Installing User-Supplied Safety Equipment - Omron Quattro 650H User Manual

NOTE: A ground strap from the end-effector to the base mounting pad must
include a service loop that allows full rotation and movement of the tool flange.
Quattro HS Robots
Connect the robot cable inlet box protective earth ground.
l
Ground the end-effector to the robot cable inlet box ground screw.
l
NOTE: A ground strap from the end-effector to the robot cable inlet box ground
must include a service loop that allows full rotation and movement of the tool
flange.

5.11 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 Robot
Safety Guide for a discussion of safety issues.
The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the eAIB XSYSTEM cable. The XUSR connector (25-pin) and XFP
(15-pin) connector are both female D-sub connectors. Refer to the following table for the XUSR
pin-out descriptions. See "Contacts Provided by the XFP Connector" for the XFP pin-out descrip-
tions. See the figure E-Stop Circuit on XUSR and XFP Connectors on page 85 for the XUSR wir-
ing 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
1, 14)
3, 16 Line E-Stop (used for other robot or
assembly line E-Stop inter-
connection. Does not affect E-Stop
indication (pins 7, 20))
4, 17 Line E-Stop (same as pins 3, 16)
5, 18 Muted safety gate CH 1 (causes E-
Stop in Automatic mode only)
6, 19 Muted Safety Gate CH 2 (same as
pins 5, 18)
Voltage-Free Contacts provided by Quattro
Chapter 5: System Installation
Table 5-7. Contacts Provided by the XUSR Connector
Quattro User's Guide, 09955-000 Rev J
Page 82 of 212
Comments
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used