables and
tubing.
1. Cut the Velcro straps to length.
2. Lay cables and tubing along the robot arm.
3. Secure the cables and tubing with Velcro strips.
Connection for connecting cables to solenoid valve
1. Guide both connecting cables neatly into the control cabinet.
2. Connect the connecting cables according to the following table:
Insu-
lated
wire
1)
Solenoid valve, connection 14
NEBU-M8G3-R-5-LE3 Solenoid valve, connection 12
NEBU-M8G3-R-5-LE3
BN Not assigned Not assigned
BU Digital Outputs 0V Digital Outputs 0V
BK Digital Outputs DO0 Digital Outputs DO1
1) wire colour when using connecting cables in accordance with accessories è www.festo.com/cata-
logue
Tab. 2 Pin allocation for connecting cables to solenoid valve
Connection for connecting cable, proportional-pressure regulator
1. Guide both connecting cables neatly into the control cabinet.
2. Connect the connecting cables according to the following table:
Insu-
lated
wire
1)
Proportional-pressure regulator
NEBU-M8G4-R-5-LE4
BN Digital Inputs 24V
WH Analog Outputs AO0
BU Digital Outputs 0V
BK Not assigned
1) wire colour when using connecting cables in accordance with accessories è www.festo.com/cata-
logue
Tab. 3 Pin allocation of connecting cables for proportional-pressure regulator
Proximity sensor connection
1. Guide cables correctly into the control cabinet.