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Connection
Type
User
Mini-Fit 2 x 4
Bumpers
Aux Power
Mini-Fit 2 x 3 5, 12, and 20 VDC Outputs
User Power
Mini-Fit 2 x 6 Battery and switched battery power
RJ45,
Maint LAN
Shielded
Joystick
DB9F
HMI Panel
HDB15F
Sonar 2
DB9M
User Interface
Connector type: Mini-Fit® 7 x 2
Use:
Brake release, ON, OFF, E-Stop
Pin No.
Designation
1, 2, 3
FBAT_ALWAYS
4
ESTOP_USR_1L
5
ESTOP_USR_2L
6
ESTOP_OUT_1L
7
ESTOP_OUT_2L
8
OFF_BUTTON
9
START_BUTTON
10
MOTOR_BRAKE
11
ESTOP_USR_1H
12
ESTOP_USR_2H
13
ESTOP_OUT_1H
14
ESTOP_OUT_2H
NOTE:
An E-Stop jumper or a user-supplied E-Stop button needs to be attached to the
E-STOP port on the User Interface connector for the platform to function. The
jumper is provided as part number 12730-000L. An E-Stop button would be user-
supplied.
CAUTION: If you are using a user-supplied E-Stop, you must run the Safety
Commissioning to verify the E-Stop's functionality before putting the robot into service.
46
Payload structure bumpers, user-supplied, connected between ESTOP_SRC and
USER_BMP# (for each of the 6 inputs).
Contacts 1 - 3 are for a front bumper, 4 - 6 for rear.
Contacts should be 12 V @ 10 mA.
Directly connected to the externally-mounted Maintenance Ethernet, Auto-MDIX.
Directly connected to the externally-mounted Joystick port
Operator screen, E-Stop, Brake_Rel, ON, OFF
Not used
Fused VBAT @ 500 mA
Short 4 & 11 to close ESTOP_USR_1
Short 5 & 12 to close ESTOP_USR_2
Pins 6 & 13 short when ESTOP_CH1 is closed
Pins 7 & 14 short when ESTOP_CH2 is closed
Short to FBAT_ALWAYS to signal OFF (min 1 s pulse)
Short to FBAT_ALWAYS to signal ON (min 1 s pulse)
Short to FBAT_ALWAYS for manual brake release
Short 4 & 11 to close ESTOP_USR_1
Short 5 & 12 to close ESTOP_USR_2
Pins 6 & 13 short when ESTOP_CH1 is closed
Pins 7 & 14 short when ESTOP_CH2 is closed
Description
Notes
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