Connecting User-Supplied Safety And Power-Control Equipment - adept technology SmartController EX User Manual

To change the configuration of the RS-422/485 port, see Configuring Serial Ports on page 33.
See the previous table for the eV+ designation when referenced in the eV+ ATTACH or FSET
instructions.

3.5 Connecting User-Supplied Safety and Power-Control Equipment

The user-supplied safety and power-control equipment connects to the system through the
XUSR and XFP connectors on the controller. The XUSR connector (25-pin) and XFP (15-pin)
connector are both female D-sub connectors located on the front panel of the controller. Refer to
the following table for the XUSR pin-out descriptions. Refer to the table Contacts Provided by
the XFP Connector on page 37 for the XFP pin-out descriptions. See the figure CAT-3 E-Stop Cir-
cuit on XUSR and XFP Connectors on page 39 for the XUSR wiring diagram.
Pin Description
Pairs
Voltage-Free Contacts Provided by Customer
1, 14 User E-Stop CH 1 (mushroom
push-button, safety gates, etc.)
2, 15 User E-Stop CH 2 (same as pins
1, 14)
3, 16 Line E-Stop (used for other robot or
assembly line E-Stop inter-
connection. Does not affect E-Stop
indication (pins 7, 20))
4, 17 Line E-Stop (same as pins 3, 16)
5, 18 Muted safety gate CH 1 (causes E-
Stop in Automatic mode only)
6, 19 Muted Safety Gate CH 2 (same as
pins 5, 18)
Voltage-Free Contacts provided by Adept
7, 20 E-Stop indication CH 1
8, 21 E-Stop indication CH 2 (same as
pins 7, 20)
9, 22 Manual/Automatic indication CH 1 Contacts are closed in Automatic mode
10, 23 Manual/Automatic indication CH 2 Contacts are closed in Automatic mode
Chapter 3: Operation
Pin Signal
7 NC
8 EXPIO_5V
9 GND
Table 3-6. Contacts Provided by the XUSR Connector
Adept SmartController EX User's Guide, Rev.C
Page 36 of 96
Type
Output
Ground
Comments
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
N/C contacts, Shorted if NOT Used
Contacts are closed when Front Panel, pend-
ant, and customer E-Stops are not tripped
Contacts are closed when Front Panel, pend-
ant, and customer E-Stops are not tripped