134
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
Table 10-1. Air Intake/Exhaust States
Air Connections
Valve Signal
Intake
(Valve in)
Exhaust
(Valve out)
Solenoid
Valve
Solenoid
A
B
1A
1B
1
ON
OFF
1B
1A
1
OFF
ON
2A
2B
2
ON
OFF
2B
2A
2
OFF
ON
3A
3B
3
ON
OFF
3B
3A
3
OFF
ON
AIR 2 - Not used on Cleanroom robot
Table 10-2. CN20 Pin Assignments, M to U
NPN type (source IN, sink OUT)
PNP type (sink IN, source OUT)
CN20 pin
Used for:
CN20 pin
Used for:
M
+24 V
M
0 V
N
Solenoid 1A
(solenoid valve 1)
N
Solenoid 1A
(solenoid valve 1)
P
Solenoid 1B
(solenoid valve 1)
P
Solenoid 1B
(solenoid valve 1)
R
Solenoid 2A
(solenoid valve 2)
R
Solenoid 2A
(solenoid valve 2)
S
Solenoid 2B
(solenoid valve 2)
S
Solenoid 2B
(solenoid valve 2)
T
Solenoid 3A
(solenoid valve 3)
T
Solenoid 3A
(solenoid valve 3)
U
Solenoid 3B
(solenoid valve 3)
U
Solenoid 3B
(solenoid valve 3)
Pass-Through Electrical Signal Wires
Pins A to K on CN20 and #1 to #10 on CN21 are connected with each other as shown below.
The allowable current per line is 1 A.
CN20
A
B
C
D
E
F
G
H
J
K
CN21
1
2
3
4
5
6
7
8
9
10