Technical information

Appendix C: Wiring Diagrams 57

DRV Operator’s Manual and Technical Reference (rev 1 0 June 30, 2000)

ROBOT PWM VALVES

83719 16AWG

PIN COLOR FUNCTION

A blue/black boom down

B orange/black boom up

C red/black azimuth counter clockwise

D white/red wrist up

E white/black azimuth clockwise

F blue/red long arm down

G blue left basket open

H* red/white turntable counter clockwise

J green short arm up

K red + 12 VDC

L black + 12 VDC

M* black/white turntable clockwise

N blue/white right basket close

P green/black left basket close

R black/red wrist up

S orange/red long arm up

T orange short arm down

U white shield

V green/white right basket open

Pin K (red), L (black) provide +12vdc for all valves (except turntable, see note below)

associated with robot arm. All other references are grounds being switched through the

Pulse Width Modulating (PWM) amplifier.

Extreme Caution: Do not connect any wires to ground (except turntable common).

Grounds must be switched through the PWM. Connecting wires to

ground could cause unexpected motion and/or damage to the

equipment.

* Turntable is common ground, +12VDC switched. Pin, H (red/white),

M (black/white), are +12 VDC switched through relay in controller. Refer to wiring

schematics for detail.