Appendix C: Configuring External Devices - Rethink Robotics Baxter User Manual

Appendix C: Configuring External
Note: For the latest information, please refer to our wiki at:
Baxter communicates to external machines via its open logic ports in one integrated DB15 connec-
tor or by adding an external Ethernet-connected Modbus Remote Terminal Unit (RTU).
Attach a terminal block to the DB15 connector to accommodate two signal lines—one in and one
out—and provide lines for the e-stop and a safety mat.
TABLE 1.
DB15 Pinouts
DB15 Pin
1 E‐Stop
9 E‐Stop
2 Safety Mat
10 Safety Mat
3 Safety Mat
11 Safety Mat
4 Torso 0 In
12 Torso 0 In Return Torso 0 In Return (Ready In Return)
5 1K to +5
13 GND
6 1K to +5
14 GND
7 Torso 0 Out
Torso 0 Out
15
Return
8 GND
Devices
E Stop Switch
E Stop Switch
To +5 (6) via safety mat cable
To GND (8) for safety mat
To +5 (5) for safety mat
To GND (13) via safety mat cable
Torso 0 In (Ready In)
To (3) for safety mat
To (11) via safety mat cable
To (2) via safety mat cable
Torso 0 Out (Done Out), +5v ‐ +24v, MUST BE LIMITED TO 10ma MAX
Torso 0 Out Return (Done Out Return), GND
To (10) for safety mat
mfg.rethinkrobotics.com
151
Intera 3.2