User Wires and Pneumatic Tubes
WARNING
- Be sure to turn off the power and tag out (e.g., with a "DO NOT TURN ON" sign) before performing wiring. Performing any work procedure with the power turned on is extremely dangerous and may result in electric shock and/or malfunction of the robot system.
CAUTION
- Only authorized or certified staff should be allowed to perform wiring. Wiring by unauthorized or uncertified staff may result in bodily injury and/or malfunction of the robot system.
Electrical Wires
Connect the following connectors and cables to the user connector of the Manipulator.
Manipulator cable specifications
| Rated Voltage | Allowable Current | Nominal Cross-sectional Area of Conductor | Remarks | |
|---|---|---|---|---|
| D-sub 15 pin | 30V AC/DC | 1.0 A | 0.08 mm2 | Shielded |
| RJ45 | - | - | - | Equivalent to CAT5e |
For each connector, pins with the same number are wired between the connector on the base side and the connector on the Arm #2 side in the Manipulator.
Attached connector for user wires
| Manufacturer | Model Number | Type | Remarks | ||
|---|---|---|---|---|---|
| D-sub 15 pin | Connector | Würth Elektronik | 61801524823 | Solder type | 2 included |
| Clamp hood | Würth Elektronik | 61801525311 | Connector setscrew: #4-40 UNC | 2 included | |
- 8-pin (RJ45) equivalent to Cat.5e
An Ethernet cable (commercially available) can be connected to Manipulator models with standard and cleanroom & ESD specifications.
Pneumatic Tubes
Manipulator pneumatic tube specifications
| Maximum Working Pressure | Number of Tubes | O.D. × I.D. |
|---|---|---|
| 0.59 Mpa (6 kgf/cm2: 86 psi) | 2 | ø6 mm × ø4 mm |
| 1 | ø4 mm × ø2.5 mm |
Inside the Manipulator, fittings of the same size and tip color (blue/white) are connected between the air fitting on the base side and the air fitting on the Arm #2 side.
Arm #2 side (common to GX4 series)
| Symbol | Description |
|---|---|
| a | Ethernet connector |
| b | Fitting for ø6 mm tube (white) |
| c | Fitting for ø6 mm tube (blue) |
| d | Fitting for ø4 mm tube (blue) |
| e | Brake release switch |
| f | User connector (15-pin D-sub connector) |
Base side (table top mounting specifications: cable routing from bottom side)
| Symbol | Description |
|---|---|
| a | User connector (15-pin D-sub connector) |
| b | M/C cable housing |
| c | Ethernet connector |
| d | Fitting for ø4 mm tube (blue) |
| e | Fitting for ø6 mm tube (blue) |
| f | Fitting for ø6 mm tube (white) |
Base side (table top mounting specifications)
| Symbol | Description |
|---|---|
| a | User connector (15-pin D-sub connector) |
| b | Fitting for ø6 mm tube (white) |
| c | Fitting for ø6 mm tube (blue) |
| d | Fitting for ø4 mm tube (blue) |
| e | Ethernet connector |
| f | M/C cable housing |
Base side (multiple mounting specifications)
| Symbol | Description |
|---|---|
| a | Fitting for ø6 mm tube (white) |
| b | Fitting for ø6 mm tube (blue) |
| c | Fitting for ø4 mm tube (blue) |
| d | M/C cable housing |
| e | User connector (15-pin D-sub connector) |
| f | Ethernet connector |