This page provides detailed information about the pneumatic valves that come pre-installed in the Sawyer Controller.
The Controller includes two internal pneumatic valves which may be used to control end effectors or other pneumatic devices in the workcell. These devices can be connected via external ports on the Controller base, and controlled using supplied signals in Intera.
Note: When using a ClickSmart gripper, it is not necessary to connect an air line to the controller. Supply air can be directly connected to the valves provided in the assembled ClickSmart Gripper kit.
- 2x SMC SY5220-5LOZ-C6
- 5-port double solenoid, 2-position valve
- Air must be filtered and oil-free
- 60-90 psi
There are 5x 6mm push-to-connect ports at the bottom of the controller housing. From the left (as viewed from the door side of the controller), these ports provide connections to the internal valves per the following:
- Supply In
- Valve 1A out
- Valve 1B out
- Valve 2A out
- Valve 2B out
The "A" ports are normally open, while the "B" ports are normally closed. Each pair of A/B ports can be controlled using a dedicated signal.
Valve Control in Intera
There are 2 signals that are available to control the 2 valves within the controller: Valve 1 and Valve 2. When Valve 1 is set to false, port 1A will be open and port 1B will be closed. When Valve 1 is set to true, port 1A will be closed and port 1B will be open. Valve 2 operation is similar. The default state of both signals is false.
The valve signals can be directly set in Shared Data or during program runtime using a Set To node. As an example, consider a blow-off air nozzle located in the workcell or end-of-arm-tool. The air line to the nozzle should be connected to port 1B and port 1A should be plugged. Within the task, a Set To node can be used to turn the nozzle air on by setting the Valve 1 signal to true. The air can be turned off by setting the Valve 1 signal to false in another Set To node.
Note: Additional signals are available in Intera to control the individual solenoids (Valve 1-A, 1-B, 2-A, 2-B) directly. However, for normal operation, both A/B signal pairs must be toggled oppositely and simultaneously. The provided Valve 1 and Valve 2 signals perform this operation and should be used instead.