Chapter 3: Robot Installation
See the following section for the details on activating the individual ports on each solenoid.
Table 3-3. Viper Solenoid Control
Active Output Port Signal States
1
Solenoid 1 A 0001 –0002
B –0001 0002
Solenoid 2 A 0003 –0004
B –0003 0004
Solenoid 3 A 0005 –0006
B –0005 0006
1
The two-position, double solenoids require both signal states to be
activated. Invalid states will result in indeterminate outputs.
In addition to controlling the internal robot solenoids, the Solenoid cable brings a portion of
the other XDIO signals out to the CN21 connector at the top of the robot. See the following
table for details of which signals are available at CN21. See the SmartController EXUser’s
Guide's for the electrical specifications for the signals from the XDIO connector.
Table 3-4. CN21 Signal List When Using Solenoid Cable
CN21 Pin #
Signal from XDIO on
SmartController CN21 Pin #
Signal from XDIO on
SmartController
1 Input 1001
a
6 Not connected
2 Input 1002
a
7 Output 0007
b
3 Input 1003
a
8 Output 0008
b
4 Input 1004
a
9 24 V Output
c
5 Input 1005
a
10 Ground
a
Inputs 1001 to 1005 are preconfigured as low-active (sinking) inputs.
b
Outputs 0007 and 0008 are preconfigured as high-side (sourcing) outputs.
c
Limited to a combined total of 1A of current.
05173-060 M Viper 650/850 Robot with eMB-40/60R User's Guide 31
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