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WARNING: Do not use switches in the E-Stop circuit that do not comply
with Category 1 requirements.
See Table 3-1 for the terminal assignments of the terminal block on the external Front
Panel for the monitoring of the Emergency Stop switches on the Manual Control Pendant
and the external Front Panel, and the Hold-to-Run button on the MCP.
Terminal Block On External Front Panel
Adept provides voltage-free contacts on the terminal block on the back of the external
Front Panel for monitoring the emergency circuitry components and other switches. It is a
vital part of your safety system. You have access to voltage-free contacts of the Emergency
Stop switches on the Manual Control Pendant and the external Front Panel. Additionally
there are contacts for monitoring the Hold-to-Run switch on the MCP, the position of the
System Power and Operating Mode switch on the external Front Panel. See Table 3-1 for
assignment of the terminals.
The voltage-free contacts can be used to create additional safety circuitry or to monitor the
existing one. For instance, you can control additional contactors with the voltage-free
contacts that turn on and off the power supply to the PA-4 power chassis. Then it is only
possible to enable High Power to the motors of the robot if the E-Stop circuitry is closed.
See Figure 3-3 for an example of additional safety equipment that uses the voltage-free
contacts on the external Front Panel and the external E-Stop Inputs on the SIO Module in
the Adept MV Controller.
Table 3-1. Terminal Assignment of the Terminal Block on the Back of the VFP
Number
Description
1
System Power switch on the external Front Panel
(contacts are closed when power is turned on)
2
3
Operating Keyswitch on the external Front Panel
(contacts are closed in Manual mode)
4
5
Emergency Stop switch on the external Front Panel
(N/C)
6
7
Emergency Stop switch on the Manual Control Pendant
(N/C)
8
9
Hold-to-Run switch on the Manual Control Pendant
(N/O)
10
11
not used
12
not used
Adept 550 Robot Instruction Handbook, Rev A
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Overview of Safety System
51
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