２ Robot arm
Tooling 2-19
2.5.6 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
(1) Standard type
Fig.2-8 ： Wiring and piping system diagram for hand and example the solenoid valve installation(Sink type)
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
Hand output cable
(option)
Secondary pneumatic hose piping (customer-prepared)
φ4 hose
Hand output cable
attached to the solenoid set
Hand input cable
(option)
φ4 quick coupling (1 to 8)
AIR IN
RETURN
A1
A2
A3
B1
B2
B3
<+24V>
<Reserved>
<HC 1>
<HC 2>
<HC 3>
<HC 4>
<Reserved>
<24GND>
<HC 5>
<HC 6>
<HC 7>
<HC 8>
A1
A2
A3
A4
B1
B2
B3
B4
<+24V(COM)>
<Reserved>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
<+24V(COM)>
<Reserved>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
1
2
3
4
5
6
7
8
A1
A2
A3
B1
B2
B3
A1
A2
A3
A4
B1
B2
B3
B4
Solenoid set
(option)
valve mounting
section
φ6 quick coupling
φ6 quick coupling
φ6 hose
φ6 hose
Primary piping pneumatic hoses
Driving devices,
such as solenoid
and hand, provided
by the customer
Hand
prepared
by customer
R
o
b
o
t
a
r
m
w
i
r
i
n
g
r
e
l
a
y
b
o
a
r
d
R
o
b
o
t
c
o
n
t
r
o
l
l
e
r
Base
Forearm
Hand signal input connector (HC1 connector)
1-1717834-3
(Tyco Electronics AMP)
1-1318115-3
(Tyco Electronics AMP)
Hand signal output
connection connector
1-1318115-4
(Tyco Electronics AMP)
Hand signal input connection connector
Hand signal input connector (HC2 connector)
1-1717834-4
(Tyco Electronics AMP)
Hand signal output connector (GR1 connector)
Hand signal output connector (GR2 connector)
Spare wiring AWG#28(0.1mm
2
)×6 (cab tire cables with the shield)
Yellow
White
Red
Blue
Green
Orange
*Refer to
for Air
supply circuit example.
