Chapter 2 - Robot Installation 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. Table 2-2. Viper Solenoid Control from V+ a The two-position, double solenoids require both V+ signal states to be activated. 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 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 2-3. CN21 Signal List When Using Solenoid Cable 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.
26 Adept Viper s1300 Robot User’s Guide, Rev B Active Output Port V+ Signal Statesa Solenoid 1 A 0001 –0002 B –0001 0002 Solenoid 2 A 0003 –0004 B –0003 0004 Solenoid 3 A 0005 –0006 B –0005 0006 CN21 Pin # Signal from XDIO on SmartController CN21 Pin # Signal from XDIO on SmartController 1 Input 1001a 6 Not connected 2 Input 1002a 7 Output 0007b 3 Input 1003a 8 Output 0008b 4 Input 1004a 9 24V Outputc 5 Input 1005a 10 Ground