Omron Adept Viper s1300, Руководство пользователя

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Chapter 2 - Robot Installation
26 Adept Viper s1300 Robot User’s Guide, Rev B
Optional Solenoid Cable
An optional 4 meter Solenoid cable is available that connects between the XDIO connector
on the SmartController and the CN20 connector on the robot. The part number is
05739-040.
Installing this cable allows you to control the three internal robot solenoids directly from
V+. See
Table 2-2 for the details on activating the individual ports on each solenoid.
In addition to controlling the internal robot solenoids, the Solenoid cable brings a portion
of the other XDIO signals out to the CN21 connector at the top of the robot. See
Table 2-3
for the details of which signals are available at CN21. See the Adept SmartController
User’s Guide for the electrical specifications for the signals from the XDIO connector.
Table 2-2. Viper Solenoid Control from V+
Active Output Port V+ Signal States
a
a
The two-position, double solenoids require both V+ signal states to be
activated. Invalid states will result in indeterminate outputs.
Solenoid 1 A 0001 –0002
B –0001 0002
Solenoid 2 A 0003 –0004
B –0003 0004
Solenoid 3 A 0005 –0006
B –0005 0006
Table 2-3. CN21 Signal List When Using Solenoid Cable
CN21 Pin #
Signal from XDIO on
SmartController
CN21 Pin #
Signal from XDIO on
SmartController
1 Input 1001
a
a
Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
6 Not connected
2 Input 1002
a
7 Output 0007
b
b
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
3 Input 1003
a
8 Output 0008
b
4 Input 1004
a
9 24V Output
c
c
Limited to a combined total of 1A of current.
5 Input 1005
a
10 Ground