Adept s650 Viper User Manual
Page 27
Chapter 2: Robot Installation
Adept Viper s650/s850 Robot with MB-60R/eMB-60R User’s Guide, Rev F
Page 27 of 100
Table 2-3. Viper Solenoid Control
Active Output Port
Signal States
1
Solenoid 1
A
0001
–0002
B
–0001
0002
Solenoid 2
A
0003
–0004
B
–0003
0004
Solenoid 3
A
0005
–0006
B
–0005
0006
1 The two-position, double solenoids require both signal states to be acti-
vated. Invalid states will result in indeterminate outputs.
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 the following
table for 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 2-4. 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
6
Not connected
2
Input 1002
a
7
Output 0007
b
3
Input 1003
a
8
Output 0008
b
4
Input 1004
a
9
24 V Output
c
5
Input 1005
a
10
Ground
a
Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
b
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
c
Limited to a combined total of 1A of current.