12. Protected Model Part 1: Setup & Operation
74
12.4 User wires and pneumatic tubes
For basic information about user wiring and pneumatics, refer to chapter 4. User Wires and
Pneumatic tubes.
Electrical wires and air tubes have been incorporated into the cable unit for your use.
CAUTION
Since the outlets for the user wires and the air tubes lead to the inside of the
arm, they need to be sealed completely after the wiring to the end effector is
completed. The outlet must be sealed completely with vinyl tape or equivalent.
Electrical wires
Rated voltage AC/DC 30V
Allowable current 1A
Number of cables 15
Nominal sectional area 0.211 mm
2
Outer diameter
φ 8.3±0.3 mm
Note Shielded
The manipulator’s user cable connector is connected to the relay board on the back of the
base body. The relay board area is shielded from dust or moisture.
The cable is 0.8 m long with its end simply cut off. The user wire connector on the end
effector’s side is connected inside the Arm Cover to go through the user cable duct and the
spline shaft until it comes out from the end effector’s side. The cable on this end is 1 m
long and left simply cut off. There are 16 wires on each end. Except for the
brown/(green) cable that does not connect to anything, the other 15 wires should have a
matching wire of the same color.
Pneumatic tubes
Max. usable pneumatic pressure
Number of
pneumatic tubes
Outer diameter × inner diameter
0.59Mpa (6kgf/cm
2
)
3
φ 4 mm × φ 2.5 mm
The base side of the air tubes are equipped with joints for connecting air tubes with an outer
diameter of φ 6 mm and φ 4 mm. The cable on the end effector is 0.8 m long and left
simply cut off.
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