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２ Robot arm
Tooling
2-42
2.5.7 Wiring and piping system diagram for hand
Shows the wiring and piping configuration for a standard-equipped hand.
Fig.2-27 ： Wiring and piping system diagram for hand and example the solenoid valve installation
白
A1
A2
A3
A4
B1
B2
B3
B4
<+24V>
<予約>
<HC 1>
<HC 2>
<HC 3>
<HC 4>
A1
A2
A3
B1
B2
B3
<+24V(COM)>
<GR 1>
<GR 2>
<GR 3>
<GR 4>
A1
A2
A3
A4
B1
B2
B3
B4
<+24V(COM)>
<GR 5>
<GR 6>
<GR 7>
<GR 8>
ハンド信号出力用コネクタ（GR2コネクタ）
ハンド信号出力用コネクタ（GR1コネクタ）
ハンド信号入力用コネクタ（HC1コネクタ）
<予約>
<24G>
<HC 5>
<HC 6>
<HC 7>
<HC 8>
A1
A2
A3
B1
B2
B3
ハンド信号入力用コネクタ（HC2コネクタ）
<電源用>
<電源用>
<TXRXH>
<TXRXL>
<予備>
<予備>
茶
白茶
緑
白青
青
白緑
橙
白橙
φ6クイック継手
1次配管エアホース
φ6ホース
φ6ホース
φ6クイック継手
AIR IN
RETURN
電磁弁
セット
(ｵﾌﾟｼｮﾝ)
第2アーム内 ベース部
φ8クイック継手
A1
A2
A3
A4
B1
B2
B3
B4
白
黒
白
黒
黒
白
黒
白
黒
白
黒
白
黒
白
黒
白
黒
白
黒
白
黒
1
2
3
4
5
6
7
8
GR1
GR2
HC1
HC2
RIO/
ADD
LAN
ADD
LAN
1
2
3
4
5
6
7
8
白
黒
白
黒
白
黒
1
2
3
* Refer to Fig. 2-28 for air
supply circuit example.
*1)
*1) Using the External Wiring/Piping box, the hand output/input signal cable and the air hose can be pulled out externally.
(This option comes equipped with two φ6 joints for primary piping, eight φ4 joints for secondary piping, and holes for pulling out the cables.)
*2) Using the Internal Wiring/Piping set for hand, the hand input signal cable and air hose can be fed through the inside of the shaft.
(This option comes as a set that includes φ3 x 4 air hoses, hand input cables (4 x signal lines, 2 x power chords), and fixing tools.
*1), *2)
Hand output signal
Connect to the optional solenoid
valve set directly
or
Connect with customer's tool
drive equipment (solenoid valve,
etc), by the optional hand output
cable.
Hand input signal
Connect with customer's tool
drive equipment (hand, etc), by
the optional hand input cable.
Piping
Connect with customer's hand,
etc.
*1), *2)
VACCUM
Note) Only Clean specification.
Hand signal output connector (GR1)
Hand signal output connector (GR2)
Hand signal input connector (HC1)
Hand signal input connector (HC2)
Solenoid
valve set
(Option)
No.2 arm
Base
φ6 quick coupling φ6 quick coupling
φ8 quick coupling
Primary piping pneumatic hose
φ6 hose
φ6 hose
<Reserved>
<Reserved>
White
White
Black
White
Black
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
White
Black
Robot arm wiring relay board
Controller
<Power line>
<Power line>
Ethernet cable AWG#24(0.2mm
2
)x8
(Both ends are LAN connectors)
(Cab tire cables with the shield)
<Spare line>
<Spare line>
Black
White
Black
White
Black
White
Brown
White/ Brown
Green
White/Blue
Blue
White/Green
Orange
White/Orange