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
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
for the details of which signals are available at CN21. See the
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
7
Output 0007
b
b
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
3
Input 1003
8
Output 0008
4
Input 1004
9
24V Output
c
c
Limited to a combined total of 1A of current.
5
Input 1005
10
Ground
