Emergency Stop Circuits; Figure 4-9 Front Panel Schematic - adept technology Adept Cobra i600 User Manual

24VS
5VD
"System Power LED" "MANUAL/AUTO"
5VD
(XFP-7)
(XFP-4)
MANUALSRC2
SYSPWRLT
MANUALSRC1
(XFP-3)
(XFP-15)
2PIN_MINI
D

Emergency Stop Circuits

The Cobra i600/i800 robot provides connections for Emergency Stop (E-Stop) circuits on
the XUSR and XFP connectors. This gives the robot system the ability to slave E-Stop
functionality from a remote location using voltage-free contacts. See
52.
The XUSR connector provides external two-channel E-Stop input on pins 1 to 14 and 2 to
15. The XFP connector provides two-channel E-Stop input on pins 1 to 9 and 2 to 10.
NOTE: These pins must be shorted if not used. Both channels must open
independently if used. Although an Emergency Stop will occur, the robot
will display an error if one channel is jumpered closed and the other
channel is opened. It will also display an error if the channels are shorted
together.
Muted Safety Gate E-Stop Circuitry
Two pairs of pins on the XUSR connector (pins 5, 18 and 6, 19) provide connections for a
safety gate designed to yield an E-Stop allowing access to the workspace of the robot in
Manual mode only, not in Automatic mode. It is up to the customer to determine if
teaching the robot in Manual Mode, by a skilled programmer (See "Qualification of
Adept Cobra i600/i800 Robot User's Guide, Rev G
Adept Front Panel Schematic
ESTOPSRC
XFP
15PDSUBM
1
9 ESTOPFP1
2
10 ESTOPFP2
MANUALSRC1 3
11 MANUALRLY1
MANUALSRC2 4
12 MANUALRLY2
HPLT5V 5
13 HIPWRLT
6
14 HIPWRREQ
SYSPWRLT 7
15
NC 8
D
"HIGH POWER ON/OFF"
24VS
(XFP-6)
SW1
(XFP-12)
MANUALRLY2
MANUALRLY1
(XFP-11)

Figure 4-9 Front Panel Schematic

"EMERGENCY STOP"
(XFP-5)
HPLT5V
ESTOPSRC (XFP-1)
SWL1
(XFP-13)
HIPWRLT
HIPWRREQ
(XFP-14)
Figure 4-8 on page
Front Panel
(XFP-2)
D
SW2
(XFP-10)
ESTOPFP2
ESTOPFP1
(XFP-9)
53