The internal pneumatic valves of Denso robot arms are controlled via the Hand I/O cable which connects from the front of the robot controller to the CN connector on the bottom of the robot arm.
The Hand I/O cable & connector provides pass-through I/O signals through the arm, as well as control for the internal solenoids. It is the users discretion as to which Hand I/O inputs or outputs they wire to which connections on the CN connectors, thus determining what they wish to control with each Hand input or output signal.
Hand I/O outputs can be controlled programmatically by using the SET and RESET commands. Both Hand inputs and outputs can be utilized by programs as desired.
CN connector sizes and pinouts may differ from robot type to robot type. Specific robot information can be found in the robot manuals.
In the example below, to control Solenoid valve 1A, wire any Hand output signal to Pin N on the CN20 connector.
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