40 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
CN21 pin layout
CN20 pin layout
View A
Air line joint (M5)
Grounding Terminal (M5)
AIR1 Air line joint (BSPT1/4)
AIR2 Air line joint (BSPT1/4)
Connector (CN21)
for end-effector control
signal wires
A
B
View B
Connector (CN20)
for end-effector signal/valve
control wires
Note 1: Pins #1 to #10 on CN21 and those
on CN20 are connected with each other.
The allowable current per line is 1 A.
Note 2: Use the supplied mating connector
sets for CN20 and CN21. See Cleanroom
Option on page 1 for information about the
mating connectors on Cleanroom and
IP54/65 robots.
Air Intake/Exhaust States.
Air tubing joint Valve Signal
AIR1 Air
intake
Exhaust Solenoid
valve
Solenoid
A B
1A 1B 1 ON OFF
1B 1A 1 OFF ON
2A 2B 2 ON OFF
2B 2A 2 OFF ON
3A 3B 3 ON OFF
3B 3A 3 OFF ON
AIR2
CN20 Pin Assignments
PNP/NPN
CN20 pin No. Used for:
12 Common
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)
Key Meaning Key Meaning
A CN21 pin layout E CN20 pin layout
B Connector CN21 F AIR1 (BSPT¼) - Air line
C Air lines (x7) G AIR2 (BSPT¼) - Air line
D Connector CN20 H Ground terminal, M5
CN22 The Arm Power/Signal cable from the eCS-ECAT is installed at this connector.
CN20 Pins 1 to 10 are wired directly to corresponding pins 1 to 10 on CN21 on the
upper arm. Pins 12 to 18 are for solenoid control.
AIR 1 Air line connector (BSPT¼) for three solenoids in robot. Air Lines and Signal
Wiring on page 39.
AIR 2 Air line connector (BSPT¼), connects directly to AIR 2 on the second (upper)
arm.
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