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2.5.2 Internal wiring and piping
(1) Internal pneumatic plumbing
1) Primary plumbing consists of two φ6 air hoses that run internally from the air inlet port at the base of
the robot to the interior of the base.
The ends of the air hoses connect internally to two φ6 couplings on the side of the robot base. The
ends of the φ6 air hoses are located inside the robot base.
2) Secondary plumbing consists of four φ4 air hoses that run internally from the base of the robot to the
top of the elbow. The ends of the air hoses at the AIR IN ports are φ4 in diameter. The air hoses exit
out of M3-size holes at the top of the elbow.
3) A solenoid valve set with a maximum of two valves can be installed in the base of the robot. For further
information on the solenoid valve set, refer to
(2) Internal wiring of the hand I/O cables
1) There are two hand inputs and four hand outputs wired to the mechanical interface. The electric hand
connector exits the robot through the flange.
2) There are four hand outputs wired in the inside of the robot base. There is a connector for the solenoid
valve set connected to the end of the cable. The name of the connector is "GR".
3) There are six hand inputs on the underside of the forearm. There are connectors connected to the
ends of these cables.
(3) Ethernet cable and force sensor wiring
A category 5e Ethernet cable and a force sensor cable (5-conductor with one of conductors used for the
frame ground) run internally up to the mechanical interface. There are connectors connected to the ends of
these cables.
Allowable current: 0.7A
Allowable voltage: 24V
Page 35, "(2) Solenoid valve
2 Robot arm
set".
Tooling 2-29
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