Chapter 2 - Robot Installation
28
Adept Viper s650/s850 Robot with MB-60R User’s Guide, Rev D
2.7
Air Lines and Signal Wiring
The robot is equipped with seven air lines. Six lines, from AIR1 input, are controlled by
the three internal solenoid valves. One line, from AIR2 input, is connected directly to
AIR2 on the second arm. There are ten user electric lines. The air lines and signal wiring
are shown below.
Note 1: Pins #1 to #10 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A.
Note 2: Use the supplied mating connector sets for CN20 and CN21. See
for information about
the mating connectors on Cleanroom and IP-54/65 robots.
CN21 pin layout
CN20 pin layout
View A
Air line joint (M5)
Grounding Terminal (M5)
AIR1 Air line joint (BSPT1/4)
AIR2 Air line joint (BSPT1/4)
Connector (CN21)
for end-effector control
signal wires
A
B
View B
Connector (CN20)
for end-effector signal/valve
control wires
CN20 Pin Assignments
NPN type (source IN, sink OUT)
PNP type (sink IN, source OUT)
CN20 pin
No. Used
for:
12 +24
V
13
Solenoid 1A (solenoid valve 1)
14
Solenoid 1B (solenoid valve 1)
15
Solenoid 2A (solenoid valve 2)
16
Solenoid 2B (solenoid valve 2)
17
Solenoid 3A (solenoid valve 3)
18
Solenoid 3B (solenoid valve 3)
CN20 pin
No. Used
for:
12 0
V
13
Solenoid 1A (solenoid valve 1)
14
Solenoid 1B (solenoid valve 1)
15
Solenoid 2A (solenoid valve 2)
16
Solenoid 2B (solenoid valve 2)
17
Solenoid 3A (solenoid valve 3)
18
Solenoid 3B (solenoid valve 3)
Valve Symbols and Air Intake/Exhaust States
(1A and 1B are tubing joint symbols.)
Air tubing joint
Valve signal
Air Exhaust
Solenoid
Solenoid
AIR1
intake valve
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
AIR2