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3Installing the option devices
3) Connect the connector (GR1, GR2) of solenoid valve with connector of robot arm side (GR1, GR2). Connect
with the same names. The hand output signal cables of the robot arm side are located close to where the
solenoid valve is installed and are tied up with cable tie. Pull out and connect them to the connectors. Fix
the connectors so that they will not move along with the robot movement. (Refer to
tor protection when the option devices are
4) Connect the primary piping air hose (φ6). The air hoses are located close to where the solenoid valve is
installed and are tied up with cable tie. Cut the cable tie and connect them. Of the two air hoses, connect
the one marked "AIR IN" to the solenoid valve's P port, and the one marked "RETURN" to the R port.
Note) When connecting the RETURN air hose, be sure to remove the dust cap attached at the RETURN
joint on the robot base section. If the cap is not removed, exhaust air pressure will increase and
the solenoid valve may not operate properly.By connecting the exhaust air hose (φ6: customer
preparation) to this RETURN air joint, exhaust air from the solenoid valve is able to escape to the
designated point.
5) Connect the secondary piping air hose (φ4).
The optional hand curl tube, the hand internal wiring and piping set, or the air hose prepared by customer
can all be used, however when pulling the tip of the air hose out from the shaft please be sure to use the
optional hand internal wiring and piping set.
Connect the air hoses to solenoid valve port A and port B. Please refer to
necessary ports. Covers the unused solenoid valve joints with the plugs included.
Note) When pulling the tip of the air hose out from the shaft, please be sure to use the optional hand
internal wiring and piping set. Silicon grease to apply to friction points is included with the product
(please refer to
optional external wiring and piping box, the air hose can be pulled out from the rear of the No. 2
arm (please refer to
6) If the hand output cable and the air hose have excess length, please tie the excess section by cable tie and
fix it to the plate. The plate have some holes for fixing the cable/hose with a cable tie.
7) Install securely the No.2 arm cover U as before with fixing screws (tightening torque: 1.39 to 1.89 Nm).
Note) The installation surface of the covers is using sealing material. In the event that the sealing mate -
rial has been removed or has been bent or broken to the extent that it cannot be return to the
original form, be sure to replace the sealing material. Please inform the dealer, if exchange is nec -
essary.
The installing of the solenoid valve set is completed.
The connection correspondence after installation is as shown in
Table 3-1 ： Solenoid valve ports and hoses: Correspondence of couplings and hand ports
Installing the solenoid valve set
3-46
Page 51, "3.5 Hand internal wiring and piping
Page 54, "3.6 External Wiring and Piping
Hand
Hand port
Hand
1
CLOSE
Hand
2
CLOSE
Hand
3
CLOSE
Hand
4
CLOSE
installed").
Table
Solenoid valve port
OPEN
OPEN
OPEN
OPEN
Page 59, "3.8 Connec -
Table 3-1
set"). Further, when using the
Box").
3-1.
Solenoid valve used
1
1 st row
2
3
2 nd row
4
5
3 rd row
6
7
4 th row
8
and connect to the
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