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External-tooth
star washer
Figure 4-10. Any of the Three M12 Mounting Screws can be used for Grounding.
4.9 Installing User-Supplied Safety Equipment
The user is responsible for installing safety barriers to protect personnel from coming in con-
tact with the robot unintentionally. Depending on the design of the workcell, safety gates, light
curtains, and emergency stop devices can be used to create a safe environment. Read the
Safety Guide
for a discussion of safety issues.
Refer to the SmartController EX User's Guide for information on connecting safety equipment
into the system through the XUSR connector on the optional SmartController, details on Emer-
gency Stop Circuits, and diagrams on recommended E-Stop configurations.
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors, either on the eAIB XSYSTEM cable or the optional SmartController
EX. The XUSR connector (25-pin) and XFP (15-pin) connector are both female D-sub con-
nectors. Refer to the following table for the XUSR pin-out descriptions. See Table 4-7. for the
XFP pin-out descriptions. See the figure E-Stop Circuit on XUSR and XFP Connectors on page
62 for the XUSR wiring diagram.
Pin
Description
Pairs
Voltage-Free Contacts Provided by Customer
1, 14
User E-Stop CH 1 (mushroom push-
button, safety gates, etc.)
2, 15
User E-Stop CH 2 (same as pins
Chapter 4: System Installation
M12 Screw
Table 4-6. Contacts Provided by the XUSR Connector
Hornet 565 Robot User's Guide, 14608-000 Rev F
Page 59 of 160
If frame is painted under screw head.
Use ring terminal and run the other
end to an unpainted part of the frame.
If frame is unpainted under screw head.
Use star washer, but not ring terminal.
Frame
Robot Base
Both screws and
star washers must
be electrically
conductive
(stainless or zinc-
plated steel)
Comments
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
Robot
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