User Wires and Pneumatic Tubes
CAUTION
- Only authorized or certified personnel should 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 D-sub 9 pin | AC/DC 30 V | 1.0 A | 0.08 mm2 | Shielded |
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.
Connectors to the Manipulator (recommended)
Standard, cleanroom & ESD specifications
| 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 | |
| D-sub 9 pin | Connector | Würth Elektronik | 61800924823 | Solder type | 2 included |
| Clamp hood | Würth Elektronik | 61800925311 | Connector setscrew: #4-40 UNC | 2 included | |
Protected-Model
| Manufacturer | Model Number | Type | Remarks | ||
|---|---|---|---|---|---|
| D-sub 15-pin | Connector | HARTING | 09670155615 | Solder type | 2 included |
| Clamp hood | HARTING | 09670150538 | Connector setscrew: #4-40 UNC | 2 included | |
| D-sub 9-pin | Connector | HARTING | 09670095615 | Solder type | 2 included |
| Clamp hood | HARTING | 09670090538 | Connector setscrew: #4-40 UNC | 2 included | |
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 |
| 302 | ø4 mm × ø2.5 mm |
For each connector 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.
Pneumatic tubes connected to the Manipulator (recommended)
| Outer Diameter | Manufacturer | Model Number | Remarks |
|---|---|---|---|
| ø6 mm | SMC | TU0604* | Equivalent products from other companies can be used |
| ø4 mm | SMC | TU0425* | Equivalent products from other companies can be used |
When the Manipulator is a protected-model, please note the following points.
CAUTION
- In special environments (e.g., oil smoke, dust, etc.), the user wires and pneumatic tubes should have protected-model (compliant with protection class IP65). If the user wires and pneumatic tubes without protected-model are connected, the protection class (IP65) cannot be guaranteed, and the Manipulator may be damaged or break down.
- Be sure to always connect the cap when the user cable connector is not being used.
If the cap is not attached, foreign matter such as oil smoke or dust may enter the connector, causing the Manipulator to be damaged or break down.
Arm #2 side (common)
| Symbol | Description |
|---|---|
| a | 15-pin D-sub connector |
| b | 9-pin D-sub connector |
| c | Fitting for ø6 mm tube (blue) |
| d | Fitting for ø6 mm tube (white) |
| e | Brake release switch |
| f | Fitting for ø4 mm tube (white) |
| g | Fitting for ø4 mm tube (blue) |
Base side (table top mounting specifications)
| Symbol | Description |
|---|---|
| a | User connector (9-pin D-sub connector) |
| b | M/C cable housing |
| c | Fitting for ø6 mm tube (blue) |
| d | Fitting for ø4 mm tube (blue) |
| e | Fitting for ø4 mm tube (white) |
| f | Fitting for ø6 mm tube (white) |
| g | User connector (15-pin D-sub connector) |
Base side (wall mounting specifications)
| Symbol | Description |
|---|---|
| a | Fitting for ø4 mm tube (blue) |
| b | Fitting for ø4 mm tube (white) |
| c | Fitting for ø6 mm tube (blue) |
| d | Fitting for ø6 mm tube (white) |
| e | M/C cable housing |
| f | User connector (15-pin D-sub connector) |
| g | User connector (9-pin D-sub connector) |
Base side (ceiling mounting specifications)
| Symbol | Description |
|---|---|
| a | User connector (15-pin D-sub connector) |
| b | User connector (9-pin D-sub connector) |
| c | M/C cable housing |
| d | Fitting for ø6 mm tube (blue) |
| e | Fitting for ø4 mm tube (blue) |
| f | Fitting for ø4 mm tube (white) |
| g | Fitting for ø6 mm tube (white) |