Sparky3D is 100% correct about the wiring, although optionally you could tie the earth ground on the solenoid (yelllow/grn wire) to the frame of the robot.
Automation Direct has a "no questions asked" 30-day returns policy - so if you do need to return the 5212 it will be fairly painless - just log-in to your account on AutomationDirect.com, then visit
https://www.automationdirect.com/adc/Return/Return to request an RMA number.
Chip McDaniel
Automation Direct