Rethink Robotics Baxter User Manual page 179

Appendix G: Safety Mats
Baxter supports the optional use of a safety mat—a 4-wire Normally Open (N.O) configured mat of
any size or shape (user-supplied, not included. To connect a safety mat to Baxter, use a terminal
block that can connect to the DB15 connector on the I/O panel on the back of the robot's waist, and
support a male-configured DB15 connector for the e-stop button.
If e-stop wiring is not properly configured, the Baxter arms will not operate.
IMPORTANT
To configure the terminal block:
1. Power Baxter down and remove the e-stop assembly.
2. Connect the terminal block connector to the DB15 connector where the e-stop
button was originally connected.
3. Run the bare wires from the safety mat into the terminal block, and wire them
with appropriate jumpers, as shown in the diagram on the following page. To
ensure full e-stop support, pass the e-stop wiring through to the illustrated pins
on the extended DB15 connector.
4. Once configured, with the terminal block and e-stop properly connected, power
Baxter on per normal operation.
Note:
When Baxter is working, if a user steps on the safety mat, Baxter will slow down
and express surprise.
A wiring diagram is included on the following page.
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