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Re: pneumatic problem
As mentioned above, the easiest solution is to transfer one or two of your accumulators to your 60 psi side. When doing this, try to keep this accumulator as close to the cylinder and solenoid as possible as to decrease your tubing runs. Tubing length does not have as large of an effect on the velocity as the tubing's cross-sectional area will, but it still makes a difference. You may also want to try doubling up on solenoids. I remember seeing a few teams do this last year.
Also, we have found that putting some light oil on the cylinder will help tremendously.
Hopefully you'll find something to work.
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