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3.6 Installing User-Supplied Safety Equipment
CAUTION: PERSONAL INJURY RISK
!
If you want the cell gate to always cause a robot shutdown, wire the gate
switch contacts in series with the user E-Stop inputs. Do not wire the gate
switch into the muted safety gate inputs.
Remote Manual Mode
The Front Panel provides for a Manual Mode circuit.
Additional Information: Refer to Remote High Power ON / OFF Control on page
57 for further details about the user Remote Manual Mode circuitry.
You must incorporate either the Front Panel, or a user-supplied panel into the robot workcell
circuitry to provide a single point of control (the pendant) when the controller is placed in
Manual mode.
You may need to turn OFF certain workcell devices, such as PLCs or conveyors, when the oper-
ating mode switch is set to Manual mode. This is to ensure that the robot controller does not
receive commands from devices other than from the pendant (the single point of control in
this case).
Controlling the Manual / Automatic mode selection from other control equipment might
require a custom splitter cable or complete replacement of the Front Panel. Refer to the Front
Panel Schematic on page 48. In this situation, connect a pair of contacts in series with the
Front Panel Manual / Automatic mode contacts. Both the Front Panel and the user contacts
need to be closed to allow Automatic mode.
WARNING: PERSONAL INJURY RISK
!
Do not connect user-supplied Manual / Automatic contacts in parallel with the
Front Panel switch contact. This would violate the single point of control prin-
ciple and might allow Automatic (high-speed) mode to be selected while an
operator is in the cell.
User Manual/Auto Indication
Two pairs of pins on the XUSR connector provide a voltage-free
contact to indicate whether the Front Panel and/or remote Manual / Automatic switches are
closed. Refer to item K in Figure 3-13. You can use these contacts to control other mechanisms
(for example, conveyor, linear modules, etc.) when Manual mode is selected.
IMPORTANT: The load on the contacts should not exceed 40 VDC or 30 VAC at
a maximum of 1 A.
WARNING: PERSONAL INJURY HAZARD
!
If you suspended any safeguards, you must return them to full functionality
before selecting Automatic Mode.
56
iX4 650 H/HS and 800 H/HS Robot with EtherCAT
User's Manual (Cat. No. I656)
22793-000 Rev. A
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