Internal User Connector Output Specifications; Estop Connector - adept technology Adept Cobra i600 User Manual

Internal User Connector Output Specifications

The output specifications in the following table apply to the EOAPWR, OP3/4, and
SOLND internal user connectors.
Table 6-4. Internal User Connector Output Circuit Specifications
Parameter
Power supply voltage range
Operational current range, per
channel
Total Current Limitation, all channels
a
on.
On-state resistance (I
Output leakage current
Turn-on response time
Turn-off response time
Output voltage at inductive load
turnoff (I = 0.5 A, Load = 1 mH)
out
DC short circuit current limit
Peak short circuit current
a
NOTE: Total current is the sum of the output current used by output
signals 3001-3004 (SOLND and OP3/4) and any user current drawn
from EOAPWR.

ESTOP Connector

This 2-pin connector provides a pair of contacts that can be used for a Breakaway E-Stop
function at the end of the arm. See
system is shipped. The user must enable this function using the Configuration Manager
(see below), and connect a normally-closed circuit to pins 1 and 2. When the circuit is
opened, the system will stop in an E-Stop condition. See
Adept Cobra i600/i800 Robot User's Guide, Rev G
24 VDC (± 10%), 150 W (6 A)
(21.6 V< V
 700 mA
I
out
 1.0 A @ 50° C ambient
I
total
 1.5 A @ 25° C ambient
I
total
R on  0.32
= 0.5 A)
out
 25 µA
I
out
125 µsec. max., 80 µsec typical
(hardware only)
60 µsec. max., 28 µsec typical
(hardware only)
(+V - 65)  V
0.7 A  I
 4 A
I
ovpk
Table 6-5. The function is disabled by default when the
User Connections on the Robot
Value
< 26.4 V)
in

@85C
 (+V - 45)
demag
 2.5 A
LIM
Figure 6-7.
77