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Index
User Electrical Connector
A cable with a six-pin connector on one end (Adept part number 10845-
24950) is supplied with the fifth axis. This cable is designed to mate with
the user electrical receptacle located between the two air fittings (see
Figure A-1). The table below shows the connector pin identification and
the corresponding pin number at the Tower PCA. Pin cavities 1, 5, 9, and
10 are not used. The connector is polarized and will not mate if
incorrectly aligned.
Table A-2. Fifth-Axis User Connector Pin Identification
User
Connecto
r
Pin #
User Connector
Wire Color
Signal
Pin # at J3 on
Tower PCA
2 black FRC1+ 2
3 red
FRC1- 3
4 orange FRC2+ 4
6 green FRC2- 5
7 blue FRC3+ 6
8 white FRC3- 7
Programming Information
The fifth axis is a fully integrated robot joint and treated the same as the
other joints. Like Joints 1 through 4, the fifth axis can be controlled by
either the manual control pendant (MCP) or by program instructions
from the controller. Refer to the controller User's Guide for information
on the MCP and the V and V
+
Reference Guide for robot programming
instructions.
A.5 Maintenance and Troubleshooting
The fifth axis requires no regular maintenance or lubrication.
Checking Flange Position
The fifth-axis flange surface should be at 90° to the side of the gear box
when the Joint 5 value is zero. A substantial fifth-axis crash could cause
the flange position to slip. Use a machinist square to check for possible
slippage when the Joint 5 value is zero. If the flange is not at 90°, contact
Customer Service at the number listed in Chapter 1. Do not attempt to
force the joint back to its proper position.