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3.6 Installing User-Supplied Safety Equipment
Key
A
ESTOP 24 VDC Source
B
Bulb, 6 V, 1.2 W
C
Front Panel High Power
ON/OFF
D
Front Panel E-Stop Pushbutton
E
T20 ESTOP Pushbutton
F
Front Panel Auto/Manual Key-
switch
G
E-Stop Ground
User E-Stop and Gate Interlock
H
NOTE: Jumper closed when not used; MUST open both channels inde-
pendently if used.
Coil
I
J
LINE E-Stop (External User E-
Stop System)
Emergency Stop Circuits
The information in this section describes emergency stop circuits used with the robot system.
NOTE: All pin numbers in this section correspond to the wiring diagram
shown in Figure 3-13.
The XSYSTEM cable provides connections for Emergency Stop (E-Stop) circuits on the XUSR
and XFP connectors. This means the controller system can duplicate E-Stop functionality from
a remote location using voltage-free contacts. Refer to Figure 3-13. .
The XUSR connector provides external two-channel E-Stop input on pin pairs 1, 14 and 2, 15.
The XFP connector provides two-channel E-Stop input on pin pairs 1, 9 and 2, 10.
NOTE: Short these pins if not used. If used, both channels must open inde-
pendently. Although an Emergency Stop will occur, the controller will flag an
error state if one channel is jumpered closed and the other channel is opened. It
will also flag an error state if the channels are shorted together.
User E-Stop Indication Contacts - Remote Sensing of E-Stop
These contacts provide a method to indicate the status of the ESTOP chain, including the Front
Panel Emergency Stop push-button, the pendant Emergency Stop push-button, and the User
Emergency Stop Contacts. Refer to items D, E, H, J, and Q in Figure 3-13.
NOTE: These contacts do not indicate the status of any connections below the
User E-Stop contacts, so they will not indicate the status of the Line E-Stop, MCP
ENABLE, or the Muted Safety gate. If you have a specific need for this function,
54
Meaning
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
Key
K
Auto/Manual Output
L
T20 Pendant Enable
M
Muted Safety Gate - Active in Auto mode
only (Jumper closed when not used)
N
Manual Mode Path
O
Auto Mode Path
P
Force-Guided Relay Cycle Check Control
Circuit
Q
User E-Stop Output
R
Single-Phase AC Input, 200 to 240 VAC
S
High Power to Amplifiers (Internal Con-
nections)
Meaning
22793-000 Rev. A
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